系统与控制
This paper addresses bearing-only algorithms for solving the Fermat-Weber Location Problem (FWLP) with a unicycle agent. Unlike existing FWLP solutions for single- or double-integrator agents, our approach accounts for the nonholonomic…
This paper presents a novel density control framework for multi-robot systems with spatial safety and energy sustainability guarantees. Stochastic robot motion is encoded through the Fokker-Planck Partial Differential Equation (PDE) at the…
We consider a pursuit-evasion scenario involving a group of pursuers and a single evader in a two-dimensional unbounded environment. The pursuers aim to capture the evader in finite time while ensuring the evader remains enclosed within the…
Designing autonomous drone swarms is hampered by a vast design space spanning platform, algorithmic, and numerical-strength choices. We perform large-scale agent-based simulations in three canonical scenarios: swarm-on-swarm battle,…
Growing renewable penetration introduces substantial uncertainty into power system operations, necessitating frequent adaptation of dispatch objectives and constraints and challenging expertise-intensive, near-real-time modeling workflows.…
This article develops an optical navigation (OPNAV) and station-keeping pipeline for the near-rectilinear halo orbit (NRHO) in high-fidelity ephemeris model dynamics, using synthetic images of the Moon in a non-iterative horizon-based OPNAV…
In multilevel supervisor synthesis, dependency structure matrix techniques can be used to transform the models of plants and requirements into a tree-structured hierarchical decomposition of the synthesis problem and thus efficiently…
Accurate fault location is essential for operational reliability and fast restoration in wind farm collector networks. However, the growing integration of inverter-based resources changes the current and voltage behavior during faults,…
This paper presents and discusses a mathematical model inspired by control theory to derive optimal public policies for minimizing costs associated with the reduction and control of criminal activity in a population. Specifically, we…
We study the problem of fault isolation in linear systems with actuator and sensor faults within a data-driven framework. We propose a nullspace-based filter that uses solely fault-free input-output data collected under process and…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…
Grid-forming (GFM) technology is widely regarded as a promising solution for future power systems dominated by power electronics. However, a universally accepted definition of GFM behavior and precise method for its quantification remain…
The transportation network operator (TNO) and the power distribution network operator (DNO) act non cooperatively during the scheduling process. Under the TNOs management, the distribution of charging load may exacerbate the local…
This paper presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particular, it is shown that dynamic safety margins (DSMs) are CBFs…
Although deep neural network (DNN)-based controllers are popularly used to control uncertain nonlinear dynamic systems, most results use DNNs that are pretrained offline and the corresponding controller is implemented post-training. Recent…
Integrated hydrogen-enriched compressed natural gas (HCNG) and active distribution network (ADN) is providing efficient and sustainable flexibility for consuming renewable energies. Yet, cross-sector privacy and uncertain high-renewable…
Grid-forming (GFM) technology is widely regarded as a promising solution for future power systems dominated by power electronics. However, a precise method for quantifying GFM converter behavior and a universally accepted GFM definition…
This article presents dynamic directional lane allocation in urban air mobility (UAM) corridors as a discrete-time mixed-integer linear program (MILP). This formulation activates, deactivates, and reverses lane direction as bi-directional…
Safety has been a major concern when deploying deep reinforcement learning algorithms in the real world. A promising direction that ensures that the learned policy does not visit unsafe regions is to learn a \emph{barrier function} along…
Renewable-driven microgrids dominated by grid-forming (GFM) converters are subject to persistent power fluctuations, making equilibrium-known stability assessments restrictive. This paper develops an equilibrium-free contraction stability…