15 citations · 33 across the 26 of their papers we have counts for
27 papers
Optimal Sensor Placement for Output Estimation Using an Artificial Bee Colony Algorithm with Pre-filter
R. P. P. F. Goetz, Y. Dwaraga, N. van de Wouw +4
Sensor placement for maximizing the estimation performance of the Kalman filter is an NP-hard optimization problem. Furthermore, its feasible set grows combinatorially with the can…
Confidentiality of Linear Control Systems with Quadratic Output Under Sensor Attacks [Extended Version]
Zeyad M. Manaa, Nathan van de Wouw, Michelle S. Chong
We study the state estimation problem for linear control systems with quadratic outputs which are locally unobservable at the equilibrium. We show that, despite this inherent lack…
Improving Cooperative Adaptive Cruise Control Robustness to Parametric Uncertainty via Plant Equivalent Controller Realizations
Mischa Huisman, Thomas Arnold, Erjen Lefeber +2
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feed…
Plant Equivalent Controller Realizations for Attack-Resilient Cyber-Physical Systems
Mischa Huisman, Erjen Lefeber, Nathan van de Wouw +1
As cyber-physical systems (CPSs) become more dependent on data and communication networks, their vulnerability to false data injection (FDI) attacks has raised significant concerns…
Convergence of a continuous Galerkin method for the Biot-Allard poroelasticity system
Jakob S. Stokke, Markus Bause, Florin A. Radu
We study a space-time finite element method for a system of poromechanics with memory effects that are modeled by a convolution integral. In the literature, the system is referred…
Generalizing Reduced Rank Extrapolation to Low-Rank Matrix Sequences
Pascal den Boef, Patrick Kürschner, Xiaobo Liu +5
Reduced rank extrapolation (RRE) is an acceleration method typically used to accelerate the iterative solution of nonlinear systems of equations using a fixed-point process. In thi…
Stable Sparse Operator Inference for Nonlinear Structural Dynamics
Pascal den Boef, Diana Manvelyan, Joseph Maubach +2
Structural dynamics models with nonlinear stiffness appear, for example, when analyzing systems with nonlinear material behavior or undergoing large deformations. For complex syste…
Fast Collision Probability Estimation for Automated Driving using Multi-circular Shape Approximations
Leon Tolksdorf, Christian Birkner, Arturo Tejada +1
Many state-of-the-art methods for safety assessment and motion planning for automated driving require estimation of the probability of collision (POC). To estimate the POC, a shape…
Optimal Controller Realizations against False Data Injections in Cooperative Driving
Mischa Huisman, Carlos Murguia, Erjen Lefeber +1
To enhance the robustness of cooperative driving to cyberattacks, we study a controller-oriented approach to mitigate the effect of a class of False-Data Injection (FDI) attacks. B…
Privacy in Cloud Computing through Immersion-based Coding
Haleh Hayati, Nathan van de Wouw, Carlos Murguia
Cloud computing enables users to process and store data remotely on high-performance computers and servers by sharing data over the Internet. However, transferring data to clouds c…
Stochastic Optimization of Large-Scale Parametrized Dynamical Systems
Pascal Den Boef, Jos Maubach, Wil Schilders +1
Many relevant problems in the area of systems and control, such as controller synthesis, observer design and model reduction, can be viewed as optimization problems involving dynam…
Overcoming the Fear of the Dark: Occlusion-Aware Model-Predictive Planning for Automated Vehicles Using Risk Fields
Chris van der Ploeg, Truls Nyberg, José Manuel Gaspar Sánchez +2
As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS)…
Risk in Stochastic and Robust Model Predictive Path-Following Control for Vehicular Motion Planning
Leon Tolksdorf, Arturo Tejada, Nathan van de Wouw +1
In automated driving, risk describes potential harm to passengers of an autonomous vehicle (AV) and other road users. Recent studies suggest that human-like driving behavior emerge…
Adaptive Headway Motion Control and Motion Prediction for Safe Unicycle Motion Design
Aykut İşleyen, Nathan van de Wouw, Ömür Arslan
Differential drive robots that can be modeled as a kinematic unicycle are a standard mobile base platform for many service and logistics robots. Safe and smooth autonomous motion a…
Unified Behavioral Data-Driven Performance Analysis: A Generalized Plant Approach
L. M. Spin, C. Verhoek, W. P. M. H. Heemels +2
In this paper, we present a novel approach to combine data-driven non-parametric representations with model-based representations of dynamical systems. Based on a data-driven form…
Impact Sensitivity Analysis of Cooperative Adaptive Cruise Control Against Resource-Limited Adversaries
Mischa Huisman, Carlos Murguia, Erjen Lefeber +1
Cooperative Adaptive Cruise Control (CACC) is a technology that allows groups of vehicles to form in automated, tightly-coupled platoons. CACC schemes exploit Vehicle-to-Vehicle (V…
Infinite Horizon Privacy in Networked Control Systems: Utility/Privacy Tradeoffs and Design Tools
Haleh Hayati, Nathan van de Wouw, Carlos Murguia
We address the problem of synthesizing distorting mechanisms that maximize infinite horizon privacy for Networked Control Systems (NCSs). We consider stochastic LTI systems where i…
Dual Arm Impact-Aware Grasping through Time-Invariant Reference Spreading Control
Jari J. van Steen, Abdullah Coşgun, Nathan van de Wouw +1
With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapid…
Privacy-Preserving Anomaly Detection in Stochastic Dynamical Systems: Synthesis of Optimal Gaussian Mechanisms
Haleh Hayati, Carlos Murguia, Nathan van de Wouw
We present a framework for designing distorting mechanisms that allow remotely operating anomaly detectors while preserving privacy. We consider the problem setting in which a remo…
Feedback Motion Prediction for Safe Unicycle Robot Navigation
Aykut İşleyen, Nathan van de Wouw, Ömür Arslan
As a simple and robust mobile robot base, differential drive robots that can be modelled as a kinematic unicycle find significant applications in logistics and service robotics in…
Robot Control for Simultaneous Impact Tasks through Time-Invariant Reference Spreading
Jari J. van Steen, Nathan van de Wouw, Alessandro Saccon
With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally…
Privacy-Preserving Federated Learning via System Immersion and Random Matrix Encryption
Haleh Hayati, Carlos Murguia, Nathan van de Wouw
Federated learning (FL) has emerged as a privacy solution for collaborative distributed learning where clients train AI models directly on their devices instead of sharing their da…
Gaussian Mechanisms Against Statistical Inference: Synthesis Tools
Haleh Hayati, Carlos Murguia, Nathan van de Wouw
In this manuscript, we provide a set of tools (in terms of semidefinite programs) to synthesize Gaussian mechanisms to maximize privacy of databases. Information about the database…
Robot control for simultaneous impact tasks via Quadratic Programming-based reference spreading
Jari J. van Steen, Nathan van de Wouw, Alessandro Saccon
With the aim of further enabling the exploitation of impacts in robotic manipulation, a control framework is presented that directly tackles the challenges posed by tracking contro…