相关论文: Graph-Based Controller Synthesis for Safety-Constr…

We address the problem of computing a Minimal Dominating Set in highly dynamic distributed systems. We assume weak connectivity, i.e., the network may be disconnected at each time instant and topological changes are unpredictable. We make…

We consider the problem of controlling a partially-observed dynamic process on a graph by a limited number of interventions. This problem naturally arises in contexts such as scheduling virus tests to curb an epidemic; targeted marketing in…

This paper considers the problem of minimal control inputs to affect the system states such that the resulting system is structurally controllable. This problem and the dual problem of minimal observability are claimed to have no…

We present a minimal control-based continuation algorithm designed to track branches of limit cycles in autonomous systems. The controller can be viewed as three sub-controllers: (i) a derivative feedback controller that is used to…

An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…

The transient response of power grids to external disturbances influences their stable operation. This paper studies the effect of topology in linear time-invariant dynamics of different power grids. For a variety of objective functions, a…

This paper is concerned with the analysis and design of secure Distributed Control Systems in the face of integrity attacks on sensors and controllers by external attackers or insiders. In general a DCS consists of many heterogenous…

The basic module for the solution of the minimum time optimal control of a car-like vehicle is herein presented. The vehicle is subject to the effect of laminar (linear) and aerodynamic (quadratic) drag, taking into account the asymmetric…

This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…

A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…

Many optimization problems can be naturally represented as (hyper) graphs, where vertices correspond to variables and edges to tasks, whose cost depends on the values of the adjacent variables. Capitalizing on the structure of the graph,…

In this paper, we consider the notion of resilience of a dynamical system, defined by the maximum disturbance a controlled dynamical system can withstand while satisfying given temporal logic specifications. Given a dynamical system and a…

This paper presents new results and reinterpretation of existing conditions for strong structural controllability in a structured network determined by the zero/non-zero patterns of edges. For diffusively-coupled networks with self-loops,…

For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…

In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given finite temporal logic specifications. Given a dynamical system…

We initiate the study of deterministic distributed graph algorithms with predictions in synchronous message passing systems. The process at each node in the graph is given a prediction, which is some extra information about the problem…

Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…

In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…

This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…

Self-assembly, the process by which interacting components form well-defined and often intricate structures, is typically thought of as a spontaneous process arising from equilibrium dynamics. When a system is driven by external…