37 citations · 151 across the 85 of their papers we have counts for
23 papers · 1 filter
Computationally Constrained First-Order Prediction-Correction Approach for Time-Varying Convex Optimization
Negin Musavi, Oscar Jed R. Chuy, Melkior Ornik +1
Time-varying optimization methods often predict the locations of time-varying optima, then sample the objective function being minimized, and then compute corrections to those pred…
Physics-Informed Koopman Learning for Data-Efficient System Identification of Automated Vehicle Dynamics
Hangyu Li, Yiming Meng, Zhaohui Liang +8
Understanding how a particular automated vehicle reacts to nearby traffic can improve motion prediction, control development, traffic simulation, and safety evaluation. However, co…
Dynamic Regret in Time-varying MDPs with Intermittent Information
Negin Musavi, Melkior Ornik
We study sequential decision-making in time-varying Markov decision processes (TVMDPs) under limited update rates, where the decision-maker observes the system and updates its mode…
Input Matrix Optimization for Desired Reachable Set Warping of Linear Systems
Hrishav Das, Melkior Ornik
Shaping the reachable set of a dynamical system is a fundamental challenge in control design, with direct implications for both performance and safety. This paper considers the pro…
Energetic Resilience under Temporal Logic Specifications
Ratnangshu Das, Ram Padmanabhan, Melkior Ornik +1
In environments with uncertainties or undesirable influences, control systems can require additional energy to achieve their task while remaining resilient to these influences. In…
Resource-Constrained Shortest Path with Polytopic Reset Sets
Khaled Surur, Melkior Ornik
This paper investigates the problem of computing the shortest path between two states under resource constraints in environments with resource-replenishment regions. Namely, the le…
Lexicographic Multi-Objective Stochastic Shortest Path with Mixed Max-Sum Costs
Zhiquan Zhang, Omar Muhammetkulyyev, Tichakorn Wongpiromsarn +1
We study the Stochastic Shortest Path (SSP) problem for autonomous systems with mixed max-sum cost aggregations under Linear Temporal Logic constraints. Classical SSP formulations…
Intervention Strategies for Fairness and Efficiency at Autonomous Single-Intersection Traffic Flows
Salman Ghori, Ania Adil, Melkior Ornik +1
Intersections present significant challenges in traffic management, where ensuring safety and efficiency is essential for effective flow. However, these goals are often achieved at…
Analysis of the Unscented Transform Controller for Systems with Bounded Nonlinearities
Siddharth A. Dinkar, Ram Padmanabhan, Anna Clarke +2
In this paper, we present an analysis of the Unscented Transform Controller (UTC), a technique to control nonlinear systems motivated as a dual to the Unscented Kalman Filter (UKF)…
Sum-of-Squares Data-driven Robustly Stabilizing and Contracting Controller Synthesis for Polynomial Nonlinear Systems
Hamza El-Kebir, Melkior Ornik
This work presents a computationally efficient approach to data-driven robust contracting controller synthesis for polynomial control-affine systems based on a sum-of-squares progr…
How Much Reserve Fuel: Quantifying the Maximal Energy Cost of System Disturbances
Ram Padmanabhan, Craig Bakker, Siddharth Abhijit Dinkar +1
Motivated by the design question of additional fuel needed to complete a task in an uncertain environment, this paper introduces metrics to quantify the maximal additional energy u…
Guaranteed Reachability on Riemannian Manifolds for Unknown Nonlinear Systems
Taha Shafa, Melkior Ornik
Determining the reachable set for a given nonlinear system is critically important for autonomous trajectory planning for reach-avoid applications and safety critical scenarios. Pr…
Viability under Degraded Control Authority
Hamza El-Kebir, Richard Berlin, Joseph Bentsman +1
In this work, we solve the problem of quantifying and mitigating control authority degradation in real time. Here, our target systems are controlled nonlinear affine-in-control evo…
Identifying Single-Input Linear System Dynamics from Reachable Sets
Taha Shafa, Roy Dong, Melkior Ornik
This paper is concerned with identifying linear system dynamics without the knowledge of individual system trajectories, but from the knowledge of the system's reachable sets obser…
Losing Control of your Network? Try Resilience Theory
Jean-Baptiste Bouvier, Sai Pushpak Nandanoori, Melkior Ornik
Resilience of cyber-physical networks to unexpected failures is a critical need widely recognized across domains. For instance, power grids, telecommunication networks, transportat…
Delayed resilient trajectory tracking after partial loss of control authority over actuators
Jean-Baptiste Bouvier, Himmat Panag, Robyn Woollands +1
After the loss of control authority over thrusters of the Nauka module, the International Space Station lost attitude control for 45 minutes with potentially disastrous consequence…
Resilience of Linear Systems to Partial Loss of Control Authority
Jean-Baptiste Bouvier, Melkior Ornik
After a loss of control authority over thrusters of the Nauka module, the International Space Station lost attitude control for 45 minutes with potentially disastrous consequences.…
Distributed Transient Safety Verification via Robust Control Invariant Sets: A Microgrid Application
Jean-Baptiste Bouvier, Sai Pushpak Nandanoori, Melkior Ornik +1
Modern safety-critical energy infrastructures are increasingly operated in a hierarchical and modular control framework which allows for limited data exchange between the modules.…
Quantitative Resilience of Linear Systems
Jean-Baptiste Bouvier, Melkior Ornik
Actuator malfunctions may have disastrous consequences for systems not designed to mitigate them. We focus on the loss of control authority over actuators, where some actuators are…
Quantitative Resilience of Generalized Integrators
Jean-Baptiste Bouvier, Kathleen Xu, Melkior Ornik
To design critical systems engineers must be able to prove that their system can continue with its mission even after losing control authority over some of its actuators. Such a ma…
Quantitative Resilience of Linear Driftless Systems
Jean-Baptiste Bouvier, Kathleen Xu, Melkior Ornik
This paper introduces the notion of quantitative resilience of a control system. Following prior work, we study systems enduring a loss of control authority over some of their actu…
Designing Resilient Linear Driftless Systems
Jean-Baptiste Bouvier, Melkior Ornik
Critical systems must be designed resilient to all kinds of malfunctions. We are especially interested by the loss of control authority over actuators. This malfunction considers a…
Robust Myopic Control for Systems with Imperfect Observations
Dantong Ge, Melkior Ornik, Ufuk Topcu
Control of systems operating in unexplored environments is challenging due to lack of complete model knowledge. Additionally, under measurement noises, data collected from onboard…