59 citations · 364 across the 71 of their papers we have counts for
24 papers · 1 filter
Safe Collective Control under Noisy Inputs and Competing Constraints via Non-Smooth Barrier Functions
Clinton Enwerem, John S. Baras
We consider the problem of safely coordinating ensembles of identical autonomous agents to conduct complex missions with conflicting safety requirements and under noisy control inp…
Risk-Sensitive Inhibitory Control for Safe Reinforcement Learning
Armin Lederer, Erfaun Noorani, John S. Baras +1
Humans have the ability to deviate from their natural behavior when necessary, which is a cognitive process called response inhibition. Similar approaches have independently receiv…
Consensus-Based Leader-Follower Formation Tracking for Control-Affine Nonlinear Multiagent Systems
Clinton Enwerem, John S. Baras
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by…
PASA: A Priori Adaptive Splitting Algorithm for the Split Delivery Vehicle Routing Problem
Nariman Torkzaban, Anousheh Gholami, John S. Baras +1
The split delivery vehicle routing problem (SDVRP) is a relaxed variant of the capacitated vehicle routing problem (CVRP) where the restriction that each customer is visited precis…
Learning Agent Interactions from Density Evolution in 3D Regions With Obstacles
Amoolya Tirumalai, Christos N. Mavridis, John S. Baras
In this work, we study the inverse problem of identifying complex flocking dynamics in a domain cluttered with obstacles. We get inspiration from animal flocks moving in complex wa…
Mobile Network Slicing under Demand Uncertainty: A Stochastic Programming Approach
Anousheh Gholami, Nariman Torkzaban, John S. Baras
Network slicing enables the deployment of multiple dedicated virtual sub-networks, i.e. slices on a shared physical infrastructure. Unlike traditional one-size-fits-all resource pr…
Distributed Optimal Formation Control for an Uncertain Multiagent System in the Plane
Clinton Enwerem, John Baras, Danilo Romero
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-…
Capacitated Beam Placement for Multi-beam Non-Geostationary Satellite Systems
Nariman Torkzaban, Asim Zoulkarni, Anousheh Gholami +1
Non-geostationary (NGSO) satellite communications systems have attracted a lot of attention both from industry and academia, over the past several years. Beam placement is among th…
Risk-Sensitive Reinforcement Learning with Exponential Criteria
Erfaun Noorani, Christos Mavridis, John Baras
While reinforcement learning has shown experimental success in a number of applications, it is known to be sensitive to noise and perturbations in the parameters of the system, lea…
Annealing Optimization for Progressive Learning with Stochastic Approximation
Christos Mavridis, John Baras
In this work, we introduce a learning model designed to meet the needs of applications in which computational resources are limited, and robustness and interpretability are priorit…
Learning Swarm Interaction Dynamics from Density Evolution
Christos Mavridis, Amoolya Tirumalai, John Baras
We consider the problem of understanding the coordinated movements of biological or artificial swarms. In this regard, we propose a learning scheme to estimate the coordination law…
Sensor Scheduling for Linear Systems: A Covariance Tracking Approach
Dipankar Maity, David Hartman, John S. Baras
We consider the classical sensor scheduling problem for linear systems where only one sensor is activated at each time. We show that the sensor scheduling problem has a close relat…
On the Importance of Trust in Next-Generation Networked CPS Systems: An AI Perspective
Anousheh Gholami, Nariman Torkzaban, John S. Baras
With the increasing scale, complexity, and heterogeneity of the next generation networked systems, seamless control, management, and security of such systems becomes increasingly c…
Value of information in networked control systems subject to delay
Siyi Wang, Qingchen Liu, Precious Ugo Abara +2
In this paper, we study the trade-off between the transmission cost and the control performance of the multi-loop networked control system subject to network-induced delay. Within…
Joint Satellite Gateway Deployment & Controller Placement in Software-Defined 5G-Satellite Integrated Networks
Nariman Torkzaban, John S. Baras
Several challenging optimization problems arise while considering the deployment of the space-air-ground integrated networks (SAGINs), among which the optimal satellite gateway dep…
Event-triggered Feedback Control for Signal Temporal Logic Tasks
Lars Lindemann, Dipankar Maity, John S. Baras +1
A framework for the event-triggered control synthesis under signal temporal logic (STL) tasks is proposed. In our previous work, a continuous-time feedback control law was designed…
Delay-sensitive Joint Optimal Control and Resource Management in Multi-loop Networked Control Systems
Mohammad H. Mamduhi, Dipankar Maity, Sandra Hirche +2
In the operation of networked control systems, where multiple processes share a resource-limited and time-varying cost-sensitive network, communication delay is inevitable and prim…
Order Effects of Measurements in Multi-Agent Hypothesis Testing
Aneesh Raghavan, John S. Baras
In multi-agent systems, agents observe data, and use them to make inferences and take actions. As a result sensing and control naturally interfere, more so from a real-time perspec…
Cooperative Hypothesis Testing by Two Observers with Asymmetric Information
Aneesh Raghavan, John S. Baras
We consider the binary hypothesis testing problem with two observers. There are two possible states of nature (or hypotheses). Observations collected by the two observers are stati…
Event-triggered Add-on Safety for Connected and Automated Vehicles Using Road-side Network Infrastructure
Mohammad H. Mamduhi, Ehsan Hashemi, John S. Baras +1
This paper proposes an event-triggered add-on safety mechanism to adjust the control parameters for timely braking in a networked vehicular system while maintaining maneuverability…
Timed Automata Approach for Motion Planning Using Metric Interval Temporal Logic
Yuchen Zhou, Dipankar Maity, John S. Baras
In this paper, we consider the robot motion (or task) planning problem under some given time bounded high level specifications. We use metric interval temporal logic (MITL), a memb…
Reachable Set Approach to Collision Avoidance for UAVs
Yuchen Zhou, John S. Baras
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management,…
Optimal Mission Planner with Timed Temporal Logic Constraints
Yuchen Zhou, Dipankar Maity, John S. Baras
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (T…
Selfish Response to Epidemic Propagation
George Theodorakopoulos, Jean-Yves Le Boudec, John S. Baras
An epidemic spreading in a network calls for a decision on the part of the network members: They should decide whether to protect themselves or not. Their decision depends on the t…