系统与控制

This paper provides an in-depth analysis on how different aspects of the dynamic operating envelope (DOE) formulation impact the computation and allocation of network capacity. We show that the envelopes are significantly affected by the…

Sampling-based model predictive control (MPC) algorithms, such as model predictive path integral (MPPI), enable approximate, gradient-free solutions to optimal control problems by drawing samples from a proposal distribution, evaluating…

We investigate interactive trajectory planning subject to uncertainty in the decisions of surrounding agents. To control the ego-agent, we aim to first learn the decision distribution and solve a Stochastic Model Predictive Control (SMPC)…

This paper introduces a novel control strategy to optimize urban network traffic in mixed autonomy settings, featuring Connected and Automated Vehicles (CAVs) alongside Human-Driven Vehicles (HDVs). Unlike previous control strategies, where…

This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…

The successful completion of collaborative tasks relies on the effective selection of trustworthy collaborators. To accurately evaluate the trustworthiness of potential collaborators, it is necessary to combine insights from their past…

Direct electric drivelines without power-split open new design freedom for frame and suspension design, along with often lower energy losses. This paper focuses on self-propelled agricultural machinery (combine and forage harvest-ers, root…

We propose a distributionally robust data-driven predictive control framework for stochastic linear time-invariant systems with unknown dynamics and disturbance distributions. We use an offline trajectory to fit the subspace predictive…

Falsification of hybrid dynamical systems remains challenging due to mode-dependent dynamics and discrete transitions. In this work, we propose a surrogate-based falsification approach that enables hybrid systems by learning a…

Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…

Applying nonlinear model predictive control (NMPC) to systems with hybrid dynamics or discrete actions typically yields mixed-integer nonlinear programs (MINLPs), whose real-time solution remains a major challenge and limits the…

This paper addresses the problem of nonlinear state estimation for dynamical systems whose governing equations are approximated through Koopman operator liftings. While Koopman-based predictors have demonstrated broad approximation…

This paper presents a new derivation of the variational Poisson multi-Bernoulli (V-PMB) filter for multi-target estimation proposed in [#Williams15]. The proposed derivation is based on considering an augmented space that includes the set…

We generalize Jan Willems' behavioral approach to a class of discrete-time nonlinear systems in a vector-valued reproducing kernel Hilbert space (RKHS). Apart from linear time-invariant systems, this class covers nonlinear systems modeled…

Ingestible electronic systems enable non-invasive, in situ sensing within the gastrointestinal (GI) tract, yet clinical translation has been limited by uncontrolled transit, short operational lifetimes, and unreliable wireless communication…

The institutional separation between local energy communities and public electric vehicle (EV) charging limits the efficient use of locally generated renewable energy. This paper introduces the concept of community-to-vehicle (C2V) as an…

We derive a physics-based, closed-form model linking antenna directivity to the root-mean-square (RMS) delay spread and mean excess delay in large reverberant indoor environments. Starting from the Rician K-factor-the ratio of line-of-sight…

This paper develops a cooperative fault-tolerant tracking framework for heterogeneous networked linear systems subject to sensor faults and external disturbances. Each unit employs an augmented $\mathcal{H}_\infty$ observer that jointly…

In realistic pursuit-evasion scenarios, abrupt target maneuvers generate unavoidable periods of elevated uncertainty that result in estimation delays. Such delays can degrade interception performance to the point of causing a miss. Existing…

Wildfires are becoming increasingly frequent, with potentially devastating consequences, including loss of life, infrastructure destruction, and severe environmental damage. Low Earth orbit satellites equipped with onboard sensors can…