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Global analysis of synchronization performance for power systems: bridging the theory-practice gapMay 16 2019The issue of synchronization in the power grid is receiving renewed attention, as new energy sources with different dynamics enter the picture. Global metrics have been proposed to evaluate performance and analyzed under highly simplified assumptions. ... More
Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot PlanningMay 16 2019This paper deals with the design and experimental validation of a state-of-the art tube-based Model Predictive Control (MPC) for achieving time-constrained tasks. Given the uncertain nonlinear dynamics of the robot as well as a high-level task written ... More
Input Modeling and Uncertainty Quantification for Improving Volatile Residential Load ForecastingMay 16 2019Load forecasting has long been recognized as an important building block for all utility operational planning efforts. Over the recent years, it has become ever more challenging to make accurate forecasts due to the proliferation of distributed energy ... More
Optimal Status Updating with a Finite-Battery Energy Harvesting SourceMay 16 2019We consider an energy harvesting source equipped with a finite battery, which needs to send timely status updates to a remote destination. The timeliness of status updates is measured by a non-decreasing penalty function of the Age of Information (AoI). ... More
General divergent stability conditions of dynamic systemsMay 16 2019New necessary and sufficient conditions are proposed for the stability investigation of dynamical systems using the flow and the divergence of the phase vector velocity. The obtained conditions generalize the well-known results of V.P. Zhukov and A. Rantzer. ... More
Graphical Models in Loopy Distribution Grids: Topology estimation, change detection and limitationMay 16 2019Graphical models are a succinct way to represent the structure in probability distributions. This article analyzes nodal voltages in typical power distribution grids that can be non-radial using graphical models. Using algebraic and structural properties ... More
Principles of lossless adjustable one-portsMay 16 2019This paper explores the possibility to construct two-terminal mechanical devices (one-ports) which are lossless and adjustable. To be lossless, the device must be passive (i.e. not requiring a power supply) and non-dissipative. To be adjustable, a parameter ... More
An Online Admission Control Mechanism for Electric Vehicles at Public Parking InfrastructuresMay 15 2019We study an online reservation system that allows electric vehicles (EVs) to park and charge at parking facilities equipped with electric vehicle supply equipment (EVSEs). We consider the case where EVs arrive in an online fashion and the facility coordinator ... More
An Online Pricing Mechanism for Electric Vehicle Parking Assignment and Charge SchedulingMay 15 2019In this paper, we design a pricing framework for online electric vehicle (EV) parking assignment and charge scheduling. Here, users with electric vehicles want to park and charge at electric-vehicle-supply-equipment (EVSEs) at different locations and ... More
An assisting Model Predictive Controller approach to Control over the CloudMay 15 2019In this paper we develop a computational offloading strategy with graceful degradation for executing Model Predictive Control using the cloud. Backed up by previous work we simulate the control of a cyber-physical-system at high frequency and illustrate ... More
Closed Loop Load Model Identification Using Small Disturbance DataMay 15 2019Load model identification using small disturbance data is studied. It is proved that the individual load to be identified and the rest of the system forms a closed-loop system. Then, the impacts of disturbances entering the feedforward channel (internal ... More
Deep reinforcement learning for scheduling in large-scale networked control systemsMay 15 2019This work considers the problem of control and resource scheduling in networked systems. We present DIRA, a Deep reinforcement learning based Iterative Resource Allocation algorithm, which is scalable and control-aware. Our algorithm is tailored towards ... More
Depth map estimation methodology for detecting free-obstacle navigation areasMay 15 2019This paper presents a vision-based methodology which makes use of a stereo camera rig and a one dimension LiDAR to estimate free obstacle areas for quadrotor navigation. The presented approach fuses information provided by a depth map from a stereo camera ... More
Connectivity-Aware UAV Path Planning with Aerial Coverage MapsMay 15 2019Cellular networks are promising to support effective wireless communications for unmanned aerial vehicles (UAVs), which will help to enable various long-range UAV applications. However, these networks are optimized for terrestrial users, and thus do not ... More
Efficient hinging hyperplanes neural network and its application in nonlinear system identificationMay 15 2019In this paper, the efficient hinging hyperplanes (EHH) neural network is proposed based on the model of hinging hyperplanes (HH). The EHH neural network is a distributed representation, the training of which involves solving several convex optimization ... More
Achieving Convergence and Synchronization in Networks of Piecewise-Smooth Systems via Distributed Discontinuous CouplingMay 14 2019Piecewise-smooth systems are common in applications, ranging from dry friction oscillators in mechanics, to power converters in electrical engineering, to neuron cells in biology. While the properties of stability and the control of such dynamical systems ... More
On Structured Lyapunov Functions and Dissipativity in Interconnected LTI SystemsMay 14 2019In this paper we study connections between structured storage or Lyapunov functions of a class of interconnected systems (dynamical networks) and dissipativity properties of the individual systems. We prove that if a dynamical network, composed as a set ... More
The Penetration Rate Effect of Connected and Automated Vehicles in Mixed Traffic RoutingMay 14 2019We study the problem of routing Connected and Automated Vehicles (CAVs) in the presence of mixed traffic (coexistence of regular vehicles and CAVs). In this setting, we assume that all CAVs belong to the same fleet, and can be routed using a centralized ... More
Coded Distributed TrackingMay 14 2019We consider the problem of tracking the state of a process that evolves over time in a distributed setting, with multiple observers each observing parts of the state, which is a fundamental information processing problem with a wide range of applications. ... More
Measuring and reducing the disequilibrium levels of dynamic networks through ride-sourcing vehicle dataMay 14 2019Transportation systems are being reshaped by ride sourcing and shared mobility services in recent years. The transportation network companies (TNCs) have been collecting high-granular ride-sourcing vehicle (RV) trajectory data over the past decade, while ... More
Control Regularization for Reduced Variance Reinforcement LearningMay 14 2019Dealing with high variance is a significant challenge in model-free reinforcement learning (RL). Existing methods are unreliable, exhibiting high variance in performance from run to run using different initializations/seeds. Focusing on problems arising ... More
Two-stage Estimation for Quantum Detector Tomography: Error Analysis, Numerical and Experimental ResultsMay 14 2019Quantum detector tomography is a fundamental technique for calibrating quantum devices and performing quantum engineering tasks. In this paper, a novel quantum detector tomography method is proposed. First, a series of different probe states are used ... More
Explicit approximation of stochastic optimal feedback control for combined therapy of cancerMay 13 2019In this paper, a tractable methodology is proposed to approximate stochastic optimal feedback treatment in the context of mixed immuno-chemo therapy of cancer. The method uses a fixed-point value iteration that approximately solves a stochastic dynamic ... More
Multi-Agent Image Classification via Reinforcement LearningMay 13 2019We investigate a classification problem using multiple mobile agents that are capable of collecting (partial) pose-dependent observations of an unknown environment. The objective is to classify an image (e.g, map of a large area) over a finite time horizon. ... More
Identifying Security-Critical Cyber-Physical Components in Industrial Control SystemsMay 12 2019In recent years, Industrial Control Systems (ICS) have become an appealing target for cyber attacks, having massive destructive consequences. Security metrics are therefore essential to assess their security posture. In this paper, we present a novel ... More
Stochastic String Stability of Vehicle Platoons via Cooperative Adaptive Cruise Control with Lossy CommunicationMay 12 2019This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we propose an original ... More
Formal Synthesis of Stochastic Systems via Control Barrier CertificatesMay 11 2019We study formal synthesis of control policies for discrete-time stochastic control systems against complex temporal properties. Our goal is to synthesize a control policy for the system together with a lower bound on the probability that the system satisfies ... More
Symbolic Monitoring against Specifications Parametric in Time and DataMay 11 2019Monitoring consists in deciding whether a log meets a given specification. In this work, we propose an automata-based formalism to monitor logs in the form of actions associated with time stamps and arbitrarily data values over infinite domains. Our formalism ... More
DeepOPF: Deep Neural Network for DC Optimal Power FlowMay 11 2019We develop DeepOPF as a Deep Neural Network (DNN) approach for solving discrete circuit optimal power flow (DC-OPF) problems. DeepOPF is inspired by the observation that solving DC-OPF for a given power network is equivalent to characterizing a high-dimensional ... More
Influencing Opinions of Heterogeneous Populations over Finite Time HorizonsMay 11 2019In this work, we focus on strategies to influence the opinion dynamics of a well-connected society. We propose a generalization of the popular voter model. This variant of the voter model can capture a wide range of individuals including strong-willed ... More
PAC Statistical Model Checking for Markov Decision Processes and Stochastic GamesMay 10 2019Statistical model checking (SMC) is a technique for analysis of probabilistic systems that may be (partially) unknown. We present an SMC algorithm for (unbounded) reachability yielding probably approximately correct (PAC) guarantees on the results. On ... More
A New Encounter Between Leader-Follower Tracking and Observer-Based Control: Towards Enhancing Robustness against DisturbancesMay 10 2019This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the case when all ... More
Autonomous Locomotion Mode Transition Simulation of a Track-legged Quadruped Robot Step NegotiationMay 10 2019Multi-modal locomotion (e.g. terrestrial, aerial, and aquatic) is gaining increasing interest in robotics research as it improves the robots environmental adaptability, locomotion versatility, and operational flexibility. Within the terrestrial multiple ... More
Signaling equilibria in mean-field gamesMay 10 2019In this paper, we consider both finite and infinite horizon discounted dynamic mean-field games where there is a large population of homogeneous players sequentially making strategic decisions and each player is affected by other players through an aggregate ... More
Massive Autonomous UAV Path Planning: A Neural Network Based Mean-Field Game Theoretic ApproachMay 10 2019This paper investigates the autonomous control of massive unmanned aerial vehicles (UAVs) for mission-critical applications (e.g., dispatching many UAVs from a source to a destination for firefighting). Achieving their fast travel and low motion energy ... More
Computing Probabilistic Controlled Invariant SetsMay 10 2019This paper investigates stochastic invariance for control systems through probabilistic controlled invariant sets (PCISs). As a natural complement to robust controlled invariant sets (RCISs), we propose finite- and infinite-horizon PCISs, and explore ... More
Cloud Control AGV over Rayleigh Fading Channel -- The Faster The BetterMay 10 2019This paper analyzes the stability of the control system of an Autonomous Guided Vehicle (AGV) using a central controller. The control commands are transmitted to an AGV over a Rayleigh fading channel causing potential packet drops. This paper analyzes ... More
Macroscopic Noisy Bounded Confidence Models with Distributed Radical OpinionsMay 10 2019In this article, we study the nonlinear Fokker-Planck (FP) equation that arises as a mean-field (macroscopic, Eulerian) approximation of bounded confidence opinion dynamics, where opinions are influenced by environmental noises and opinions of radicals ... More
Data-driven reference model selection and application to L-DDC designMay 10 2019The choice of a reference model in data-driven control techniques is a critical step. Indeed, it should represent the desired closed-loop performances and be achievable by the plant at the same time. In this paper, we propose a method to build such a ... More
Active Perception and Control from Temporal Logic SpecificationsMay 09 2019Next-generation autonomous systems must execute complex tasks in uncertain environments. Active perception, where an autonomous agent selects actions to increase knowledge about the environment, has gained traction in recent years for motion planning ... More
Block-Online Multi-Channel Speech Enhancement Using DNN-Supported Relative Transfer Function EstimatesMay 09 2019This paper addresses the problem of block-online processing for multi-channel speech enhancement. We consider several variants of a system that performs beamforming supported by DNN-based Voice Activity Detection followed by post-filtering. The speaker ... More
Testing Scenario Library Generation for Connected and Automated Vehicles, Part I: MethodologyMay 09 2019Testing and evaluation is a critical step in the development and deployment of connected and automated vehicles (CAVs), and yet there is no systematic framework to generate testing scenario library. This paper aims to provide a general framework to solve ... More
Prioritized Inverse Kinematics: Nonsmoothness, Trajectory Existence, Task Convergence, StabilityMay 09 2019In this paper, we study various theoretical properties of a class of prioritized inverse kinematics (PIK) solutions that can be considered as a class of (regulation or output tracking) control laws of a dynamical system with prioritized multiple outputs. ... More
Adaptive Guaranteed-Performance Consensus Control for Multiagent Systems With an Adjustable Convergence SpeedMay 09 2019Adaptive guaranteed-performance consensus control problems for multi-agent systems are investigated, where the adjustable convergence speed is discussed. This paper firstly proposes a novel adaptive guaranteed-performance consensus protocol, where the ... More
Evaluating Cascading Effects of Attacks on Resilience of Industrial Control Systems: A Design-Centric Modeling ApproachMay 08 2019A design-centric modeling approach was proposed to model the behavior of the physical process controlled by an Industrial Control System (ICS) and study the cascading effects of data-oriented attacks. A threat model was used as input to guide the construction ... More
Selfish Energy Sharing in Prosumer Communities: A Demand-Side Management ConceptMay 08 2019Global warming is endangering the earth's ecosystem. It is imperative for us to limit green house gas emissions in order to combat rising global average temperatures. One way to move forward is the integration of renewable energy resources on all levels ... More
Bayesian Optimization for Polynomial Time Probabilistically Complete STL Trajectory SynthesisMay 08 2019In recent years, Signal Temporal Logic (STL) has gained traction as a practical and expressive means of encoding control objectives for robotic and cyber-physical systems. The state-of-the-art in STL trajectory synthesis is to formulate the problem as ... More
Memory Augmented Neural Network Adaptive Controllers: Performance and StabilityMay 07 2019In this paper, we propose a novel control architecture, inspired from neuroscience, for adaptive control of continuous-time systems. The proposed architecture, in the setting of standard neural network (NN) based adaptive control, augments an external ... More
A Semismooth Predictor Corrector Method for Suboptimal Model Predictive ControlMay 07 2019Suboptimal model predictive control is a technique that can reduce the computational cost of model predictive control (MPC) by exploiting its robustness to incomplete optimization. Instead of solving the optimal control problem exactly, this method maintains ... More
Optimal Control of Complex Systems through Variational Inference with a Discrete Event Decision ProcessMay 07 2019Complex social systems are composed of interconnected individuals whose interactions result in group behaviors. Optimal control of a real-world complex system has many applications, including road traffic management, epidemic prevention, and information ... More
Reachability analysis of linear hybrid systems via block decompositionMay 07 2019Reachability analysis aims at identifying states reachable by a system within a given time horizon. This task is known to be computationally hard for hybrid systems. One of the main challenges is the handling of discrete transitions, including computation ... More
Superconducting Fault Current Limiter Allocation in Reconfigurable Smart GridsMay 07 2019Superconducting fault current limiters (SFCLs) are new high-precision and fast-response devices which help to reduce the fault current within the breaking capacity of the protective relays. Nevertheless, the reconfigurable structure of the distribution ... More
Can Predictive Filters Detect Gradually Ramping False Data Injection Attacks Against PMUs?May 06 2019Intelligently designed false data injection (FDI) attacks have been shown to be able to bypass the $\chi^2$-test based bad data detector (BDD), resulting in physical consequences (such as line overloads) in the power system. In this paper, it is shown ... More
Online tuning of artificial neural networks using para-model algorithm -- A preliminary studyMay 06 2019In this preliminary work, we explore the possibilities of using a model-free based control law in order to adjust synaptic weights in artificial neural networks. In the supervised learning context, we consider the problem of tuning the weights as a feedback ... More
Are commercially implemented adaptive cruise control systems string stable?May 06 2019In this article, we assess the string stability of seven 2018 model year adaptive cruise control (ACC) equipped vehicles that are widely available in the US market. Seven distinct vehicle models from two different vehicle makes are analyzed using data ... More
A Comparison of LPV Gain Scheduling and Control Contraction Metrics for Nonlinear ControlMay 06 2019Gain-scheduled control based on linear parameter-varying (LPV) models derived from local linearizations is a widespread nonlinear technique for tracking time-varying setpoints. Recently, a nonlinear control scheme based on Control Contraction Metrics ... More
Efficient Inter-Datacenter Bulk Transfers with Mixed Completion Time ObjectivesMay 05 2019Bulk transfers from one to multiple datacenters can have many different completion time objectives ranging from quickly replicating some $k$ copies to minimizing the time by which the last destination receives a full replica. We design an SDN-style wide-area ... More
Lyapunov-Based Boundary Feedback Design For Parabolic PDEsMay 05 2019This paper presents a methodology for the construction of simple Control Lyapunov Functionals (CLFs) for boundary controlled parabolic Partial Differential Equations (PDEs). The proposed methodology provides functionals that contain only simple (and not ... More
Path Planning for Autonomous Bus Driving in Urban EnvironmentsMay 05 2019Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle. These situations become even more challenging when considering large vehicles, such as buses. We present a path planning framework that addresses ... More
On the Controllability of Clustered Scale-Free NetworksMay 05 2019In this paper, we compare the number of unmatched nodes and the size of dilations in two main random network models, the Scale-Free and Clustered Scale-Free networks. The number of unmatched nodes determines the necessary number of control inputs and ... More
An Invariant Set Approach for Optimization on Integrable ManifoldsMay 05 2019May 09 2019Recent results in control systems and numerical integration literature utilize invariant set theory to lift dynamical systems evolving on nonlinear manifolds to those evolving on vector spaces. We leverage this technique to propose an algorithm to solve ... More
An Invariant Set Approach for Optimization on Integrable ManifoldsMay 05 2019Recent results in control systems and numerical integration literature utilize invariant set theory to lift dynamical systems evolving on nonlinear manifolds to those evolving on vector spaces. We leverage this technique to propose an algorithm to solve ... More
Quantum Hamiltonian Identification with Classical Colored Measurement NoiseMay 05 2019In this paper, we present a Hamiltonian identification method for a closed quantum system whose time trace observables are measured with colored measurement noise. The dynamics of the quantum system are described by a Liouville equation which can be converted ... More
HAPD aircraft Uncertain Norm-Bounded Mathematical modelMay 05 2019In this paper an uncertain norm-bounded mathematical model for the UAV High Altitude Performance Demonstrator (HAPD) designed by Italian Aerospace Research Center (CIRA) is carried out. The linear state space description aims to describe the non-linear ... More
A Holomorphic Embedding Based Continuation Method for Identifying Multiple Power Flow SolutionsMay 05 2019In this paper, we propose an efficient continuation method for locating multiple power flow solutions. We adopt the holomorphic embedding technique to represent solution curves as holomorphic functions in the complex plane. The holomorphicity, which provides ... More
Stochastic quantization with Weighted distribution in discrete time for Filtering and ControlMay 04 2019Path integral has been found to be useful as a way to study stochastic processes such as filtering and control. However, it is not clear how to directly define the path integral itself as a probability density for the stochastic processes in the perspective ... More
Satellite Image Tasking Under Orbit Prediction UncertaintyMay 04 2019Small satellites have proven to be viable Earth observation platforms. These satellites operate in regimes of increased trajectory uncertainty where traditional planning approaches can lead to sub-optimal task plans, limiting science return. Previous ... More
A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task ResolutionMay 03 2019Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot's end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When both types ... More
Asymmetric Dual-Arm Task Execution using an Extended Relative JacobianMay 03 2019May 17 2019Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between end-effectors. In this ... More
Asymmetric Dual-Arm Task Execution using an Extended Relative JacobianMay 03 2019Dual-armed coordination is a classical problem in robotics, which gained an added relevance as robots are expected to become more autonomous and deployed outside structured environments. Classical solutions to the coordination problem include leader-follower ... More
Collective Dynamics and Control for Multiple Unmanned Surface VesselsMay 03 2019A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2 meter-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee communication modules. ... More
Vision-based Unscented FastSLAM for Mobile RobotMay 03 2019This paper presents a vision-based Unscented FastSLAM (UFastSLAM) algorithm combing the Rao-Blackwellized particle filter and Unscented Kalman filte(UKF). The landmarks are detected by a binocular vision to integrate localization and mapping. Since such ... More
Secure Integration of Electric Vehicles with the Power GridMay 03 2019This paper focuses on the secure integration of distributed energy resources (DERs), especially pluggable electric vehicles (EVs), with the power grid. We consider the vehicle-to-grid (V2G) system where EVs are connected to the power grid through an aggregator. ... More
Secure Integration of Electric Vehicles with the Power GridMay 03 2019May 11 2019This paper focuses on the secure integration of distributed energy resources (DERs), especially pluggable electric vehicles (EVs), with the power grid. We consider the vehicle-to-grid (V2G) system where EVs are connected to the power grid through an aggregator. ... More
Cooperative Distributed Robust Control of Modular Mobile Robots with Bounded Curvature and VelocityMay 03 2019A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering ... More
A New Hybrid Control Architecture to Attenuate Large Horizontal Wind Disturbance for a Small-Scale Unmanned HelicopterMay 03 2019This paper presents a novel method to attenuate large horizontal wind disturbance for a small-scale unmanned autonomous helicopter combining wind tunnel-based experimental data and a backstepping algorithm. Large horizontal wind disturbance is harmful ... More
Robust Cooperative Formation Control of Fixed-Wing Unmanned Aerial VehiclesMay 03 2019Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is employed to resolve ... More
Robust Cooperative Formation Control of Fixed-Wing Unmanned Aerial VehiclesMay 03 2019May 06 2019Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is employed to resolve ... More
Designing a robust controller for a missile autopilot based on Loop shaping approachMay 02 2019In this paper, a robust autopilot is designed for a missile autopilot, such that the system stability is guaranteed in low altitude and short-range conditions. First, using the v-gap metric, the system is linearzed around the equilibrium point. Then, ... More
A globally exponentially stable position observer for interior permanent magnet synchronous motorsMay 02 2019The design of a position observer for the interior permanent magnet synchronous motor is a challenging problem that, in spite of many research efforts, remained open for a long time. In this paper we present the first globally exponentially convergent ... More
A globally exponentially stable position observer for interior permanent magnet synchronous motorsMay 02 2019May 08 2019The design of a position observer for the interior permanent magnet synchronous motor is a challenging problem that, in spite of many research efforts, remained open for a long time. In this paper we present the first globally exponentially convergent ... More
On the Smoothness of Nonlinear System IdentificationMay 02 2019New light is shed onto optimization problems resulting from prediction error parameter estimation of linear and nonlinear systems. It is shown that the smoothness" of the objective function depends both on the simulation length and on the decay rate of ... More
Personalized Optimization with User's FeedbackMay 02 2019This paper develops an online algorithm to solve a time-varying optimization problem with an objective that comprises a known time-varying cost and an unknown function. This problem structure arises in a number of engineering systems and cyber-physical ... More
Chattering-Free Implementation of Continuous Terminal Algorithm with Implicit Euler MethodMay 02 2019This paper proposes an efficient implementation for a continuous terminal algorithm (CTA). Although CTA is a continuous version of the famous twisting algorithm (TA), the conventional implementations of this CTA still suffer from chattering, especially ... More
Adaptive Intelligent Secondary Control of Microgrids Using a Biologically-Inspired Reinforcement LearningMay 02 2019In this paper, a biologically-inspired adaptive intelligent secondary controller is developed for microgrids to tackle system dynamics uncertainties, faults, and/or disturbances. The developed adaptive biologically-inspired controller adopts a novel computational ... More
An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown EnvironmentsMay 01 2019Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles. Current safety ... More
A Modular Framework for Motion Planning using Safe-by-Design Motion PrimitivesMay 01 2019We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on allowable sequences ... More
Dynamic Prediction of Origin-Destination Flows Using Fusion Line Graph Convolutional NetworksMay 01 2019Modern intelligent transportation systems provide data that allow real-time demand prediction, which is essential for planning and operations. The main challenge of prediction of Origin-Destination (O-D) flow matrices is that demands cannot be directly ... More
Spacecraft Attitude Control with Nonconvex Constraints: An Explicit Reference Governor ApproachMay 01 2019This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system dynamics whereas ... More
Privacy of Agents' Costs in Peer-to-Peer Distributed OptimizationMay 01 2019In this paper, we propose a protocol that preserves (statistical) privacy of agents' costs in peer-to-peer distributed optimization against a passive adversary that corrupts certain number of agents in the network. The proposed protocol guarantees privacy ... More
Robust simultaneous stabilization and decoupling of unstable adversely coupled uncertain resource constraints plants of a nano air vehicleMay 01 2019In this paper, we address the problem of simultaneous stabilization with desired decoupling, robustness, and performance for a finite collection of unstable multi-input-multi-output adversely coupled uncertain plants with resource constraints. For this ... More
Exponential Stability of Primal-Dual Gradient Dynamics with Non-Strong ConvexityMay 01 2019This paper studies the exponential stability of primal-dual gradient dynamics (PDGD) for solving convex optimization problems where constraints are in the form of Ax+By= d and the objective is min f(x)+g(y) with strongly convex smooth f but only convex ... More
Robust and structure exploiting optimization algorithms: An integral quadratic constraint approachMay 01 2019We consider the problem of analyzing and designing gradient-based discrete-time optimization algorithms for a class of unconstrained optimization problems having strongly convex objective functions with Lipschitz continuous gradient. By formulating the ... More
Optimal Storage Arbitrage under Net Metering using Linear ProgrammingMay 01 2019We formulate the optimal energy arbitrage problem for a piecewise linear cost function for energy storage devices using linear programming (LP). The LP formulation is based on the equivalent minimization of the epigraph. This formulation considers ramping ... More
On the Interaction between Autonomous Mobility on Demand Systems and Power Distribution Networks -- An Optimal Power Flow ApproachMay 01 2019In future transportation systems, the charging behavior of electric Autonomous Mobility on Demand (AMoD) fleets, i.e., fleets of self-driving cars that service on-demand trip requests, will likely challenge power distribution networks (PDNs), causing ... More
A Probabilistic Approach for Demand-Aware Ride-Sharing OptimizationApr 30 2019May 05 2019Ride-sharing is a modern urban-mobility paradigm with tremendous potential in reducing congestion and pollution. Demand-aware design is a promising avenue for addressing a critical challenge in ride-sharing systems, namely joint optimization of request-vehicle ... More
A Probabilistic Approach for Demand-Aware Ride-Sharing OptimizationApr 30 2019Ride-sharing is a modern urban-mobility paradigm with tremendous potential in reducing congestion and pollution. Demand-aware design is a promising avenue for addressing a critical challenge in ride-sharing systems, namely joint optimization of request-vehicle ... More
A novel geometrically inspired polynomial kernel for robot inverse dynamicsApr 30 2019In this paper we introduce a novel data driven inverse dynamics estimator based on Gaussian Process Regression. Driven by the fact that the inverse dynamics can be described as a polynomial function on a suitable input space, we propose the use of a polynomial ... More
Distributed Algorithm for Economic Dispatch Problem with Separable LossesApr 30 2019Economic dispatch problem for a networked power system has been considered. The objective is to minimize the total generation cost while meeting the overall supply-demand balance and generation capacity. In particular, a more practical scenario has been ... More
Resilient UAV Traffic Congestion Control using Fluid Queuing ModelsApr 29 2019In this paper, we address the issue of congestion in future Unmanned Aerial Vehicle (UAVs) traffic system in uncertain weather. We treat the traffic of UAVs as fluid queues, and introduce models for traffic dynamics at three basic traffic components: ... More