38 citations · 143 across the 42 of their papers we have counts for
46 papers
Contouring Error Bounded Control for Biaxial Switched Linear Systems
Meng Yuan, Ye Wang, Chris Manzie +2
Biaxial motion control systems are used extensively in manufacturing and printing industries. To improve throughput and reduce machine cost, lightweight materials are being propose…
A Control Barrier Function Composition Approach for Multi-Agent Systems in Marine Applications
Yujia Yang, Chris Manzie, Ye Pu
The agents within a multi-agent system (MAS) operating in marine environments often need to utilize task payloads and avoid collisions in coordination, necessitating adherence to a…
A Hamilton-Jacobi-Bellman Approach to Ellipsoidal Approximations of Reachable Sets for Linear Time-Varying Systems
Vincent Liu, Chris Manzie, Peter M. Dower
Reachable sets for a dynamical system describe collections of system states that can be reached in finite time, subject to system dynamics. They can be used to guarantee goal satis…
Stochastic Co-design of Storage and Control for Water Distribution Systems
Ye Wang, Erik Weyer, Chris Manzie +2
Water distribution systems (WDSs) are typically designed with a conservative estimate of the ability of a control system to utilize the available infrastructure. The controller is…
Auction algorithm sensitivity for multi-robot task allocation
Katie Clinch, Tony A. Wood, Chris Manzie
We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this soluti…
Collaborative Bearing Estimation Using Set Membership Methods
Mohammad Zamani, Jochen Trumpf, Chris Manzie
We consider the problem of collaborative bearing estimation using a method with historic roots in set theoretic estimation techniques. We refer to this method as the Convex Combina…
Sub-Optimal Moving Horizon Estimation in Feedback Control of Linear Constrained Systems
Yujia Yang, Chris Manzie, Ye Pu
Moving horizon estimation (MHE) offers benefits relative to other estimation approaches by its ability to explicitly handle constraints, but suffers increased computation cost. To…
Asynchronous Event-Triggered Control for Non-Linear Systems
Daniel A. Williams, Airlie Chapman, Chris Manzie
With the increasing ubiquity of networked control systems, various strategies for sampling constituent subsystems' outputs have emerged. In contrast with periodic sampling, event-t…
Lazy Probabilistic Roadmaps Revisited
Miquel Ramirez, Daniel Selvaratnam, Chris Manzie
This paper describes a revision of the classic Lazy Probabilistic Roadmaps algorithm (Lazy PRM), that results from pairing PRM and a novel Branch-and-Cut (BC) algorithm. Cuts are d…
Real-Time Distributed Model Predictive Control with Limited Communication Data Rates
Yujia Yang, Ye Wang, Chris Manzie +1
The application of distributed model predictive controllers (DMPC) for multi-agent systems (MASs) necessitates communication between agents, yet the consequence of communication da…
Explicit Time-Optimal Speed Profiles for Planar Paths with Monotone Curvature
Daniel Selvaratnam, Michael Cantoni, Chris Manzie
Minimum-time speed profiles are constructed for planar paths with smooth strictly-monotonic signed curvature, subject to constraints on velocity, normal acceleration and tangential…
Data-driven Predictive Tracking Control based on Koopman Operators
Ye Wang, Yujia Yang, Ye Pu +1
Constraint handling during tracking operations is at the core of many real-world control implementations and is well understood when dynamic models of the underlying system exist,…
Individual and Team Trust Preferences for Robotic Swarm Behaviors
Elena M Vella, Daniel A Williams, Airlie Chapman +1
Trust between humans and multi-agent robotic swarms may be analyzed using human preferences. These preferences are expressed by an individual as a sequence of ordered comparisons b…
Probabilistic Data Association for Semantic SLAM at Scale
Elad Michael, Tyler Summers, Tony A. Wood +2
With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Pre…
Gradient Free Cooperative Seeking of a Moving Source
Elad Michael, Chris Manzie, Tony A. Wood +2
In this paper, we consider the optimisation of a time varying scalar field by a network of agents with no gradient information. We propose a composite control law, blending extremu…
Zeroth-order optimisation on subsets of symmetric matrices with application to MPC tuning
Alejandro I. Maass, Chris Manzie, Iman Shames +1
This paper provides a zeroth-order optimisation framework for non-smooth and possibly non-convex cost functions with matrix parameters that are real and symmetric. We provide compl…
Temporal Logic Planning for Minimum-Time Positioning of Multiple Threat-Seduction Decoys
Tony A. Wood, Mitchell Khoo, Elad Michael +2
Reusable decoys offer a cost-effective alternative to the single-use hardware commonly applied to protect surface assets from threats. Such decoys portray fake assets to lure threa…
Ordinal Optimisation and the Offline Multiple Noisy Secretary Problem
Robert Chin, Jonathan E. Rowe, Iman Shames +2
We study the success probability for a variant of the secretary problem, with noisy observations and multiple offline selection. Our formulation emulates, and is motivated by, prob…
Sensitivity Analysis for Bottleneck Assignment Problems
Elad Michael, Tony A. Wood, Chris Manzie +1
In assignment problems, decision makers are often interested in not only the optimal assignment, but also the sensitivity of the optimal assignment to perturbations in the assignme…
A Sequential Learning Algorithm for Probabilistically Robust Controller Tuning
Robert Chin, Chris Manzie, Iman Shames +2
We introduce a sequential learning algorithm to address a robust controller tuning problem, which in effect, finds (with high probability) a candidate solution satisfying the inter…
Real-time Distributed MPC for Multiple Underwater Vehicles with Limited Communication Data-rates
Yujia Yang, Ye Wang, Chris Manzie +1
Controlling a fleet of autonomous underwater vehicles can be challenging due to low bandwidth communication between agents. This paper proposes to address this challenge by optimiz…
A Distributed Augmenting Path Approach for the Bottleneck Assignment Problem
Mitchell Khoo, Tony A. Wood, Chris Manzie +1
We develop an algorithm to solve the Bottleneck Assignment Problem (BAP) that is amenable to having computation distributed over a network of agents. This consists of exploring how…
Minimizing Pumping Energy Cost in Real-time Operations of Water Distribution Systems using Economic Model Predictive Control
Ye Wang, Kevin Too Yok, Wenyan Wu +3
Optimizing pump operations is a challenging task for real-time management of water distribution systems (WDSs). With suitable pump scheduling, pumping costs can be significantly re…
Tracking and regret bounds for online zeroth-order Euclidean and Riemannian optimisation
Alejandro I. Maass, Chris Manzie, Dragan Nesic +2
We study numerical optimisation algorithms that use zeroth-order information to minimise time-varying geodesically-convex cost functions on Riemannian manifolds. In the Euclidean s…