相关论文: Robust Performance Analysis of Source-Seeking Dyna…
The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…
The goal of this paper is to assess the robustness of an uncertain linear time-varying (LTV) system on a finite time horizon. The uncertain system is modeled as a connection of a known LTV system and a perturbation. The input/output…
A collection of converse theorems for integral quadratic constraints (IQCs) is established for linear time-invariant systems. It is demonstrated that when a system interconnected in feedback with an arbitrary system satisfying an IQC is…
Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally,…
The theory of integral quadratic constraints (IQCs) allows the certification of exponential convergence of interconnected systems containing nonlinear or uncertain elements. In this work, we adapt the IQC theory to study first-order methods…
A method is proposed to compute robust inner-approximations to the backward reachable set for uncertain nonlinear systems. It also produces a robust control law that drives trajectories starting in these sets to the target set. The method…
Fast and accurate load parameters identification has great impact on the power systems operation and stability analysis. This paper proposes a novel transfer reinforcement learning based method to identify composite ZIP and induction motor…
Integrated sensing and communication (ISAC) technology is essential for supporting vehicular networks. However, the communication channel in this scenario exhibits time variations, and the potential targets may move rapidly, resulting in…
This paper develops an inherently parallelised, fast, approximate learning-based solution to the generic class of Capacitated Vehicle Routing Problems with Time Windows and Dynamic Routing (CVRP-TWDR). Considering vehicles in a fleet as…
By means of microscopic simulations we show that non-instantaneous adaptation of the driving behaviour to the traffic situation together with the conventional measurement method of flow-density data can explain the observed…
We propose novel time-domain dynamic integral quadratic constraints with a terminal cost for exponentially weighted slope-restricted gradients of not necessarily convex functions. This extends recent results for subdifferentials of convex…
Independent sample generation is the prevailing paradigm in modern diffusion-based generative models of AI. We ask a different question: can samples \emph{coordinate} through shared population statistics to transport probability mass more…
Optimal decentralized controller design is notoriously difficult, but recent research has identified large subclasses of such problems that may be convexified and thus are amenable to solution via efficient numerical methods. One recently…
We propose a large-scale scaling viewpoint for deriving mesoscopic dynamics from interacting particle systems and apply it to the Cucker--Smale flocking model. In contrast with the classical mean-field regime leading to the Vlasov-type…
We study a location-routing problem in the context of capacitated vehicle routing. The input is a set of demand locations in a metric space and a fleet of k vehicles each of capacity Q. The objective is to locate k depots, one for each…
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap…
Quadratic programming is a workhorse of modern nonlinear optimization, control, and data science. Although regularized methods offer convergence guarantees under minimal assumptions on the problem data, they can exhibit the slow…
We propose and analyze a mixed finite element method for the spatial approximation of a time-fractional Fokker--Planck equation in a convex polyhedral domain, where the given driving force is a function of space. Taking into account the…
We propose novel quadratic performance tests for linear discrete-time impulsive systems based on viewing these systems as feedback interconnections of some non-impulsive linear system with an impulsive operator. In order to systematically…
We consider team optimal control of decentralized systems with linear dynamics, quadratic costs, and arbitrary disturbance that consist of multiple sub-populations with exchangeable agents (i.e., exchanging two agents within the same…