103 citations · 131 across the 18 of their papers we have counts for
26 papers
Optimal control of distributed ensembles with application to Bloch equations
Roman Chertovskih, Nikolay Pogodaev, Maxim Staritsyn +1
Motivated by the problem of designing robust composite pulses for Bloch equations in the presence of natural perturbations, we study an abstract optimal ensemble control problem in…
A Quantum Optimal Control Problem with State Constrained Preserving Coherence
Nahid Binandeh Dehaghani, Fernando Lobo Pereira
In this work, we address the problem of maximizing fidelity in a quantum state transformation process controlled in such a way as to keep decoherence within given bounds. We consid…
Distributed design of deterministic discrete-time privacy preserving average consensus for multi-agent systems through network augmentation
Guilherme Ramos, A. Pedro Aguiar, Soummya Kar +1
Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed esti…
A Fast Row-Stochastic Decentralized Method for Distributed Optimization Over Directed Graphs
Diyako Ghaderyan, Necdet Serhat Aybat, A. Pedro Aguiar +1
In this paper, we introduce a fast row-stochastic decentralized algorithm, referred to as FRSD, to solve consensus optimization problems over directed communication graphs. The pro…
Minimum jointly structural input and output selection for strongly connected networks
Guilherme Ramos, A. Pedro Aguiar, Sérgio Pequito
In this paper, given a linear time-invariant strongly connected network, we study the problem of determining the minimum number of state variables that need to be simultaneously ac…
Discrete-Time Fractional-Order Dynamical Networks Minimum-Energy State Estimation
Sarthak Chatterjee, Andrea Alessandretti, A. Pedro Aguiar +1
Fractional-order dynamical networks are increasingly being used to model and describe processes demonstrating long-term memory or complex interlaced dependencies amongst the spatia…
Structural Systems Theory: an overview of the last 15 years
Guilherme Ramos, A. Pedro Aguiar, Sergio Pequito
In this paper, we provide an overview of the research conducted in the context of structural systems since the latest survey by Dion et al. in 2003. We systematically consider all…
Three Dimensional Moving Path Following Control for Robotic Vehicles with Minimum Positive Forward Speed
R. Praveen Jain, Joao Borges de Sousa, A. Pedro Aguiar
This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path…
Control Barrier Function based Quadratic Programs Introduce Undesirable Asymptotically Stable Equilibria
Matheus F. Reis, A. Pedro Aguiar, Paulo Tabuada
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety…
Active Depth Estimation: Stability Analysis and its Applications
Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas +1
Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme. This paper focuses on the theoretical p…
A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision
Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas +1
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among mu…
An optimization-based cooperative path-following framework for multiple robotic vehicles
Andrea Alessandretti, A. Pedro Aguiar
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off betwee…
Finite-dimensional control of linear discrete-time fractional-order systems
Andrea Alessandretti, Sergio Pequito, George J. Pappas +1
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient c…
Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields
Romulo T. Rodrigues, Meysam Basiri, A. Pedro Aguiar +1
This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each f…
Feature Based Potential Field for Low-level Active Visual Navigation
Rômulo T. Rodrigues, Meysam Basiri, A. Pedro Aguiar +1
This paper proposes a novel solution for improving visual localization in an active fashion. The solution, based on artificial potential field, associates each feature in the curre…
Selective Strong Structural Minimum Cost Resilient Co-Design for Regular Descriptor Linear Systems
Nipun Popli, Sergio Pequito, Soummya Kar +2
This paper addresses the problem of minimum cost resilient actuation-sensing-communication co-design for regular descriptor systems while ensuring selective strong structural syste…
Structurally Observable Distributed Networks of Agents under Cost and Robustness Constraints
Stephen Kruzick, Sérgio Pequito, Soummya Kar +2
In many problems, agents cooperate locally so that a leader or fusion center can infer the state of every agent from probing the state of only a small number of agents. Versions of…
Optimal Rendezvous Trajectory for Unmanned Aerial-Ground Vehicles
Alessandro Rucco, PB Sujit, Pedro Aguiar +2
Fixed-wind unmanned aerial vehicles (UAVs) are essential for low cost aerial surveillance and mapping applications in remote regions. One of the main limitations of UAVs is limited…
Static Output Feedback: On Essential Feasible Information Patterns
J. Frederico Carvalho, Sergio Pequito, A. Pedro Aguiar +2
In this paper, for linear time-invariant plants, where a collection of possible inputs and outputs are known a priori, we address the problem of determining the communication betwe…
Minimum Sensor Placement for Robust Observability of Structured Complex Networks
Xiaofei Liu, Sergio Pequito, Soummya Kar +2
This paper addresses problems on the robust structural design of complex networks. More precisely, we address the problem of deploying the minimum number of dedicated sensors, i.e.…
Distributed Verification of Structural Controllability for Linear Time-Invariant Systems
Joao Carvalho, Sergio Pequito, A. Pedro Aguiar +2
Motivated by the development and deployment of large-scale dynamical systems, often composed of geographically distributed smaller subsystems, we address the problem of verifying t…
Minimum Cost Input/Output Design for Large Scale Linear Structural Systems
Sergio Pequito, A. Pedro Aguiar, Soummya Kar
In this paper, we provide optimal solutions to two different (but related) input/output design problems involving large-scale linear dynamical systems, where the cost associated to…
On the Complexity of the Constrained Input Selection Problem for Structural Linear Systems
Sergio Pequito, Soummya Kar, A. Pedro Aguiar
This paper studies the problem of, given the structure of a linear-time invariant system and a set of possible inputs, finding the smallest subset of input vectors that ensures sys…
The Robust Minimal Controllability Problem
Sergio Pequito, Guilherme Ramos, Soummya Kar +2
In this paper, we address two minimal controllability problems, where the goal is to determine a minimal subset of state variables in a linear time-invariant system to be actuated…