7 papers · 1 filter
Invariance is Compositional for Continuous-time Systems: From Sleekness to Lebesgue Density
Othman Cherkaoui Dekkaki, Sadek Belamfedel Alaoui, Olayo Reynaud +3
This work establishes the first bidirectional compositional invariance result: robust forward invariance of a global Cartesian product set is shown to be equivalent to robust forwa…
Safety by Invariance, Liveness through Refinement: Heterogeneous Contract Framework for Co-Design of Layered Control
Yoshinari Takayama, Alessio Iovine, Bart Besselink +2
Real-world control systems must achieve long-horizon objectives (liveness) while respecting continuous-time safety constraints, a combination that motivates hierarchical layered co…
Network-Realised Model Predictive Control Part II: Distributed Constraint Management
Andrei Sperilă, Alessio Iovine, Sorin Olaru +1
A two-layer control architecture is proposed, which promotes scalable implementations for model predictive controllers. The top layer acts as both a reference governor for the bott…
Network-Realised Model Predictive Control Part I: NRF-Enabled Closed-loop Decomposition
Andrei Sperilă, Alessio Iovine, Sorin Olaru +1
A two-layer control architecture is proposed to enable scalable implementations for constraint-based decision strategies, such as model predictive controllers. The bottom layer is…
String Stability of a Vehicular Platoon with the use of Macroscopic Information
Marco Mirabilio, Alessio Iovine, Elena De Santis +2
We investigate the possibility to use macroscopic information to improve control performance of a vehicular platoon composed of autonomous vehicles. A general mesoscopic traffic mo…
On the utilization of Macroscopic Information for String Stability of a Vehicular Platoon
Marco Mirabilio, Alessio Iovine, Elena De Santis +2
The use of macroscopic information for the control of a vehicular platoon composed of autonomous vehicles is investigated. A mesoscopic control law is provided, and String Stabilit…
Safe Human-Inspired Mesoscopic Hybrid Automaton for Autonomous Vehicles
Alessio Iovine, Francesco Valentini, Elena De Santis +2
In this paper a mesoscopic hybrid model, i.e. a microscopic hybrid model that takes into account macroscopic parameters, is introduced for designing a human-inspired Adaptive Cruis…