12 papers
A Prototyping Framework for Distributed Control of Multi-Robot Systems
Junaid Ahmed Memon, Allan Andre Do Nascimento, Kostas Margellos +1
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. U…
Efficient Quantification of Time-Series Prediction Error: Optimal Selection Conformal Prediction
Boyu Pang, Kostas Margellos
Designing effective score functions in Conformal Prediction (CP) for time-series data remains challenging due to conservativeness and/or computational inefficiency. We propose Opti…
Finite sample learning of moving targets
Nikolaus Vertovec, Kostas Margellos, Maria Prandini
We consider a moving target that we seek to learn from samples. Our results extend randomized techniques developed in control and optimization for a constant target to the case whe…
Model Predictive Control with Multiple Constraint Horizons
Allan Andre do Nascimento, Han Wang, Antonis Papachristodoulou +1
In this work we propose a Model Predictive Control (MPC) formulation that splits constraints in two different types. Motivated by safety considerations, the first type of constrain…
Data-Driven Performance Guarantees for Parametric Optimization Problems
Jingyi Huang, Paul Goulart, Kostas Margellos
We propose a data-driven method to establish probabilistic performance guarantees for parametric optimization problems solved via iterative algorithms. Our approach addresses two k…
Data-Driven Certificate Synthesis
Luke Rickard, Alessandro Abate, Kostas Margellos
We investigate the problem of verifying different properties of discrete time dynamical systems, namely, reachability, safety and reach-while-avoid. To achieve this, we adopt a dat…