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An important question in data-driven control is how to obtain an informative dataset. In this work, we consider the problem of effective data acquisition of an unknown linear system with bounded disturbance for both open-loop and…

This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with…

Zermelo's navigation problem seeks the trajectory of minimal travel time between two points in a fluid flow. We address this problem for an agent -- such as a micro-robot or active particle -- that is advected by a two-dimensional flow,…

At high latitudes, many cities adopt a centralized heating system to improve the energy generation efficiency and to reduce pollution. In multi-tier systems, so-called district heating, there are a few efficient approaches for the flow rate…

This paper focuses on developing a strategy for control of systems whose dynamics are almost entirely unknown. This situation arises naturally in a scenario where a system undergoes a critical failure. In that case, it is imperative to…

Autonomous robot navigation can be particularly demanding, especially when the surrounding environment is not known and safety of the robot is crucial. This work relates to the synthesis of Control Barrier Functions (CBFs) through data for…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

Floods can cause horrific harm to life and property. However, they can be mitigated or even avoided by the effective use of hydraulic structures such as dams, gates, and pumps. By pre-releasing water via these structures in advance of…

In the era of big data, managing dynamic data flows efficiently is crucial as traditional storage models struggle with real-time regulation and risk overflow. This paper introduces Data Dams, a novel framework designed to optimize data…

This paper describes a multi-region control framework for floating offshore wind farms. Specifically, we propose a novel generator torque controller that regulates rotor speed in Region 2, corresponding to wind speeds between the cut-in and…

Within electrical distribution networks, substation constraints management requires that aggregated power demand from residential users is kept within suitable bounds. Efficiency of substation constraints management can be measured as the…

Bubble curtains are line bubble plumes that are used to mitigate saltwater intrusion in shipping locks. When the lock gate that separates the saline seawater from the fresh river water is opened, a lock-exchange flow is initiated. Placing a…

Reinforcement learning (RL) algorithms can achieve state-of-the-art performance in decision-making and continuous control tasks. However, applying RL algorithms on safety-critical systems still needs to be well justified due to the…

When navigating complex environments, animals often combine multiple strategies to mitigate the effects of external disturbances. These modalities often correspond to different sources of information, leading to speed-accuracy trade-offs.…

Voltage control generally requires accurate information about the grid's topology in order to guarantee network stability. However, accurate topology identification is challenging for existing methods, especially as the grid is subject to…

A large share of renewable energy sources integrated into the national grids and an increased interconnection capacity with asynchronous networks, are the main contributors in reducing the kinetic energy storage in the Nordic Power System.…

Vessel navigation is difficult in restricted waterways and in the presence of static and dynamic obstacles. This difficulty can be attributed to the high-level decisions taken by humans during these maneuvers, which is evident from the fact…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

The broad success of optimally controlling quantum systems with external fields has been attributed to the favorable topology of the underlying control landscape, where the landscape is the physical observable as a function of the controls.…

While artificial-intelligence-based methods suffer from lack of transparency, rule-based methods dominate in safety-critical systems. Yet, the latter cannot compete with the first ones in robustness to multiple requirements, for instance,…