7 papers
Distributed Nonconvex Optimization with Exponential Convergence Rate via Hybrid Systems Methods
Katherine R. Hendrickson, Dawn M. Hustig-Schultz, Matthew T. Hale +1
We present a hybrid systems framework for distributed multi-agent optimization in which agents execute computations in continuous time and communicate in discrete time. The optimiz…
Robust Hybrid Finite-Time Parameter Estimation Without Persistence of Excitation
Adnane Saoud, Ryan S. Johnson, Ricardo G. Sanfelice
In this paper, we consider the problem of estimating parameters of a linear regression model. Using a hybrid systems framework, a hybrid algorithm is proposed allowing the estimate…
Autonomous Satellite Rendezvous via Hybrid Feedback Optimization
Oscar Jed R. Chuy, Matthew T. Hale, Vignesh Sivaramakrishnan +2
As satellites have proliferated, interest has increased in autonomous rendezvous, proximity operations, and docking (ARPOD). A fundamental challenge in these tasks is the uncertain…
Two-Player Zero-Sum Hybrid Games
Santiago J. Leudo, Ricardo G. Sanfelice
In this paper, we formulate a two-player zero-sum game under dynamic constraints defined by hybrid dynamical equations. The game consists of a min-max problem involving a cost func…
HyRRT-Connect: Bidirectional Motion Planning for Hybrid Dynamical Systems
Nan Wang, Ricardo G. Sanfelice
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Con…
Control Barrier Function based Attack-Recovery with Provable Guarantees
Kunal Garg, Ricardo G. Sanfelice, Alvaro A. Cardenas
This paper studies provable security guarantees for cyber-physical systems (CPS) under actuator attacks. In particular, we consider CPS safety and propose a new attack detection me…