| 1. |
- Ali, Mohammad, 1982, et al.
(författare)
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Model-Based Threat Assessment in Semi-Autonomous Vehicles with Model Parameter Uncertainties
- 2011
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 2576-2370 .- 0743-1546. - 9781612848006 ; , s. 6822-6827
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Konferensbidrag (refereegranskat)abstract
- In this paper, we consider model-based threat assessment methods which rely on vehicle and driver mathematical models and are based on reachability analysis tools and set invariance theory. We focus on the parametric uncertainties of the driver mathematical model and show how these can be accounted for in the threat assessment. The novelty of the proposed methods lies in the inclusion of the driver model uncertainties in the threat assessment problem formulation and in their validation through experimental data. We show how different ways of accounting for the model uncertainties impact the capabilities and the effectiveness of the proposed algorithms in detecting hazardous driving situations.
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| 2. |
- Ali, Mohammad, 1982, et al.
(författare)
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Threat assessment design under driver parameter uncertainty
- 2012
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 2576-2370 .- 0743-1546. - 9781467320641 ; , s. 6315-6320
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Konferensbidrag (refereegranskat)abstract
- We consider a model-based threat assessment method, which enables the activation of assisting safety interventions in case an accident threat to the driver is detected. The method relies on vehicle and driver mathematical models and reachability analysis tools. In particular, we focus on the problem of false threats detection that can occur due to uncertainties in the driver model, i.e., the driver is incorrectly deemed incapable of accomplishing a driving task. This paper proposes a novel approach, to compensate for uncertainties in the driver model, for the considered threat assessment method. In particular, we show how the considered threat assessment method can be designed such that, if a threat is detected, the driver is guaranteed to be unable to perform the assigned driving task. In such case, an automated assisting intervention can be motivated
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| 3. |
- Almeida, Diogo, 1991-, et al.
(författare)
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A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution
- 2019
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Ingår i: 58th IEEE Conference on Decision and Control (CDC). ; 2019-December, s. 4252-4258
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Konferensbidrag (refereegranskat)abstract
- Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot’s end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When both types of motion are to be executed concurrently, the symmetric distribution of the relative motion between arms prevents task conflicts. Conversely, an asymmetric solution to the relative motion task will result in conflicts with the absolute task. In this work, we address the problem of designing a control law for the absolute motion task together with updating the distribution of the relative task among arms. Through a set of numerical results, we contrast our approach with the classical symmetric distribution of the relative motion task to illustrate the advantages of our method.
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| 4. |
- Alutto, Martina, et al.
(författare)
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Multiple peaks in network SIR epidemic models
- 2022
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Ingår i: 2022 IEEE 61st Conference on Decision and Control, CDC 2022. - 2576-2370 .- 0743-1546. - 9781665467612 ; 2022-December, s. 5614-5619
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Konferensbidrag (refereegranskat)abstract
- We study network SIR (Susceptible - Infected - Recovered) epidemic models in the case of two interacting populations. We analyze the dynamics behavior of the fractions of infected individuals in the two populations. In contrast to the classical scalar SIR epidemic model, where the fraction of infected individuals is known to have an unimodal behavior (either decreasing throughout time or initially increasing, until reaching a peak and decreasing everafter), we show the possible occurrence of a novel multimodal behaviors in the network SIR model. Specifically, we show that the curve of the fraction of infected individuals in a population may incur in a change of monotonicity even when it starts with a decreasing trend. Our analysis focuses on a homogeneous mixing model, whereby all contacts have unitary frequency. We study the initial conditions and network characteristics sufficient for the aforementioned multimodal behavior to emerge and those that instead guarantee the classical unimodal behavior.
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| 5. |
- Bahraini, Masoud, 1991, et al.
(författare)
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Communication Demand Minimization for Perturbed Networked Control Systems with Coupled Constraints
- 2023
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 2576-2370 .- 0743-1546. ; , s. 3468-3473
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Konferensbidrag (refereegranskat)abstract
- Communication scheduling is needed when control loops of several safety-critical systems are closed through a shared communication medium. To enable schedulability, control for each system is designed primarily to minimize its communication demand. In this paper, we study communication demand minimization for a class of perturbed multi-agent networked control systems with a shared communication medium and subject to input and coupled state constraints. First, a framework to design communication schedule and control is recalled such that state and input constraints are satisfied under no coupling assumption. Then, a heuristic method is proposed to decouple state constraints such that the overall communication demand of the systems is minimized. Effectiveness of the proposed results are illustrated through a numerical example.
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| 6. |
- Bahraini, Masoud, 1991, et al.
(författare)
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Robust Control Invariance for Networked Control Systems with Output Feedback
- 2022
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 0743-1546 .- 2576-2370. ; 2022-December, s. 7676-7681
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Konferensbidrag (refereegranskat)abstract
- This paper focuses on robust output feedback design for multi-agent networked control systems with a shared communication medium, where each system is subject to state and input constraints. We first compute the communication demand for each system given constant observer and controller gains; we argue that minimization of the communication demand with respect to the control or observer gains is very hard. Then, given a constant observer gain, we compute the minimum communication demand for each system and a corresponding control policy using model predictive control; we argue that the second approach is less difficult to solve and results in a communication demand which is no larger than for a linear controller. We illustrate and compare these design methods by a numerical example.
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| 7. |
- Börve, Erik, 1998, et al.
(författare)
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Interaction-Aware Trajectory Prediction and Planning in Dense Highway Traffic using Distributed Model Predictive Control
- 2023
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 2576-2370 .- 0743-1546. ; , s. 6124-6129
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Konferensbidrag (refereegranskat)abstract
- In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory prediction and planning in multi-agent environments, using distributed model predictive control. A demonstration of our framework is presented in simulation, employing a trajectory planner using non-linear model predictive control. We analyze performance and convergence of our framework, subject to different prediction errors. The results indicate that the obtained locally optimal solutions are improved, compared with decoupled prediction and planning.
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| 8. |
- Cederberg, Daniel, et al.
(författare)
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Synthesis of Minimax Adaptive Controller for a Finite Set of Linear Systems
- 2022
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Ingår i: 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC). - : IEEE. - 2576-2370 .- 0743-1546. - 9781665467612 - 9781665467629 ; , s. 1380-1384
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Konferensbidrag (refereegranskat)abstract
- The design of an adaptive controller with bounded L-2-gain from disturbances to errors for linear time-invariant systems with uncertain parameters restricted to a finite set is investigated. The synthesis of the controller requires finding matrices satisfying non-convex matrix inequalities. We propose an approach for finding these matrices based on repeatedly linearizing the terms that cause the non-convexity of the inequalities. Empirical evidence suggests that the approach leads to adaptive controllers with significantly smaller upper bound on the L-2-gain.
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| 9. |
- Cianfanelli, Leonardo, et al.
(författare)
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Lockdown interventions in SIR models : Is the reproduction number the right control variable?
- 2021
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Ingår i: 60th IEEE Conference on Decision and Control, CDC 2021. - 0743-1546 .- 2576-2370. - 9781665436595 ; 2021-December, s. 4254-4259
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Konferensbidrag (refereegranskat)abstract
- The recent COVID-19 pandemic highlighted the need of non-pharmaceutical interventions in the first stages of a pandemic. Among these, lockdown policies proved unavoidable yet extremely costly from an economic perspective. To better understand the tradeoffs between economic and epidemic costs of lockdown interventions, we here focus on a simple SIR epidemic model and study lockdowns as solutions to an optimal control problem. We first show numerically that the optimal lockdown policy exhibits a phase transition from suppression to mitigation as the time horizon grows, i.e., if the horizon is short the optimal strategy is to impose severe lockdown to avoid diffusion of the infection, whereas if the horizon is long the optimal control steers the system to herd immunity to reduce economic loss. We then consider two alternative policies, motivated by government responses to the COVID19 pandemic, where lockdown levels are selected to either stabilize the reproduction number (i.e., "flatten the curve") or the fraction of infected (i.e., containing the number of hospitalizations). We compute analytically the performance of these two feedback policies and compare them to the optimal control. Interestingly, we show that in the limit of infinite horizon stabilizing the number of infected is preferable to controlling the reproduction number, and in fact yields close to optimal performance.
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| 10. |
- Colombo, Alessandro, et al.
(författare)
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Measurement Scheduling for Control Invariance in Networked Control Systems
- 2018
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 2576-2370 .- 0743-1546. ; 2018-December, s. 3361-3366
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Konferensbidrag (refereegranskat)abstract
- We discuss a new reachability problem for networked controlled system where a master node - the controller - broadcasts commands to a set of slave nodes, which must take turn to relay back state measurements. This problem finds applications in some robotics and intelligent transportation systems setups. Constraints on communication demand a coupled design of the controller and the measurement schedule. We prove that the problem is formally equivalent to the Pinwheel Problem from scheduling theory, and building on this result we provide conditions for schedulability and reachability. The results are illustrated in three numerical examples.
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