相关论文: Towards Resilient Tracking in Autonomous Vehicles:…

We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…

This paper proposes a novel fault detection and isolation (FDI) scheme for distributed parameter systems modeled by a class of parabolic partial differential equations (PDEs) with nonlinear uncertain dynamics. A key feature of the proposed…

Exact discrete-time models of nonlinear systems are difficult or impossible to obtain, and hence approximate models may be employed for control design. Most existing results provide conditions under which the stability of the approximate…

State density distribution, in contrast to worst-case reachability, can be leveraged for safety-related problems to better quantify the likelihood of the risk for potentially hazardous situations. In this work, we propose a data-driven…

Model-based Reinforcement Learning (MBRL) has emerged as a promising paradigm for autonomous driving, where data efficiency and robustness are critical. Yet, existing solutions often rely on carefully crafted, task specific extrinsic…

This study proposes a learning-based method with domain adaptability for input estimation of vehicle suspension systems. In a crowdsensing setting for bridge health monitoring, vehicles carry sensors to collect samples of the bridge's…

Emerging vehicular systems with increasing proportions of automated components present opportunities for optimal control to mitigate congestion and increase efficiency. There has been a recent interest in applying deep reinforcement…

Machine learning models are often trained on data from one distribution and deployed on others. So it becomes important to design models that are robust to distribution shifts. Most of the existing work focuses on optimizing for either…

In this paper, we propose a method for addressing the issue of unnoticed catastrophic deployment and domain shift in neural networks for semantic segmentation in autonomous driving. Our approach is based on the idea that deep learning-based…

Distributional robustness is a promising framework for training deep learning models that are less vulnerable to adversarial examples and data distribution shifts. Previous works have mainly focused on exploiting distributional robustness…

This paper introduces a novel recursive distributed estimation algorithm aimed at synthesizing input and state interval observers for nonlinear bounded-error discrete-time multi-agent systems. The considered systems have sensors and…

Trajectory prediction is a key element of autonomous vehicle systems, enabling them to anticipate and react to the movements of other road users. Evaluating the robustness of prediction models against adversarial attacks is essential to…

We study a discrete denoising diffusion framework that integrates a sample-efficient estimator of single-site conditionals with round-robin noising and denoising dynamics for generative modeling over discrete state spaces. Rather than…

Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…

Distributionally Robust Optimization (DRO), which aims to find an optimal decision that minimizes the worst case cost over the ambiguity set of probability distribution, has been widely applied in diverse applications, e.g., network…

Autonomous vehicles rely on accurate trajectory prediction to inform decision-making processes related to navigation and collision avoidance. However, current trajectory prediction models show signs of overfitting, which may lead to unsafe…

Fast and robust dynamic state estimation (DSE) is essential for accurately capturing the internal dynamic processes of power systems, and it serves as the foundation for reliably implementing real-time dynamic modeling, monitoring, and…

The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different…

Distribution System State Estimation (DSSE) is becoming increasingly important with the integration of Distributed Energy Resources (DERs) and the active operation of distribution networks (DNs), but it remains challenging due to the…

We consider the problem of robust state estimation in the presence of integrity attacks. There are $m$ sensors monitoring a dynamical process. Subject to the integrity attacks, $p$ out of $m$ measurements can be arbitrarily manipulated. The…