3 citations · 13 across the 21 of their papers we have counts for
24 papers
Digital Guardians: The Past and The Future of Cyber-Physical Resilience
Saurabh Bagchi, Hyunseung Kim, Tarek Abdelzaher +20
Resilience in cyber-physical systems (CPS) is the fundamental ability to maintain safety and critical functionality despite adverse "perturbations," which includes security attacks…
Optimal Interval Observers for Bounded Jacobian Nonlinear Dynamical Systems
Mohammad Khajenejad, Tarun Pati, Sze Zheng Yong
In this chapter, we introduce two interval observer designs for discrete-time (DT) and continuous-time (CT) nonlinear systems with bounded Jacobians that are affected by bounded un…
Data-Driven Model Discrimination of Switched Nonlinear Systems with Temporal Logic Inference
Zeyuan Jin, Nasim Baharisangari, Zhe Xu +1
This paper addresses the problem of data-driven model discrimination for unknown switched systems with unknown linear temporal logic (LTL) specifications, representing tasks, that…
-optimal Interval Observer Synthesis for Uncertain Nonlinear Dynamical Systems via Mixed-Monotone Decompositions
Mohammad Khajenejad, Sze Zheng Yong
This paper introduces a novel -optimal interval observer synthesis for bounded-error/uncertain locally Lipschitz nonlinear continuous-time (CT) and discrete-t…
Interval Observer Synthesis for Locally Lipschitz Nonlinear Dynamical Systems via Mixed-Monotone Decompositions
Mohammad Khajenejad, Fatima Shoaib, Sze Zheng Yong
This paper proposes a novel unified interval-valued observer synthesis approach for locally Lipschitz nonlinear continuous-time (CT) and discrete-time (DT) systems with nonlinear o…
Resilient Interval Observer for Simultaneous Estimation of States, Modes and Attack Policies
Mohammad Khajenejad, Zeyuan Jin, Sze Zheng Yong
This paper considers the problem of designing interval observers for hidden mode switched nonlinear systems with bounded noise signals that are compromised by false data injection…
Guaranteed State Estimation via Indirect Polytopic Set Computation for Nonlinear Discrete-Time Systems
Mohammad Khajenejad, Fatima Shoaib, Sze Zheng Yong
This paper proposes novel set-theoretic approaches for state estimation in bounded-error discrete-time nonlinear systems, subject to nonlinear observations/constraints. By transfor…
Simultaneous Mode, State and Input Set-Valued Observers for Switched Nonlinear Systems
Mohammad Khajenejad, Sze Zheng Yong
In this paper, we study the problem of designing a simultaneous mode, input, and state set-valued observer for a class of hidden mode switched nonlinear systems with bounded-norm n…
Equalized Recovery State Estimators for Linear Systems with Delayed and Missing Observations
Syed M. Hassaan, Qiang Shen, Sze Zheng Yong
This paper presents a dynamic state observer design for discrete-time linear time-varying systems that robustly achieves equalized recovery despite delayed or missing observations,…
Tractable Compositions of Discrete-Time Control Barrier Functions with Application to Lane Keeping and Obstacle Avoidance
Matthew Cavorsi, Mohammad Khajenejad, Ruochen Niu +2
This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. Moreover, we…
Incremental Affine Abstraction of Nonlinear Systems
Syed M. Hassaan, Mohammad Khajenejad, Spencer Jensen +2
In this paper, we propose an incremental abstraction method for dynamically over-approximating nonlinear systems in a bounded domain by solving a sequence of linear programs, resul…
Interval Observers for Simultaneous State and Model Estimation of Partially Known Nonlinear Systems
Mohammad Khajenejad, Zeyuan Jin, Sze Zheng Yong
We study the problem of designing interval-valued observers that simultaneously estimate the system state and learn an unknown dynamic model for partially unknown nonlinear systems…
Simultaneous Input and State Interval Observers for Nonlinear Systems with Rank-Deficient Direct Feedthrough
Mohammad Khajenejad, Sze Zheng Yong
We address the problem of designing simultaneous input and state interval observers for Lipschitz continuous nonlinear systems with rank-deficient feedthrough, unknown inputs and b…
Data-Driven Model Invalidation for Unknown Lipschitz Continuous Systems via Abstraction
Zeyuan Jin, Mohammad Khajenejad, Sze Zheng Yong
In this paper, we consider the data-driven model invalidation problem for Lipschitz continuous systems, where instead of given mathematical models, only prior noisy sampled data of…
Simultaneous Input and State Interval Observers for Nonlinear Systems with Full-Rank Direct Feedthrough
Mohammad Khajenejad, Sze Zheng Yong
A simultaneous input and state interval observer is presented for Lipschitz continuous nonlinear systems with unknown inputs and bounded noise signals for the case when the direct…
Simultaneous Mode, Input and State Set-Valued Observers with Applications to Resilient Estimation Against Sparse Attacks
Mohammad Khajenejad, Sze Zheng Yong
A simultaneous mode, input and state set-valued observer is proposed for hidden mode switched linear systems with bounded-norm noise and unknown input signals. The observer consist…
Simultaneous input and state set-valued \mathcal{H}_{\infty}-observers for linear parameter-varying systems
Mohammad Khajenejad, Sze Zheng Yong
A fixed-order set-valued observer is presented for linear parameter-varying systems with bounded-norm noise and under completely unknown attack signals, which simultaneously finds…
Mesh-Based Affine Abstraction of Nonlinear Systems with Tighter Bounds
Kanishka Raj Singh, Qiang Shen, Sze Zheng Yong
In this paper, we consider the problem of piecewise affine abstraction of nonlinear systems, i.e., the overapproximation of its nonlinear dynamics by a pair of piecewise affine fun…
Switching and Data Injection Attacks on Stochastic Cyber-Physical Systems: Modeling, Resilient Estimation and Attack Mitigation
Sze Zheng Yong, Minghui Zhu, Emilio Frazzoli
In this paper, we consider the problem of attack-resilient state estimation, that is to reliably estimate the true system states despite two classes of attacks: (i) attacks on the…
Set-Point Regulation of Linear Continuous-Time Systems using Neuromorphic Vision Sensors
Prince Singh, Sze Zheng Yong, Emilio Frazzoli
Recently developed neuromorphic vision sensors have become promising candidates for agile and autonomous robotic applications primarily due to, in particular, their high temporal r…
Simultaneous Mode, Input and State Estimation for Switched Linear Stochastic Systems
Sze Zheng Yong, Minghui Zhu, Emilio Frazzoli
In this paper, we propose a filtering algorithm for simultaneously estimating the mode, input and state of hidden mode switched linear stochastic systems with unknown inputs. Using…
A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles
Brian Paden, Michal Cap, Sze Zheng Yong +2
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportat…
On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints
Ricardo G. Sanfelice, Sze Zheng Yong, Emilio Frazzoli
We consider the problem of a particle traveling from an initial configuration to a final configuration (given by a point in the plane along with a prescribed velocity vector) in mi…
A Unified Filter for Simultaneous Input and State Estimation of Linear Discrete-time Stochastic Systems
Sze Zheng Yong, Minghui Zhu, Emilio Frazzoli
In this paper, we present a unified optimal and exponentially stable filter for linear discrete-time stochastic systems that simultaneously estimates the states and unknown inputs…