系统与控制
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and measurements from…
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However, computing these sets can be computationally expensive,…
Poincare return maps are a fundamental tool for analyzing periodic orbits in hybrid dynamical systems, including legged locomotion, power electronics, and other cyber-physical systems with switching behavior. The Poincare return map…
We propose ScalarFedLQR, a communication-efficient federated algorithm for model-free learning of a common policy in linear quadratic regulator (LQR) control of heterogeneous agents. The method builds on a decomposed projected gradient…
Kalman filtering is a cornerstone of estimation theory, yet learning the optimal filter under unknown and potentially singular noise covariances remains a fundamental challenge. In this paper, we revisit this problem through the lens of…
This paper presents a dual-hop hybrid framework that integrates a free-space optical (FSO)/RIS-aided radio frequency (RF) link operating under a hard-switching protocol as the first hop, and an optical reconfigurable intelligent surface…
This paper presents a reinforcement learning-based path-following controller for a fixed-wing small uncrewed aircraft system (sUAS) that is robust to certain actuator failures. The controller is conditioned on a parameterization of actuator…
This paper proposes a novel formulation of frequency response for nonlinear systems in the Koopman operator framework. This framework is a promising direction for the analysis and synthesis of systems with nonlinear dynamics based on…
Monitoring battery health is essential for ensuring safe and efficient operation. However, there is an inherent trade-off between assessment speed and diagnostic depth-specifically, between rapid overall health estimation and precise…
We propose a novel framework for robust dynamic games with nonlinear dynamics corrupted by state-dependent additive noise, and nonlinear agent-specific and shared constraints. Leveraging system-level synthesis (SLS), each agent designs a…
Convective features, represented here as warm bubble-like patterns, reveal essential high-level information about how short-term weather dynamics evolve within a high-dimensional state space. In this paper, we introduce a data-driven…
Virtual energy stations (VESs) work as retailers to provide electricity and natural gas sale services for integrated energy systems (IESs), and guide IESs energy consumption behaviors to tackle the varying market prices via integrated…
This paper presents an underwater acoustic reconfigurable intelligent surface (UA-RIS) designed for long-range, high-speed, and environmentally friendly communication in oceanic environments. The proposed UA-RIS comprises multiple pairs of…
In this paper, we propose an SIR spread model in a population network coupled with an infrastructure network that has a pathogen spreading in it. We develop a threshold condition to characterize the monotonicity and peak time of a weighted…
Data-driven reachability analysis enables safety verification when first-principles models are unavailable. This requires constructing sets of system models consistent with measured trajectories and noise assumptions. Existing approaches…
This paper addresses the conservatism in data-driven reachability analysis for discrete-time linear systems subject to bounded process noise, where the system matrices are unknown and only input--state trajectory data are available.…
This paper presents a 1-bit reconfigurable intelligent surface (RIS) fabricated using a three-layer structure. It employs a manual layer stackup incorporating an optimal air gap to reduce the effective dielectric losses while using a…
Stochastic Model Predictive Control addresses uncertainties by incorporating chance constraints that provide probabilistic guarantees of constraint satisfaction. However, simultaneously optimizing over the risk allocation and the feedback…
Ringkoebing Fjord is an inland water basin on the Danish west coast separated from the North Sea by a set of gates used to control the amount of water entering and leaving the fjord. Currently, human operators decide when and how many gates…
Supply chains involve geographically distributed manufacturing and assembly sites that must be coordinated under strict timing and resource constraints. While many existing approaches rely on Colored Petri Nets to model material flows, this…