Paperid: 1, https://arxiv.org/pdf/2506.23201.pdf   GitHub
Authors:Haoran Li, Muhao Guo, Marija Ilic, Yang Weng, Guangchun Ruan
Title: External Data-Enhanced Meta-Representation for Adaptive Probabilistic Load Forecasting
Abstract:
Accurate residential load forecasting is critical for power system reliability with rising renewable integration and demand-side flexibility. However, most statistical and machine learning models treat external factors, such as weather, calendar effects, and pricing, as extra input, ignoring their heterogeneity, and thus limiting the extraction of useful external information. We propose a paradigm shift: external data should serve as meta-knowledge to dynamically adapt the forecasting model itself. Based on this idea, we design a meta-representation framework using hypernetworks that modulate selected parameters of a base Deep Learning (DL) model in response to external conditions. This provides both expressivity and adaptability. We further integrate a Mixture-of-Experts (MoE) mechanism to enhance efficiency through selective expert activation, while improving robustness by filtering redundant external inputs. The resulting model, dubbed as a Meta Mixture of Experts for External data (M2oE2), achieves substantial improvements in accuracy and robustness with limited additional overhead, outperforming existing state-of-the-art methods in diverse load datasets. The dataset and source code are publicly available at https://github.com/haorandd/M2oE2\_load\_forecast.git.
中文摘要：作者提出创新的M2oE2框架，将外部数据作为元知识，通过超网络和专家混合机制动态调整预测模型，以最小计算开销显著提升了住宅负荷预测的准确性与鲁棒性。
English Summary: The authors propose a novel M2oE2 framework that uses external data as meta-knowledge to dynamically adapt forecasting models through hypernetworks and mixture-of-experts, achieving superior accuracy and robustness in residential load prediction with minimal overhead.

Authors:Yash Akhauri, Bryan Lewandowski, Cheng-Hsi Lin, Adrian N. Reyes, Grant C. Forbes, Arissa Wongpanich, Bangding Yang, Mohamed S. Abdelfattah, Sagi Perel, Xingyou Song
Title: Performance Prediction for Large Systems via Text-to-Text Regression
Abstract:
In many industries, predicting metric outcomes of large systems is a fundamental problem, driven largely by traditional tabular regression. However, such methods struggle on complex systems data in the wild such as configuration files or system logs, where feature engineering is often infeasible. We propose text-to-text regression as a general, scalable alternative. For predicting resource efficiency on Borg, Google's massive compute cluster scheduling system, a 60M parameter encoder-decoder, trained from random initialization, achieves up to a near perfect 0.99 (0.9 average) rank correlation across the entire fleet, and 100x lower MSE than tabular approaches. The model also easily adapts to new tasks in only 500 few-shot examples and captures the densities of complex outcome distributions. Ablation studies highlight the importance of using encoders, increasing sequence length, and the model's inherent uncertainty quantification. These findings pave the way for universal simulators of real-world outcomes.
Chinese: 文本到文本回归作为一种可扩展且高效的替代方案，在预测如谷歌Borg等复杂系统的资源效率方面实现了近乎完美的准确性，并能以少量数据轻松适应新任务。
English: Text-to-text regression offers a scalable and effective alternative to traditional tabular methods, achieving near-perfect accuracy in predicting resource efficiency on complex systems like Google's Borg and adapting easily to new tasks with minimal data.

Authors:Milad Hasanzadeh, Amin Kargarian
Title: DPLib: A Standard Benchmark Library for Distributed Power System Analysis and Optimization
Abstract:
\textit{DPLib} is an open-source MATLAB-based benchmark library created to support research and development in distributed and decentralized power system analysis and optimization. Distributed and decentralized methods offer scalability, privacy preservation, and resilience to single points of failure, making them increasingly important for modern power systems. However, unlike centralized tools such as MATPOWER, no general-purpose, reproducible data library package currently exists for distributed power system studies. DPLib, available at \href{https://github.com/LSU-RAISE-LAB/DPLib.git}{GitHub}, fills this gap by providing a standard power system library featuring over 20 multi-region benchmark test cases of varying sizes, along with a graph-based partitioning toolkit that decomposes any MATPOWER test system into multiple electrically coherent regions. The partitioning toolkit, an easy-to-use MATLAB code, generates standardized \texttt{.mat} and \texttt{.m} files, along with region visualizations for intuitive understanding. We also provide modular, easy-to-use distributed optimal power flow (OPF) solvers: an alternating direction method of multipliers(ADMM)-based DC-OPF solver implemented in YALMIP, and an ADMM-based AC-OPF solver leveraging IPOPT. These solvers validate the generated test systems for distributed optimization applications. Numerical results validate the generated test cases, establishing DPLib as a foundation for reproducible distributed power system research.
DPLib是一个开源的MATLAB基准库，通过提供标准化的多区域电力系统测试案例和分区工具，填补了分布式电力系统研究中缺乏通用数据包的空白，支持可重复性研究。
DPLib is an open-source MATLAB library that provides standardized multi-region power system test cases and partitioning tools to support reproducible research in distributed and decentralized power system optimization.

Authors:Yiming Wang, Arthur N. Montanari, Adilson E. Motter
Title: Distributed Lyapunov Functions for Nonlinear Networks
Abstract:
Nonlinear networks are often multistable, exhibiting coexisting stable states with competing regions of attraction (ROAs). As a result, ROAs can have complex "tentacle-like" morphologies that are challenging to characterize analytically or computationally. In addition, the high dimensionality of the state space prohibits the automated construction of Lyapunov functions using state-of-the-art optimization methods, such as sum-of-squares (SOS) programming. In this letter, we propose a distributed approach for the construction of Lyapunov functions based solely on local information. To this end, we establish an augmented comparison lemma that characterizes the existence conditions of partial Lyapunov functions, while also accounting for residual effects caused by the associated dimensionality reduction. These theoretical results allow us to formulate an SOS optimization that iteratively constructs such partial functions, whose aggregation forms a composite Lyapunov function. The resulting composite function provides accurate convex approximations of both the volumes and shapes of the ROAs. We validate our method on networks of van der Pol and Ising oscillators, demonstrating its effectiveness in characterizing high-dimensional systems with non-convex ROAs.
Chinese: 本研究提出了一种基于局部信息的分布式李雅普诺夫函数构造方法，通过平方和优化技术有效逼近高维非线性网络中具有复杂形态的吸引域。
English: This study introduces a distributed method for constructing composite Lyapunov functions using sum-of-squares optimization, enabling accurate approximation of complex, high-dimensional attraction regions in multistable nonlinear networks.

Authors:Pratik Kunapuli, Jake Welde, Dinesh Jayaraman, Vijay Kumar
Title: Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking
Abstract:
Learning-based control approaches like reinforcement learning (RL) have recently produced a slew of impressive results for tasks like quadrotor trajectory tracking and drone racing. Naturally, it is common to demonstrate the advantages of these new controllers against established methods like analytical controllers. We observe, however, that reliably comparing the performance of such very different classes of controllers is more complicated than might appear at first sight. As a case study, we take up the problem of agile tracking of an end-effector for a quadrotor with a fixed arm. We develop a set of best practices for synthesizing the best-in-class RL and geometric controllers (GC) for benchmarking. In the process, we resolve widespread RL-favoring biases in prior studies that provide asymmetric access to: (1) the task definition, in the form of an objective function, (2) representative datasets, for parameter optimization, and (3) feedforward information, describing the desired future trajectory. The resulting findings are the following: our improvements to the experimental protocol for comparing learned and classical controllers are critical, and each of the above asymmetries can yield misleading conclusions. Prior works have claimed that RL outperforms GC, but we find the gaps between the two controller classes are much smaller than previously published when accounting for symmetric comparisons. Geometric control achieves lower steady-state error than RL, while RL has better transient performance, resulting in GC performing better in relatively slow or less agile tasks, but RL performing better when greater agility is required. Finally, we open-source implementations of geometric and RL controllers for these aerial vehicles, implementing best practices for future development. Website and code is available at https://pratikkunapuli.github.io/rl-vs-gc/

Authors:Albert H. Li, Brandon Hung, Aaron D. Ames, Jiuguang Wang, Simon Le Cleac'h, Preston Culbertson
Title: Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control
Abstract:
Recent advancements in parallel simulation and successful robotic applications are spurring a resurgence in sampling-based model predictive control. To build on this progress, however, the robotics community needs common tooling for prototyping, evaluating, and deploying sampling-based controllers. We introduce Judo, a software package designed to address this need. To facilitate rapid prototyping and evaluation, Judo provides robust implementations of common sampling-based MPC algorithms and standardized benchmark tasks. It further emphasizes usability with simple but extensible interfaces for controller and task definitions, asynchronous execution for straightforward simulation-to-hardware transfer, and a highly customizable interactive GUI for tuning controllers interactively. While written in Python, the software leverages MuJoCo as its physics backend to achieve real-time performance, which we validate across both consumer and server-grade hardware. Code at https://github.com/bdaiinstitute/judo.
中文: 摘要介绍了Judo，这是一个基于Python的软件包，它提供了强大的采样模型预测控制算法实现和工具，用于快速原型设计、评估和部署，并利用MuJoCo在不同硬件上实现实时性能。
English: The abstract introduces Judo, a Python-based software package that provides robust implementations and tools for prototyping, evaluating, and deploying sampling-based model predictive control algorithms, leveraging MuJoCo for real-time performance across various hardware.

Authors:Anas Abdelkarim, Holger Voos, Daniel Görges
Title: Barrier Method for Inequality Constrained Factor Graph Optimization with Application to Model Predictive Control
Abstract:
Factor graphs have demonstrated remarkable efficiency for robotic perception tasks, particularly in localization and mapping applications. However, their application to optimal control problems -- especially Model Predictive Control (MPC) -- has remained limited due to fundamental challenges in constraint handling. This paper presents a novel integration of the Barrier Interior Point Method (BIPM) with factor graphs, implemented as an open-source extension to the widely adopted g2o framework. Our approach introduces specialized inequality factor nodes that encode logarithmic barrier functions, thereby overcoming the quadratic-form limitations of conventional factor graph formulations. To the best of our knowledge, this is the first g2o-based implementation capable of efficiently handling both equality and inequality constraints within a unified optimization backend. We validate the method through a multi-objective adaptive cruise control application for autonomous vehicles. Benchmark comparisons with state-of-the-art constraint-handling techniques demonstrate faster convergence and improved computational efficiency. (Code repository: https://github.com/snt-arg/bipm_g2o)
中文: 本文提出了一种将障碍内点法与因子图相结合的新方法，实现了在最优控制问题中高效处理等式和不等式约束，并通过自动驾驶应用验证了其更快的收敛速度和更高的计算效率。
English: This paper introduces a novel integration of the Barrier Interior Point Method with factor graphs, enabling efficient handling of both equality and inequality constraints in optimal control problems, validated through autonomous vehicle applications with improved computational efficiency.

Authors:Han Wang, Di Wu, Lin Cheng, Shengping Gong, Xu Huang
Title: Learning-Based Stable Optimal Control for Infinite-Time Nonlinear Regulation Problems
Abstract:
Infinite-time nonlinear optimal regulation control is widely utilized in aerospace engineering as a systematic method for synthesizing stable controllers. However, conventional methods often rely on linearization hypothesis, while recent learning-based approaches rarely consider stability guarantees. This paper proposes a learning-based framework to learn a stable optimal controller for nonlinear optimal regulation problems. First, leveraging the equivalence between Pontryagin Maximum Principle (PMP) and Hamilton-Jacobi-Bellman (HJB) equation, we improve the backward generation of optimal examples (BGOE) method for infinite-time optimal regulation problems. A state-transition-matrix-guided data generation method is then proposed to efficiently generate a complete dataset that covers the desired state space. Finally, we incorporate the Lyapunov stability condition into the learning framework, ensuring the stability of the learned optimal policy by jointly learning the optimal value function and control policy. Simulations on three nonlinear optimal regulation problems show that the learned optimal policy achieves near-optimal regulation control and the code is provided at https://github.com/wong-han/PaperNORC
中文: 本文提出了一种基于学习的框架，通过结合李雅普诺夫稳定性条件，为非线性最优调节问题学习稳定的控制器，并在仿真中实现了接近最优的控制效果。
English: This paper introduces a learning-based framework that integrates Lyapunov stability conditions to develop a stable optimal controller for nonlinear regulation, utilizing improved data generation and demonstrating near-optimal performance in simulations.

Authors:Ao Jin, Qinyi Wang, Sijie Wen, Ya Liu, Ganghui Shen, Panfeng Huang, Fan Zhang
Title: DEKC: Data-Enable Control for Tethered Space Robot Deployment in the Presence of Uncertainty via Koopman Operator Theory
Abstract:
This work focuses the deployment of tethered space robot in the presence of unknown uncertainty. A data-enable framework called DEKC which contains offline training part and online execution part is proposed to deploy tethered space robot in the presence of uncertainty. The main idea of this work is modeling the unknown uncertainty as a dynamical system, which enables high accuracy and convergence of capturing uncertainty. The core part of proposed framework is a proxy model of uncertainty, which is derived from data-driven Koopman theory and is separated with controller design. In the offline stage, the lifting functions associated with Koopman operator are parameterized with deep neural networks. Then by solving an optimization problem, the lifting functions are learned from sampling data. In the online execution stage, the proxy model cooperates the learned lifting functions obtained in the offline phase to capture the unknown uncertainty. Then the output of proxy model is compensated to the baseline controller such that the effect of uncertainty can be attenuated or even eliminated. Furthermore, considering some scenarios in which the performance of proxy model may weaken, a receding-horizon scheme is proposed to update the proxy model online. Finally, the extensive numerical simulations demonstrate the effectiveness of our proposed framework. The implementation of proposed DEKC framework is publicly available at https://github.com/NPU-RCIR/DEKC.git.
中文: 本研究提出数据驱动的DEKC框架，通过Koopman理论和神经网络将未知不确定性建模为动态系统，结合离线训练与在线执行的补偿机制，有效提升系留空间机器人在不确定环境中的部署精度。
English: This study introduces a data-driven DEKC framework that models unknown uncertainties as dynamic systems using Koopman theory and neural networks, enabling precise uncertainty compensation through offline training and online execution to enhance tethered space robot deployment.

Authors:Songqiao Hu, Zeyi Liu, Xiao He
Title: Lite-RVFL: A Lightweight Random Vector Functional-Link Neural Network for Learning Under Concept Drift
Abstract:
The change in data distribution over time, also known as concept drift, poses a significant challenge to the reliability of online learning methods. Existing methods typically require model retraining or drift detection, both of which demand high computational costs and are often unsuitable for real-time applications. To address these limitations, a lightweight, fast and efficient random vector functional-link network termed Lite-RVFL is proposed, capable of adapting to concept drift without drift detection and retraining. Lite-RVFL introduces a novel objective function that assigns weights exponentially increasing to new samples, thereby emphasizing recent data and enabling timely adaptation. Theoretical analysis confirms the feasibility of this objective function for drift adaptation, and an efficient incremental update rule is derived. Experimental results on a real-world safety assessment task validate the efficiency, effectiveness in adapting to drift, and potential to capture temporal patterns of Lite-RVFL. The source code is available at https://github.com/songqiaohu/Lite-RVFL.
中文: Lite-RVFL是一种轻量级网络，通过指数加权函数强调新数据来适应概念漂移，无需重新训练或漂移检测，并在实际应用中验证了其高效性。
English: Lite-RVFL is a lightweight network that adapts to concept drift by emphasizing recent data through an exponential weighting function, eliminating the need for retraining or drift detection while proving efficient in real-world applications.

Authors:Kaiyuan Chen, Zhengjie Hu, Shaolin Zhang, Yuanqing Xia, Wannian Liang, Shuo Wang
Title: Enhanced Trust Region Sequential Convex Optimization for Multi-Drone Thermal Screening Trajectory Planning in Urban Environments
Abstract:
The rapid detection of abnormal body temperatures in urban populations is essential for managing public health risks, especially during outbreaks of infectious diseases. Multi-drone thermal screening systems offer promising solutions for fast, large-scale, and non-intrusive human temperature monitoring. However, trajectory planning for multiple drones in complex urban environments poses significant challenges, including collision avoidance, coverage efficiency, and constrained flight environments. In this study, we propose an enhanced trust region sequential convex optimization (TR-SCO) algorithm for optimal trajectory planning of multiple drones performing thermal screening tasks. Our improved algorithm integrates a refined convex optimization formulation within a trust region framework, effectively balancing trajectory smoothness, obstacle avoidance, altitude constraints, and maximum screening coverage. Simulation results demonstrate that our approach significantly improves trajectory optimality and computational efficiency compared to conventional convex optimization methods. This research provides critical insights and practical contributions toward deploying efficient multi-drone systems for real-time thermal screening in urban areas. For reader who are interested in our research, we release our source code at https://github.com/Cherry0302/Enhanced-TR-SCO.
中文: 本研究提出了一种改进的信任域序列凸优化算法，用于城市区域的多无人机热筛查，在确保安全约束的同时显著提升了轨迹规划效率和覆盖范围。
English: This study introduces an improved trust region sequential convex optimization algorithm for multi-drone thermal screening in urban areas, which enhances trajectory planning efficiency and coverage while ensuring safety constraints.

Authors:Zhao-Heng Yin, Sherry Yang, Pieter Abbeel
Title: Object-centric 3D Motion Field for Robot Learning from Human Videos
Abstract:
Learning robot control policies from human videos is a promising direction for scaling up robot learning. However, how to extract action knowledge (or action representations) from videos for policy learning remains a key challenge. Existing action representations such as video frames, pixelflow, and pointcloud flow have inherent limitations such as modeling complexity or loss of information. In this paper, we propose to use object-centric 3D motion field to represent actions for robot learning from human videos, and present a novel framework for extracting this representation from videos for zero-shot control. We introduce two novel components in its implementation. First, a novel training pipeline for training a ''denoising'' 3D motion field estimator to extract fine object 3D motions from human videos with noisy depth robustly. Second, a dense object-centric 3D motion field prediction architecture that favors both cross-embodiment transfer and policy generalization to background. We evaluate the system in real world setups. Experiments show that our method reduces 3D motion estimation error by over 50% compared to the latest method, achieve 55% average success rate in diverse tasks where prior approaches fail~($\lesssim 10$\%), and can even acquire fine-grained manipulation skills like insertion.

Authors:Haoyu Li, Xiangru Zhong, Bin Hu, Huan Zhang
Title: Two-Stage Learning of Stabilizing Neural Controllers via Zubov Sampling and Iterative Domain Expansion
Abstract:
Learning-based neural network (NN) control policies have shown impressive empirical performance. However, obtaining stability guarantees and estimations of the region of attraction of these learned neural controllers is challenging due to the lack of stable and scalable training and verification algorithms. Although previous works in this area have achieved great success, much conservatism remains in their framework. In this work, we propose a novel two-stage training framework to jointly synthesize the controller and Lyapunov function for continuous-time systems. By leveraging a Zubov-inspired region of attraction characterization to directly estimate stability boundaries, we propose a novel training data sampling strategy and a domain updating mechanism that significantly reduces the conservatism in training. Moreover, unlike existing works on continuous-time systems that rely on an SMT solver to formally verify the Lyapunov condition, we extend state-of-the-art neural network verifier $α,\!β$-CROWN with the capability of performing automatic bound propagation through the Jacobian of dynamical systems and a novel verification scheme that avoids expensive bisection. To demonstrate the effectiveness of our approach, we conduct numerical experiments by synthesizing and verifying controllers on several challenging nonlinear systems across multiple dimensions. We show that our training can yield region of attractions with volume $5 - 1.5\cdot 10^{5}$ times larger compared to the baselines, and our verification on continuous systems can be up to $40-10000$ times faster compared to the traditional SMT solver dReal. Our code is available at https://github.com/Verified-Intelligence/Two-Stage_Neural_Controller_Training.
中文: 本文提出了一种两阶段训练框架，通过联合合成控制器与李雅普诺夫函数，在连续时间系统中实现了比现有方法大得多的吸引域估计和快数千倍的验证速度。
English: This paper introduces a two-stage training framework that synthesizes neural network controllers and Lyapunov functions for continuous-time systems, achieving significantly larger regions of attraction and faster verification compared to existing methods.

Authors:Sayed T. Nowroz, Nermeen M. Saleh, Siam Shakur, Sean Banerjee, Fathi Amsaad
Title: A Benchmark Reference for ESP32-CAM Module
Abstract:
The ESP32-CAM is one of the most widely adopted open-source modules for prototyping embedded vision applications. Since its release in 2019, it has gained popularity among both hobbyists and professional developers due to its affordability, versatility, and integrated wireless capabilities. Despite its widespread use, comprehensive documentation of the performance metrics remains limited. This study addresses this gap by collecting and analyzing over six hours of real-time video streaming logs across all supported resolutions of the OV2640 image sensor, tested under five distinct voltage conditions via an HTTP-based WiFi connection. A long standing bug in the official Arduino ESP32 driver, responsible for inaccurate frame rate logging, was fixed. The resulting analysis includes key performance metrics such as instantaneous and average frame rate, total streamed data, transmission count, and internal chip temperature. The influence of varying power levels was evaluated to assess the reliability of the module.
中文: 本研究通过分析ESP32-CAM在五种电压条件下六小时以上的OV2640传感器实时视频流数据，填补了性能指标文档空白，提供了关键性能参数并评估了模块可靠性。
English: This study fills a documentation gap by analyzing over six hours of ESP32-CAM video streaming data across all OV2640 sensor resolutions under varying voltage conditions, providing key performance metrics and assessing module reliability.

Authors:Joseph Maffetone, Julia Gersey, Pei Zhang
Title: ZV-Sim: Probabilistic Simulation Framework for Pre-emergent Novel Zoonose Tracking
Abstract:
ZV-Sim is an open-source, modular Python framework for probabilistic simulation and analysis of pre-emergent novel zoonotic diseases using pervasive sensing data. It incorporates customizable Human and Animal Presence agents that leverage known and simulated location data, contact networks, and illness reports to assess and predict disease origins and spread. The framework supports Monte Carlo experiments to analyze outcomes with various user-defined movement and probability models. Although initial models are basic and illustrative, ZV-Sim's extensible design facilitates the integration of more sophisticated models as richer data become available, enhancing future capabilities in zoonotic disease tracking. The source code is publicly available \href{https://github.com/jmaff/zv-sim}{\underline{\textit{here}}}.
中文: ZV-Sim 是一个开源的 Python 框架，通过可定制的智能体和蒙特卡洛实验模拟分析人畜共患病的起源与传播，其可扩展设计支持未来集成更复杂的模型。
English: ZV-Sim is an open-source Python framework for simulating and analyzing the origins and spread of zoonotic diseases through customizable agents and Monte Carlo experiments, with an extensible design for future enhancements.

Authors:Herbert Woisetschläger, Ryan Zhang, Shiqiang Wang, Hans-Arno Jacobsen
Title: MESS+: Dynamically Learned Inference-Time LLM Routing in Model Zoos with Service Level Guarantees
Abstract:
Open-weight large language model (LLM) zoos provide access to numerous high-quality models, but selecting the appropriate model for specific tasks remains challenging and requires technical expertise. Most users simply want factually correct, safe, and satisfying responses without concerning themselves with model technicalities, while inference service providers prioritize minimizing operating costs. These competing interests are typically mediated through service level agreements (SLAs) that guarantee minimum service quality. We introduce MESS+, a stochastic optimization algorithm for cost-optimal LLM request routing while providing rigorous SLA compliance guarantees. MESS+ learns request satisfaction probabilities of LLMs in real-time as users interact with the system, based on which model selection decisions are made by solving a per-request optimization problem. Our algorithm includes a novel combination of virtual queues and request satisfaction prediction, along with a theoretical analysis of cost optimality and constraint satisfaction. Across a wide range of state-of-the-art LLM benchmarks, MESS+ achieves an average of $2\times$ cost savings compared to existing LLM routing techniques.
Chinese: MESS+ 是一种随机优化算法，通过实时学习模型性能并解决单请求优化问题，在保证严格服务等级协议合规的同时，实现了大型语言模型请求的成本最优路由。
English: MESS+ is a stochastic optimization algorithm that enables cost-effective routing of large language model requests while ensuring strict compliance with service level agreements by learning model performance in real-time and solving per-request optimization problems.

Authors:Beck LaBash, Shahriar Khushrushahi, Fabian Ruehle
Title: Improving Generative Inverse Design of Rectangular Patch Antennas with Test Time Optimization
Abstract:
We propose a two-stage deep learning framework for the inverse design of rectangular patch antennas. Our approach leverages generative modeling to learn a latent representation of antenna frequency response curves and conditions a subsequent generative model on these responses to produce feasible antenna geometries. We further demonstrate that leveraging search and optimization techniques at test-time improves the accuracy of the generated designs and enables consideration of auxiliary objectives such as manufacturability. Our approach generalizes naturally to different design criteria, and can be easily adapted to more complex geometric design spaces.
中文: 该两阶段深度学习框架通过生成式建模学习天线频率响应的潜在表征并据此生成可行几何结构，结合测试阶段的搜索优化提升设计精度并兼顾可制造性等辅助目标，能自然适应不同设计标准并扩展至复杂几何空间。
English: The proposed two-stage deep learning framework utilizes generative modeling to design rectangular patch antennas by learning frequency response representations and generating corresponding geometries, with test-time optimization enhancing design accuracy and incorporating manufacturability considerations.

Authors:Huazi Pan, Yanjun Zhang, Leo Yu Zhang, Scott Adams, Abbas Kouzani, Suiyang Khoo
Title: Performance Guaranteed Poisoning Attacks in Federated Learning: A Sliding Mode Approach
Abstract:
Manipulation of local training data and local updates, i.e., the poisoning attack, is the main threat arising from the collaborative nature of the federated learning (FL) paradigm. Most existing poisoning attacks aim to manipulate local data/models in a way that causes denial-of-service (DoS) issues. In this paper, we introduce a novel attack method, named Federated Learning Sliding Attack (FedSA) scheme, aiming at precisely introducing the extent of poisoning in a subtle controlled manner. It operates with a predefined objective, such as reducing global model's prediction accuracy by 10%. FedSA integrates robust nonlinear control-Sliding Mode Control (SMC) theory with model poisoning attacks. It can manipulate the updates from malicious clients to drive the global model towards a compromised state, achieving this at a controlled and inconspicuous rate. Additionally, leveraging the robust control properties of FedSA allows precise control over the convergence bounds, enabling the attacker to set the global accuracy of the poisoned model to any desired level. Experimental results demonstrate that FedSA can accurately achieve a predefined global accuracy with fewer malicious clients while maintaining a high level of stealth and adjustable learning rates.
Chinese: 联邦学习滑动攻击（FedSA）是一种新型投毒方法，它利用滑模控制理论精细操控恶意客户端更新，以隐蔽方式将全局模型准确率精准降低至预设水平，且只需较少恶意客户端即可实现。
English: The Federated Learning Sliding Attack (FedSA) is a novel poisoning method that subtly manipulates malicious client updates using Sliding Mode Control to precisely degrade the global model's accuracy to a predefined level while remaining stealthy and requiring fewer malicious clients.

Authors:Gabriel de Albuquerque Gleizer
Title: Output behavior equivalence and simultaneous subspace identification of systems and faults
Abstract:
We address the problem of identifying a system subject to additive faults, while simultaneously reconstructing the fault signal via subspace methods. We do not require nominal data for the identification, neither do we impose any assumption on the class of faults, e.g., sensor or actuator faults. We show that, under mild assumptions on the fault signal, standard PI-MOESP can recover the system matrices associated to the input-output subsystem. Then we introduce the concept of output behavior equivalence, which characterizes systems with the same output behavior set, and present a method to establish this equivalence from system matrices. Finally, we show how to estimate from data the complete set of fault matrices for which there exist a fault signal with minimal dimension that explains the data.
中文: 本研究提出了一种基于子空间的方法，无需标称数据或故障类型假设即可实现系统辨识和故障信号重构，通过PI-MOESP恢复系统矩阵，并引入输出行为等价概念从数据中估计故障矩阵集。
English: This study presents a subspace-based method for system identification and fault signal reconstruction without requiring nominal data or assumptions on fault types, demonstrating the use of PI-MOESP to recover system matrices and introducing output behavior equivalence to estimate fault matrices from data.

Authors:Elizaveta Pestova, Ilya Osokin, Danil Belov, Pavel Osinenko
Title: Adaptive MPC-based quadrupedal robot control under periodic disturbances
Abstract:
Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enabling the estimation of the external disturbances in terms of forces and torques. However, a specific case of disturbances that are periodic was not explicitly tackled in application to quadrupeds. This work is devoted to the estimation of the periodic disturbances with a lightweight regressor using simplified robot dynamics and extracting the disturbance properties in terms of the magnitude and frequency. Experimental evidence suggests performance improvement over the baseline static disturbance compensation. All source files, including simulation setups, code, and calculation scripts, are available on GitHub at https://github.com/aidagroup/quad-periodic-mpc.
中文: 本研究提出一种轻量级回归器，通过简化动力学模型提取周期性扰动的幅值与频率，从而在四足机器人中实现优于静态补偿方法的性能提升。
English: This study introduces a lightweight regressor to estimate periodic disturbances in quadrupedal robots, improving performance over static compensation methods by leveraging simplified dynamics to extract disturbance magnitude and frequency.

Authors:Mohamed-Khalil Bouzidi, Christian Schlauch, Nicole Scheuerer, Yue Yao, Nadja Klein, Daniel Göhring, Jörg Reichardt
Title: Closing the Loop: Motion Prediction Models beyond Open-Loop Benchmarks
Abstract:
Fueled by motion prediction competitions and benchmarks, recent years have seen the emergence of increasingly large learning based prediction models, many with millions of parameters, focused on improving open-loop prediction accuracy by mere centimeters. However, these benchmarks fail to assess whether such improvements translate to better performance when integrated into an autonomous driving stack. In this work, we systematically evaluate the interplay between state-of-the-art motion predictors and motion planners. Our results show that higher open-loop accuracy does not always correlate with better closed-loop driving behavior and that other factors, such as temporal consistency of predictions and planner compatibility, also play a critical role. Furthermore, we investigate downsized variants of these models, and, surprisingly, find that in some cases models with up to 86% fewer parameters yield comparable or even superior closed-loop driving performance. Our code is available at https://github.com/continental/pred2plan.
中文: 近期大型运动预测模型在开环精度上仅有微小提升，但无法转化为自动驾驶性能的改善，因为时间一致性和规划器兼容性等因素更为关键，且精简版模型有时反而表现更优。
English: Recent large motion prediction models show minimal open-loop accuracy gains, but fail to improve autonomous driving performance, as factors like temporal consistency and planner compatibility prove more critical, with downsized models sometimes outperforming larger ones.

Authors:Wangkun Xu, Zhongda Chu, Fei Teng
Title: LAPSO: A Unified Optimization View for Learning-Augmented Power System Operations
Abstract:
With the high penetration of renewables, traditional model-based power system operation is challenged to deliver economic, stable, and robust decisions. Machine learning has emerged as a powerful modeling tool for capturing complex dynamics to address these challenges. However, its separate design often lacks systematic integration with existing methods. To fill the gap, this paper proposes a holistic framework of Learning-Augmented Power System Operations (LAPSO, pronounced as Lap-So). Adopting a native optimization perspective, LAPSO is centered on the operation stage and aims to break the boundary between temporally siloed power system tasks, such as forecast, operation and control, while unifying the objectives of machine learning and model-based optimizations at both training and inference stages. Systematic analysis and simulations demonstrate the effectiveness of applying LAPSO in designing new integrated algorithms, such as stability-constrained optimization (SCO) and objective-based forecasting (OBF), while enabling end-to-end tracing of different sources of uncertainties. In addition, a dedicated Python package-lapso is introduced to automatically augment existing power system optimization models with learnable components. All code and data are available at https://github.com/xuwkk/lapso_exp.
Chinese: 本文提出了LAPSO框架，通过将机器学习与传统电力系统运行相结合，统一预测、运行和控制任务，旨在提高决策的经济性和鲁棒性。
English: The paper introduces LAPSO, a holistic framework that integrates machine learning with traditional power system operations to enhance economic and robust decision-making by unifying forecasting, operation, and control tasks.

Authors:Ao Jin, Weijian Zhao, Yifeng Ma, Panfeng Huang, Fan Zhang
Title: Enhanced Robust Tracking Control: An Online Learning Approach
Abstract:
This work focuses the tracking control problem for nonlinear systems subjected to unknown external disturbances. Inspired by contraction theory, a neural network-dirven CCM synthesis is adopted to obtain a feedback controller that could track any feasible trajectory. Based on the observation that the system states under continuous control input inherently contain embedded information about unknown external disturbances, we propose an online learning scheme that captures the disturbances dyanmics from online historical data and embeds the compensation within the CCM controller. The proposed scheme operates as a plug-and-play module that intrinsically enhances the tracking performance of CCM synthesis. The numerical simulations on tethered space robot and PVTOL demonstrate the effectiveness of proposed scheme. The source code of the proposed online learning scheme can be found at https://github.com/NPU-RCIR/Online_CCM.git.
中文: 本研究针对受未知外部干扰的非线性系统跟踪控制问题，提出了一种结合神经网络收缩度量的控制器与在线学习模块的方案，通过历史数据实时捕捉并补偿干扰动态，在空间绳系机器人和PVTOL系统的仿真中验证了其提升跟踪性能的有效性。
English: This study addresses tracking control for nonlinear systems under unknown disturbances by integrating a neural network-driven contraction metric controller with an online learning module that captures and compensates for disturbance dynamics from historical data, enhancing performance as demonstrated in simulations of tethered space robots and PVTOL systems.

Authors:Mohammad Elayan, Wissam Kontar
Title: Consensus-Aware AV Behavior: Trade-offs Between Safety, Interaction, and Performance in Mixed Urban Traffic
Abstract:
Transportation systems have long been shaped by complexity and heterogeneity, driven by the interdependency of agent actions and traffic outcomes. The deployment of automated vehicles (AVs) in such systems introduces a new challenge: achieving consensus across safety, interaction quality, and traffic performance. In this work, we position consensus as a fundamental property of the traffic system and aim to quantify it. We use high-resolution trajectory data from the Third Generation Simulation (TGSIM) dataset to empirically analyze AV and human-driven vehicle (HDV) behavior at a signalized urban intersection and around vulnerable road users (VRUs). Key metrics, including Time-to-Collision (TTC), Post-Encroachment Time (PET), deceleration patterns, headways, and string stability, are evaluated across the three performance dimensions. Results show that full consensus across safety, interaction, and performance is rare, with only 1.63% of AV-VRU interaction frames meeting all three conditions. These findings highlight the need for AV models that explicitly balance multi-dimensional performance in mixed-traffic environments. Full reproducibility is supported via our open-source codebase on https://github.com/wissamkontar/Consensus-AV-Analysis.
中文: 本研究通过分析自动驾驶与人类驾驶车辆的交互，量化交通系统中的共识，发现安全、交互质量和性能三者完全一致的情况极少，强调需开发能平衡这些维度的自动驾驶模型。
English: This study quantifies consensus in traffic systems by analyzing automated and human-driven vehicle interactions, finding that full agreement across safety, interaction quality, and performance is rare, highlighting the need for AV models that balance these dimensions.

Authors:Jason J. Choi, Jasmine Jerry Aloor, Jingqi Li, Maria G. Mendoza, Hamsa Balakrishnan, Claire J. Tomlin
Title: Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety
Abstract:
Preventing collisions in multi-robot navigation is crucial for deployment. This requirement hinders the use of learning-based approaches, such as multi-agent reinforcement learning (MARL), on their own due to their lack of safety guarantees. Traditional control methods, such as reachability and control barrier functions, can provide rigorous safety guarantees when interactions are limited only to a small number of robots. However, conflicts between the constraints faced by different agents pose a challenge to safe multi-agent coordination. To overcome this challenge, we propose a method that integrates multiple layers of safety by combining MARL with safety filters. First, MARL is used to learn strategies that minimize multiple agent interactions, where multiple indicates more than two. Particularly, we focus on interactions likely to result in conflicting constraints within the engagement distance. Next, for agents that enter the engagement distance, we prioritize pairs requiring the most urgent corrective actions. Finally, a dedicated safety filter provides tactical corrective actions to resolve these conflicts. Crucially, the design decisions for all layers of this framework are grounded in reachability analysis and a control barrier-value function-based filtering mechanism. We validate our Layered Safe MARL framework in 1) hardware experiments using Crazyflie drones and 2) high-density advanced aerial mobility (AAM) operation scenarios, where agents navigate to designated waypoints while avoiding collisions. The results show that our method significantly reduces conflict while maintaining safety without sacrificing much efficiency (i.e., shorter travel time and distance) compared to baselines that do not incorporate layered safety. The project website is available at https://dinamo-mit.github.io/Layered-Safe-MARL/

Authors:Ihab Tabbara, Hussein Sibai
Title: Learning Conservative Neural Control Barrier Functions from Offline Data
Abstract:
Safety filters, particularly those based on control barrier functions, have gained increased interest as effective tools for safe control of dynamical systems. Existing correct-by-construction synthesis algorithms for such filters, however, suffer from the curse-of-dimensionality. Deep learning approaches have been proposed in recent years to address this challenge. In this paper, we add to this set of approaches an algorithm for training neural control barrier functions from offline datasets. Such functions can be used to design constraints for quadratic programs that are then used as safety filters. Our algorithm trains these functions so that the system is not only prevented from reaching unsafe states but is also disincentivized from reaching out-of-distribution ones, at which they would be less reliable. It is inspired by Conservative Q-learning, an offline reinforcement learning algorithm. We call its outputs Conservative Control Barrier Functions (CCBFs). Our empirical results demonstrate that CCBFs outperform existing methods in maintaining safety while minimally affecting task performance. Source code is available at https://github.com/tabz23/CCBF.
中文: 本文提出保守控制屏障函数（CCBFs），一种基于离线数据训练的深度学习方法，通过阻止系统进入不安全及分布外状态来增强安全过滤器，在安全性和任务性能上优于现有方法。
English: This paper introduces Conservative Control Barrier Functions (CCBFs), a deep learning approach trained from offline data to enhance safety filters by preventing systems from reaching both unsafe and out-of-distribution states, outperforming existing methods in safety and task performance.

Authors:Junwon Seo, Kensuke Nakamura, Andrea Bajcsy
Title: Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures
Abstract:
Recent advances in generative world models have enabled classical safe control methods, such as Hamilton-Jacobi (HJ) reachability, to generalize to complex robotic systems operating directly from high-dimensional sensor observations. However, obtaining comprehensive coverage of all safety-critical scenarios during world model training is extremely challenging. As a result, latent safety filters built on top of these models may miss novel hazards and even fail to prevent known ones, overconfidently misclassifying risky out-of-distribution (OOD) situations as safe. To address this, we introduce an uncertainty-aware latent safety filter that proactively steers robots away from both known and unseen failures. Our key idea is to use the world model's epistemic uncertainty as a proxy for identifying unseen potential hazards. We propose a principled method to detect OOD world model predictions by calibrating an uncertainty threshold via conformal prediction. By performing reachability analysis in an augmented state space-spanning both the latent representation and the epistemic uncertainty-we synthesize a latent safety filter that can reliably safeguard arbitrary policies from both known and unseen safety hazards. In simulation and hardware experiments on vision-based control tasks with a Franka manipulator, we show that our uncertainty-aware safety filter preemptively detects potential unsafe scenarios and reliably proposes safe, in-distribution actions. Video results can be found on the project website at https://cmu-intentlab.github.io/UNISafe

Authors:Xiaoxia Xu, Xidong Mu, Zhaolin Wang, Yuanwei Liu, Arumugam Nallanathan
Title: Pinching-Antenna Systems (PASS): Power Radiation Model and Optimal Beamforming Design
Abstract:
Pinching-antenna systems (PASS) improve wireless links by configuring the locations of activated pinching antennas along dielectric waveguides, namely pinching beamforming. In this paper, a novel adjustable power radiation model is proposed for PASS, where power radiation ratios of pinching antennas can be flexibly controlled by tuning the spacing between pinching antennas and waveguides. A closed-form pinching antenna spacing arrangement strategy is derived to achieve the commonly assumed equal-power radiation. Based on this, a practical PASS framework relying on discrete activation is considered, where pinching antennas can only be activated among a set of predefined locations. A transmit power minimization problem is formulated, which jointly optimizes the transmit beamforming, pinching beamforming, and the numbers of activated pinching antennas, subject to each user's minimum rate requirement. (1) To solve the resulting highly coupled mixed-integer nonlinear programming (MINLP) problem, branch-and-bound (BnB)-based algorithms are proposed for both single-user and multi-user scenarios, which is guaranteed to converge to globally optimal solutions. (2) A low-complexity many-to-many matching algorithm is further developed. Combined with the Karush-Kuhn-Tucker (KKT) theory, locally optimal and pairwise-stable solutions are obtained within polynomial-time complexity. Simulation results demonstrate that: (i) PASS significantly outperforms conventional multi-antenna architectures, particularly when the number of users and the spatial range increase; and (ii) The proposed matching-based algorithm achieves near-optimal performance, resulting in only a slight performance loss while significantly reducing computational overheads. Code is available at https://github.com/xiaoxiaxusummer/PASS_Discrete
中文摘要：本文提出了一种新型可调功率辐射模型用于夹持天线系统，通过分支定界算法和低复杂度匹配算法解决优化问题，相比传统多天线架构展现出显著性能优势。
English Summary: This paper introduces a novel adjustable power radiation model for pinching-antenna systems (PASS) and proposes both globally optimal branch-and-bound algorithms and a low-complexity matching algorithm to solve the resulting optimization problem, demonstrating significant performance improvements over conventional multi-antenna systems.

Authors:Anna Katariina Wisakanto, Joe Rogero, Avyay M. Casheekar, Richard Mallah
Title: Adapting Probabilistic Risk Assessment for AI
Abstract:
Modern general-purpose artificial intelligence (AI) systems present an urgent risk management challenge, as their rapidly evolving capabilities and potential for catastrophic harm outpace our ability to reliably assess their risks. Current methods often rely on selective testing and undocumented assumptions about risk priorities, frequently failing to make a serious attempt at assessing the set of pathways through which AI systems pose direct or indirect risks to society and the biosphere. This paper introduces the probabilistic risk assessment (PRA) for AI framework, adapting established PRA techniques from high-reliability industries (e.g., nuclear power, aerospace) for the new challenges of advanced AI. The framework guides assessors in identifying potential risks, estimating likelihood and severity bands, and explicitly documenting evidence, underlying assumptions, and analyses at appropriate granularities. The framework's implementation tool synthesizes the results into a risk report card with aggregated risk estimates from all assessed risks. It introduces three methodological advances: (1) Aspect-oriented hazard analysis provides systematic hazard coverage guided by a first-principles taxonomy of AI system aspects (e.g. capabilities, domain knowledge, affordances); (2) Risk pathway modeling analyzes causal chains from system aspects to societal impacts using bidirectional analysis and incorporating prospective techniques; and (3) Uncertainty management employs scenario decomposition, reference scales, and explicit tracing protocols to structure credible projections with novelty or limited data. Additionally, the framework harmonizes diverse assessment methods by integrating evidence into comparable, quantified absolute risk estimates for lifecycle decisions. We have implemented this as a workbook tool for AI developers, evaluators, and regulators.

Authors:Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice Fallon, Cesar Cadena, Marco Hutter
Title: Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics
Abstract:
Achieving robust autonomy in mobile robots operating in complex and unstructured environments requires a multimodal sensor suite capable of capturing diverse and complementary information. However, designing such a sensor suite involves multiple critical design decisions, such as sensor selection, component placement, thermal and power limitations, compute requirements, networking, synchronization, and calibration. While the importance of these key aspects is widely recognized, they are often overlooked in academia or retained as proprietary knowledge within large corporations. To improve this situation, we present Boxi, a tightly integrated sensor payload that enables robust autonomy of robots in the wild. This paper discusses the impact of payload design decisions made to optimize algorithmic performance for downstream tasks, specifically focusing on state estimation and mapping. Boxi is equipped with a variety of sensors: two LiDARs, 10 RGB cameras including high-dynamic range, global shutter, and rolling shutter models, an RGB-D camera, 7 inertial measurement units (IMUs) of varying precision, and a dual antenna RTK GNSS system. Our analysis shows that time synchronization, calibration, and sensor modality have a crucial impact on the state estimation performance. We frame this analysis in the context of cost considerations and environment-specific challenges. We also present a mobile sensor suite `cookbook` to serve as a comprehensive guideline, highlighting generalizable key design considerations and lessons learned during the development of Boxi. Finally, we demonstrate the versatility of Boxi being used in a variety of applications in real-world scenarios, contributing to robust autonomy. More details and code: https://github.com/leggedrobotics/grand_tour_box
Chinese: Boxi 是一款高度集成的传感器载荷，通过优化传感器选择、同步和校准，旨在提升机器人在复杂环境中的自主能力，并在多种实际场景中验证了其有效性。
English: Boxi is a highly integrated sensor payload designed to enhance robot autonomy in complex environments by optimizing sensor selection, synchronization, and calibration, with its effectiveness demonstrated across various real-world applications.

Authors:Tao Wu, Kexue Fu, Qiang Hua, Xinxin Liu, Muhammad Ali Imran, Bo Liu
Title: LEAM: A Prompt-only Large Language Model-enabled Antenna Modeling Method
Abstract:
Antenna modeling is a time-consuming and complex process, decreasing the speed of antenna analysis and design. In this paper, a large language model (LLM)- enabled antenna modeling method, called LEAM, is presented to address this challenge. LEAM enables automatic antenna model generation based on language descriptions via prompt input, images, descriptions from academic papers, patents, and technical reports (either one or multiple). The effectiveness of LEAM is demonstrated by three examples: a Vivaldi antenna generated from a complete user description, a slotted patch antenna generated from an incomplete user description and the operating frequency, and a monopole slotted antenna generated from images and descriptions scanned from the literature. For all the examples, correct antenna models are generated in a few minutes. The code can be accessed via https://github.com/TaoWu974/LEAM.
中文：LEAM是一种基于大语言模型的天线建模方法，能够通过文本描述、图像等多种输入自动生成精确的天线设计，将建模时间大幅缩短至几分钟。
English: LEAM is an innovative antenna modeling method that utilizes large language models to automatically generate accurate antenna designs from various inputs like text descriptions and images, significantly speeding up the process to just minutes.

Authors:Joohwan Seo, Nikhil Potu Surya Prakash, Soomi Lee, Arvind Kruthiventy, Megan Teng, Jongeun Choi, Roberto Horowitz
Title: Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators
Abstract:
In this paper, we present an impedance control framework on the SE(3) manifold, which enables force tracking while guaranteeing passivity. Building upon the unified force-impedance control (UFIC) and our previous work on geometric impedance control (GIC), we develop the geometric unified force impedance control (GUFIC) to account for the SE(3) manifold structure in the controller formulation using a differential geometric perspective. As in the case of the UFIC, the GUFIC utilizes energy tank augmentation for both force-tracking and impedance control to guarantee the manipulator's passivity relative to external forces. This ensures that the end effector maintains safe contact interaction with uncertain environments and tracks a desired interaction force. Moreover, we resolve a non-causal implementation problem in the UFIC formulation by introducing velocity and force fields. Due to its formulation on SE(3), the proposed GUFIC inherits the desirable SE(3) invariance and equivariance properties of the GIC, which helps increase sample efficiency in machine learning applications where a learning algorithm is incorporated into the control law. The proposed control law is validated in a simulation environment under scenarios requiring tracking an SE(3) trajectory, incorporating both position and orientation, while exerting a force on a surface. The codes are available at https://github.com/Joohwan-Seo/GUFIC_mujoco.
中文: 本文提出了SE(3)流形上的几何统一力阻抗控制框架，通过能量储罐增强确保被动性和力跟踪能力，并利用速度与力场解决了非因果实现问题。
English: This paper introduces a geometric unified force-impedance control (GUFIC) framework on the SE(3) manifold that ensures passivity and force tracking through energy tank augmentation and resolves non-causal implementation issues with velocity and force fields.

Authors:Nicholas Julian Behr, Mattia Bianchi, Keith Moffat, Saverio Bolognani, Florian Dörfler
Title: PRIME: Fast Primal-Dual Feedback Optimization for Markets with Application to Optimal Power Flow
Abstract:
Online Feedback Optimization (OFO) controllers iteratively drive a plant to an optimal operating point that satisfies input and output constraints, relying solely on the input-output sensitivity as model information. This paper introduces PRIME (PRoximal Iterative MarkEts), a novel OFO approach based on proximal-point iterations. Unlike existing OFO solutions, PRIME admits a market-based implementation, where self-interested actors are incentivized to make choices that result in safe and efficient operation, without communicating private costs or constraints. Furthermore, PRIME can handle non-smooth objective functions, achieve fast convergence rates and rapid constraint satisfaction, and effectively reject measurement noise. We demonstrate PRIME on an AC optimal power flow problem, obtaining an efficient real-time nonlinear local marginal pricing scheme.
中文: PRIME是一种新颖的在线反馈优化方法，通过基于市场的实施实现安全高效运行而无需共享私有信息，能处理非光滑目标函数并具备快速收敛和抗噪能力，已在交流最优潮流问题中得到验证。
English: PRIME is a novel Online Feedback Optimization approach that enables market-based implementation for safe and efficient operation without sharing private information, while handling non-smooth objectives with fast convergence and noise rejection, as demonstrated in an AC optimal power flow application.

Authors:Jingzehua Xu, Guanwen Xie, Jiwei Tang, Yimian Ding, Weiyi Liu, Shuai Zhang, Yi Li
Title: Never too Cocky to Cooperate: An FIM and RL-based USV-AUV Collaborative System for Underwater Tasks in Extreme Sea Conditions
Abstract:
This paper develops a novel unmanned surface vehicle (USV)-autonomous underwater vehicle (AUV) collaborative system designed to enhance underwater task performance in extreme sea conditions. The system integrates a dual strategy: (1) high-precision multi-AUV localization enabled by Fisher information matrix-optimized USV path planning, and (2) reinforcement learning-based cooperative planning and control method for multi-AUV task execution. Extensive experimental evaluations in the underwater data collection task demonstrate the system's operational feasibility, with quantitative results showing significant performance improvements over baseline methods. The proposed system exhibits robust coordination capabilities between USV and AUVs while maintaining stability in extreme sea conditions. To facilitate reproducibility and community advancement, we provide an open-source simulation toolkit available at: https://github.com/360ZMEM/USV-AUV-colab .
中文: 本文提出了一种新型无人船与自主水下航行器协同系统，通过优化路径规划和强化学习控制方法，在极端海况下显著提升了水下任务性能，实验评估验证了其优越性。
English: This paper introduces a novel USV-AUV collaborative system that enhances underwater task performance in extreme conditions through optimized path planning and reinforcement learning-based control, demonstrating significant improvements in experimental evaluations.

Authors:Dezhao Luo, Bohan Tang, Kang Li, Georgios Papoudakis, Jifei Song, Shaogang Gong, Jianye Hao, Jun Wang, Kun Shao
Title: ViMo: A Generative Visual GUI World Model for App Agents
Abstract:
App agents, which autonomously operate mobile Apps through Graphical User Interfaces (GUIs), have gained significant interest in real-world applications. Yet, they often struggle with long-horizon planning, failing to find the optimal actions for complex tasks with longer steps. To address this, world models are used to predict the next GUI observation based on user actions, enabling more effective agent planning. However, existing world models primarily focus on generating only textual descriptions, lacking essential visual details. To fill this gap, we propose ViMo, the first visual world model designed to generate future App observations as images. For the challenge of generating text in image patches, where even minor pixel errors can distort readability, we decompose GUI generation into graphic and text content generation. We propose a novel data representation, the Symbolic Text Representation~(STR) to overlay text content with symbolic placeholders while preserving graphics. With this design, ViMo employs a STR Predictor to predict future GUIs' graphics and a GUI-text Predictor for generating the corresponding text. Moreover, we deploy ViMo to enhance agent-focused tasks by predicting the outcome of different action options. Experiments show ViMo's ability to generate visually plausible and functionally effective GUIs that enable App agents to make more informed decisions.
中文摘要：ViMo是一种创新的视觉世界模型，通过分离图形与文本生成未来应用界面图像，使应用代理能通过更优规划做出更明智决策。
English Summary: ViMo is a novel visual world model that generates future app interface images by separating graphics and text, enabling app agents to make better decisions through improved planning.

Authors:Yeongjun Jang, Joowon Lee, Junsoo Kim
Title: Documentation on Encrypted Dynamic Control Simulation Code using Ring-LWE based Cryptosystems
Abstract:
Encrypted controllers offer secure computation by employing modern cryptosystems to execute control operations directly over encrypted data without decryption. However, incorporating cryptosystems into dynamic controllers significantly increases the computational load. This paper aims to provide an accessible guideline for running encrypted controllers using an open-source library Lattigo, which supports an efficient implementation of Ring-Learing With Errors (LWE) based encrypted controllers, and our explanations are assisted with example codes that are fully available at https://github.com/CDSL-EncryptedControl/CDSL.
中文摘要：本文通过开源Lattigo库提供了运行加密控制器的实用指南，该库支持基于环LWE的高效加密控制器实现，并附带完整可用的示例代码。
English Summary: This paper provides a practical guide for implementing encrypted controllers using the open-source Lattigo library, which enables efficient Ring-LWE-based secure computation while addressing increased computational demands.

Authors:Pouya Samanipour, Hasan Poonawala
Title: SEROAISE: Advancing ROA Estimation for ReLU and PWA Dynamics through Estimating Certified Invariant Sets
Abstract:
This paper presents a novel framework for constructing the Region of Attraction (RoA) for dynamics derived either from Piecewise Affine (PWA) functions or from Neural Networks (NNs) with Rectified Linear Units (ReLU) activation function. This method, described as Sequential Estimation of RoA based on Invariant Set Estimation (SEROAISE), computes a Lyapunov-like PWA function over a certified PWA invariant set. While traditional approaches search for Lyapunov functions by enforcing Lyapunov conditions over pre-selected domains, this framework enforces Lyapunov-like conditions over a certified invariant subset obtained using the Iterative Invariant Set Estimator(IISE). Compared to the state-of-the-art, IISE provides systematically larger certified invariant sets. In order to find a larger invariant subset, the IISE utilizes a novel concept known as the Non-Uniform Growth of Invariant Set (NUGIS). A number of examples illustrating the efficacy of the proposed methods are provided, including dynamical systems derived from learning algorithms. The implementation is publicly available at: https://github.com/PouyaSamanipour/SEROAISE.git.
中文摘要：本文提出了一种名为SEROAISE的新框架，用于基于分段仿射函数或ReLU激活神经网络构建动力学系统的吸引域，通过计算经认证的不变集上的类李雅普诺夫函数，并利用非均匀增长概念，有效扩大了不变集范围，其有效性通过实例和公开代码得以验证。
English Summary: This paper introduces a novel framework called SEROAISE for estimating the Region of Attraction (RoA) in dynamical systems using Piecewise Affine functions or Neural Networks with ReLU activations, which computes Lyapunov-like functions over certified invariant sets and demonstrates improved performance through examples and public implementation.

Authors:Hannes Petrenz, Johannes Köhler, Francesco Borrelli
Title: Robust MPC for Uncertain Linear Systems -- Combining Model Adaptation and Iterative Learning
Abstract:
This paper presents a robust adaptive learning Model Predictive Control (MPC) framework for linear systems with parametric uncertainties and additive disturbances performing iterative tasks. The approach refines the parameter estimates online using set-membership estimation. Performance enhancement over iterations is achieved by learning the terminal cost from data. Safety is enforced using a terminal set, which is also learned iteratively. The proposed method guarantees recursive feasibility, constraint satisfaction, and a robust bound on the closed-loop cost. Numerical simulations on a mass-spring-damper system demonstrate improved computational efficiency and control performance compared to a robust adaptive MPC scheme without iterative learning of the terminal ingredients.
中文: 本文提出了一种鲁棒自适应学习模型预测控制框架，通过在线优化参数估计并迭代学习终端要素，有效提升了存在不确定性的线性系统的控制性能和计算效率。
English: This paper introduces a robust adaptive learning MPC framework that enhances control performance and computational efficiency for linear systems under uncertainties by iteratively refining parameter estimates and learning terminal components from data.

Authors:Shubham Aggarwal, Dipankar Maity, Tamer Başar
Title: InterQ: A DQN Framework for Optimal Intermittent Control
Abstract:
In this letter, we explore the communication-control co-design of discrete-time stochastic linear systems through reinforcement learning. Specifically, we examine a closed-loop system involving two sequential decision-makers: a scheduler and a controller. The scheduler continuously monitors the system's state but transmits it to the controller intermittently to balance the communication cost and control performance. The controller, in turn, determines the control input based on the intermittently received information. Given the partially nested information structure, we show that the optimal control policy follows a certainty-equivalence form. Subsequently, we analyze the qualitative behavior of the scheduling policy. To develop the optimal scheduling policy, we propose InterQ, a deep reinforcement learning algorithm which uses a deep neural network to approximate the Q-function. Through extensive numerical evaluations, we analyze the scheduling landscape and further compare our approach against two baseline strategies: (a) a multi-period periodic scheduling policy, and (b) an event-triggered policy. The results demonstrate that our proposed method outperforms both baselines. The open source implementation can be found at https://github.com/AC-sh/InterQ.
中文摘要：本文通过强化学习探索了随机线性系统的通信与控制协同设计，提出的InterQ算法利用深度神经网络逼近Q函数，在平衡通信成本与控制性能方面优于周期性调度和事件触发两种基准策略。
English Summary: This letter presents a reinforcement learning-based co-design of communication and control for stochastic linear systems, introducing the InterQ algorithm that outperforms baseline scheduling policies by optimizing transmission intervals to balance communication costs and control performance.

Authors:Yang Yang, Tong Zhang, Jian Wu, Lijie Su
Title: Dynamic Topic Analysis in Academic Journals using Convex Non-negative Matrix Factorization Method
Abstract:
With the rapid advancement of large language models, academic topic identification and topic evolution analysis are crucial for enhancing AI's understanding capabilities. Dynamic topic analysis provides a powerful approach to capturing and understanding the temporal evolution of topics in large-scale datasets. This paper presents a two-stage dynamic topic analysis framework that incorporates convex optimization to improve topic consistency, sparsity, and interpretability. In Stage 1, a two-layer non-negative matrix factorization (NMF) model is employed to extract annual topics and identify key terms. In Stage 2, a convex optimization algorithm refines the dynamic topic structure using the convex NMF (cNMF) model, further enhancing topic integration and stability. Applying the proposed method to IEEE journal abstracts from 2004 to 2022 effectively identifies and quantifies emerging research topics, such as COVID-19 and digital twins. By optimizing sparsity differences in the clustering feature space between traditional and emerging research topics, the framework provides deeper insights into topic evolution and ranking analysis. Moreover, the NMF-cNMF model demonstrates superior stability in topic consistency. At sparsity levels of 0.4, 0.6, and 0.9, the proposed approach improves topic ranking stability by 24.51%, 56.60%, and 36.93%, respectively. The source code (to be open after publication) is available at https://github.com/meetyangyang/CDNMF.
本文提出了一种采用凸优化的两阶段动态主题分析框架，通过非负矩阵分解和凸非负矩阵分解模型提升主题一致性与稳定性，有效识别了2004至2022年IEEE摘要中COVID-19和数字孪生等新兴研究主题。
This paper introduces a two-stage dynamic topic analysis framework using convex optimization to enhance topic consistency and stability, effectively identifying emerging research trends like COVID-19 and digital twins in IEEE abstracts from 2004 to 2022.

Authors:Ben Cheng, Yize Chen
Title: Open Datasets for Grid Modeling and Visualization: An Alberta Power Network Case
Abstract:
In the power and energy industry, multiple entities in grid operational logs are frequently recorded and updated. Thanks to recent advances in IT facilities and smart metering services, a variety of datasets such as system load, generation mix, and grid connection are often publicly available. While these resources are valuable in evaluating power grid's operational conditions and system resilience, the lack of fine-grained, accurate locational information constrain the usage of current data, which further hinders the development of smart grid and renewables integration. For instance, electricity end users are not aware of nodal generation mix or carbon emissions, while the general public have limited understanding about the effect of demand response or renewables integration if only the whole system's demands and generations are available. In this work, we focus on recovering power grid topology and line flow directions from open public dataset. Taking the Alberta grid as a working example, we start from mapping multi-modal power system datasets to the grid topology integrated with geographical information. By designing a novel optimization-based scheme to recover line flow directions, we are able to analyze and visualize the interactions between generations and demand vectors in an efficient manner. Proposed research is fully open-sourced and highly generalizable, which can help model and visualize grid information, create synthetic dataset, and facilitate analytics and decision-making framework for clean energy transition.
中文摘要：本研究开发了一种基于公开数据的开源方法，通过创新优化方案重建电网拓扑与线路潮流方向，可有效支持电网建模分析并推动清洁能源转型决策。
English Summary: This study develops an open-source method to reconstruct power grid topology and line flow directions from public datasets, enabling enhanced grid modeling and clean energy transition analytics through a novel optimization approach.

Authors:Alexandre Banks, Richard Cook, Septimiu E. Salcudean
Title: Setup-Invariant Augmented Reality for Teaching by Demonstration with Surgical Robots
Abstract:
Augmented reality (AR) is an effective tool in robotic surgery education as it combines exploratory learning with three-dimensional guidance. However, existing AR systems require expert supervision and do not account for differences in the mentor and mentee robot configurations. To enable novices to train outside the operating room while receiving expert-informed guidance, we present dV-STEAR: an open-source system that plays back task-aligned expert demonstrations without assuming identical setup joint positions between expert and novice. Pose estimation was rigorously quantified, showing a registration error of 3.86 (SD=2.01)mm. In a user study (N=24), dV-STEAR significantly improved novice performance on tasks from the Fundamentals of Laparoscopic Surgery. In a single-handed ring-over-wire task, dV-STEAR increased completion speed (p=0.03) and reduced collision time (p=0.01) compared to dry-lab training alone. During a pick-and-place task, it improved success rates (p=0.004). Across both tasks, participants using dV-STEAR exhibited significantly more balanced hand use and reported lower frustration levels. This work presents a novel educational tool implemented on the da Vinci Research Kit, demonstrates its effectiveness in teaching novices, and builds the foundation for further AR integration into robot-assisted surgery.
中文：dV-STAR系统通过增强现实技术让新手外科医生能在专家指导下进行训练，无需相同设备配置即可显著提升手术任务表现并降低操作挫败感。
English: The dV-STAR system enables novice surgeons to train with expert guidance in augmented reality, significantly improving performance and reducing frustration in robotic surgery tasks without requiring identical equipment setups.

Authors:Jonas Torzewski
Title: Physical spline for denoising object trajectory data by combining splines, ML feature regression and model knowledge
Abstract:
This article presents a method for estimating the dynamic driving states (position, velocity, acceleration and heading) from noisy measurement data. The proposed approach is effective with both complete and partial observations, producing refined trajectory signals with kinematic consistency, ensuring that velocity is the integral of acceleration and position is the integral of velocity. Additionally, the method accounts for the constraint that vehicles can only move in the direction of their orientation. The method is implemented as a configurable python library that also enables trajectory estimation solely based on position data. Regularization is applied to prevent extreme state variations. A key application is enhancing recorded trajectory data for use as reference inputs in machine learning models. At the end, the article presents the results of the method along with a comparison to ground truth data.
中文: 本文提出一种基于Python的动态驾驶状态估计方法，能从含噪声数据中推算车辆运动轨迹，确保运动学一致性并支持仅凭位置数据优化轨迹，适用于机器学习模型的数据增强。
English: This article introduces a Python-based method for estimating dynamic driving states from noisy data, ensuring kinematic consistency and orientation constraints while enabling trajectory refinement for machine learning applications.

Authors:Luigi Tresca, Carolin Schmidt, James Harrison, Filipe Rodrigues, Gioele Zardini, Daniele Gammelli, Marco Pavone
Title: Robo-taxi Fleet Coordination at Scale via Reinforcement Learning
Abstract:
Fleets of robo-taxis offering on-demand transportation services, commonly known as Autonomous Mobility-on-Demand (AMoD) systems, hold significant promise for societal benefits, such as reducing pollution, energy consumption, and urban congestion. However, orchestrating these systems at scale remains a critical challenge, with existing coordination algorithms often failing to exploit the systems' full potential. This work introduces a novel decision-making framework that unites mathematical modeling with data-driven techniques. In particular, we present the AMoD coordination problem through the lens of reinforcement learning and propose a graph network-based framework that exploits the main strengths of graph representation learning, reinforcement learning, and classical operations research tools. Extensive evaluations across diverse simulation fidelities and scenarios demonstrate the flexibility of our approach, achieving superior system performance, computational efficiency, and generalizability compared to prior methods. Finally, motivated by the need to democratize research efforts in this area, we release publicly available benchmarks, datasets, and simulators for network-level coordination alongside an open-source codebase designed to provide accessible simulation platforms and establish a standardized validation process for comparing methodologies. Code available at: https://github.com/StanfordASL/RL4AMOD
中文：本研究提出了一种新颖的强化学习框架，用于自动驾驶按需出行系统，结合图网络与运筹学方法提升协调效率和性能，并公开了基准测试和开源工具以支持研究普及。
English: This work introduces a novel reinforcement learning framework for Autonomous Mobility-on-Demand systems that combines graph networks with operations research to enhance coordination efficiency and performance, supported by publicly released benchmarks and open-source tools.

Authors:Yuzhu Lei, Guanding Yu
Title: A multi-scale lithium-ion battery capacity prediction using mixture of experts and patch-based MLP
Abstract:
Lithium-ion battery health management has become increasingly important as the application of batteries expands. Precise forecasting of capacity degradation is critical for ensuring the healthy usage of batteries. In this paper, we innovatively propose MSPMLP, a multi-scale capacity prediction model utilizing the mixture of experts (MoE) architecture and patch-based multi-layer perceptron (MLP) blocks, to capture both the long-term degradation trend and local capacity regeneration phenomena. Specifically, we utilize patch-based MLP blocks with varying patch sizes to extract multi-scale features from the capacity sequence. Leveraging the MoE architecture, the model adaptively integrates the extracted features, thereby enhancing its capacity and expressiveness. Finally, the future battery capacity is predicted based on the integrated features, achieving high prediction accuracy and generalization. Experimental results on the public NASA dataset indicate that MSPMLP achieves a mean absolute error (MAE) of 0.0078, improving by 41.8\% compared to existing methods. These findings highlight that MSPMLP, owing to its multi-scale modeling capability and generalizability, provides a promising solution to the battery capacity prediction challenges caused by capacity regeneration phenomena and complex usage conditions. The code of this work is provided at https://github.com/LeiYuzhu/CapacityPredict.
中文摘要：本文创新提出MSPMLP多尺度容量预测模型，通过混合专家架构和基于补丁的多层感知器模块，有效捕捉电池长期退化趋势和局部容量再生现象，在NASA数据集上实现预测精度41.8%的提升。
English Summary: This paper introduces MSPMLP, an innovative multi-scale battery capacity prediction model that combines mixture of experts architecture with patch-based MLP blocks to accurately forecast both long-term degradation trends and local capacity regeneration, achieving a 41.8% improvement in prediction accuracy on the NASA dataset.

Authors:Haozhan Tang, Tianyi Zhang, Oliver Kroemer, Matthew Johnson-Roberson, Weiming Zhi
Title: GraphSeg: Segmented 3D Representations via Graph Edge Addition and Contraction
Abstract:
Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment Anything (SAM) offer strong performance in 2D image segmentation. These advances do not translate directly to performance in the physical 3D world, where they often over-segment objects and fail to produce consistent mask correspondences across views. In this paper, we present GraphSeg, a framework for generating consistent 3D object segmentations from a sparse set of 2D images of the environment without any depth information. GraphSeg adds edges to graphs and constructs dual correspondence graphs: one from 2D pixel-level similarities and one from inferred 3D structure. We formulate segmentation as a problem of edge addition, then subsequent graph contraction, which merges multiple 2D masks into unified object-level segmentations. We can then leverage \emph{3D foundation models} to produce segmented 3D representations. GraphSeg achieves robust segmentation with significantly fewer images and greater accuracy than prior methods. We demonstrate state-of-the-art performance on tabletop scenes and show that GraphSeg enables improved performance on downstream robotic manipulation tasks. Code available at https://github.com/tomtang502/graphseg.git.
中文: GraphSeg框架通过构建双重对应图并利用3D基础模型，仅从稀疏的2D图像即可生成一致的3D物体分割，在机器人操作任务中实现了超越现有方法的准确性和性能表现。
English: GraphSeg is a framework that generates consistent 3D object segmentations from sparse 2D images without depth information by constructing dual correspondence graphs and leveraging 3D foundation models, achieving superior accuracy and performance in robotic manipulation tasks.

Authors:Daniel M. Cherenson, Devansh R. Agrawal, Dimitra Panagou
Title: Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints
Abstract:
Mission planning can often be formulated as a constrained control problem under multiple path constraints (i.e., safety constraints) and budget constraints (i.e., resource expenditure constraints). In a priori unknown environments, verifying that an offline solution will satisfy the constraints for all time can be difficult, if not impossible. Our contributions are as follows: 1) We propose an online method, building on our previous work "gatekeeper", to guarantee safety and satisfy budget constraints of the system trajectory at all times throughout a mission. 2) Next, we prove that our algorithm is recursively feasible and correct. 3) Finally, instead of using a heuristically designed backup controller, we propose a sampling-based method to construct backup trajectories that both minimize resource expenditure and reach budget renewal sets, in which path constraints are satisfied and the constrained resources are renewed. We demonstrate our approach in simulation with a fixed-wing UAV in a GNSS-denied environment with a budget constraint on localization error that can be renewed at visual landmarks.
Chinese: ReRoot是一种新颖的基于采样的框架，通过在未知环境中从预算可重置的更新集在线生长多个反向RRT*树，提供动态可行的备用轨迹来保证安全性并减少资源消耗。
English: ReRoot is a novel sampling-based framework that enforces safety and budget constraints for nonlinear systems in unknown environments by growing multiple reverse RRT* trees online from renewal sets, providing dynamically feasible backup trajectories to guarantee safety and reduce resource expenditure.

Authors:Sixu Li, Deepak Prakash Kumar, Swaroop Darbha, Yang Zhou
Title: Time-optimal Convexified Reeds-Shepp Paths on a Sphere
Abstract:
This article addresses time-optimal path planning for a vehicle capable of moving both forward and backward on a unit sphere with a unit maximum speed, and constrained by a maximum absolute turning rate $U_{max}$. The proposed formulation can be utilized for optimal attitude control of underactuated satellites, optimal motion planning for spherical rolling robots, and optimal path planning for mobile robots on spherical surfaces or uneven terrains. By utilizing Pontryagin's Maximum Principle and analyzing phase portraits, it is shown that for $U_{max}\geq1$, the optimal path connecting a given initial configuration to a desired terminal configuration falls within a sufficient list of 23 path types, each comprising at most 6 segments. These segments belong to the set $\{C,G,T\}$, where $C$ represents a tight turn with radius $r=\frac{1}{\sqrt{1+U_{max}^2}}$, $G$ represents a great circular arc, and $T$ represents a turn-in-place motion. Closed-form expressions for the angles of each path in the sufficient list are derived. The source code for solving the time-optimal path problem and visualization is publicly available at https://github.com/sixuli97/Optimal-Spherical-Convexified-Reeds-Shepp-Paths.
中文: 本研究提出了一种在单位球面上双向移动的车辆时间最优路径规划方法，针对最大转向率≥1的情况确定了23种最多包含6段{C, G, T}路径类型的充分列表，可应用于卫星控制和机器人运动规划。
English: This study presents a time-optimal path planning method for vehicles moving bidirectionally on a unit sphere, identifying 23 path types with up to 6 segments from {C, G, T} for maximum turning rates ≥1, with applications in satellite control and robotics.

Authors:Shiyue Zhao, Junzhi Zhang, Neda Masoud, Heye Huang, Xiaohui Hou, Chengkun He
Title: SACA: A Scenario-Aware Collision Avoidance Framework for Autonomous Vehicles Integrating LLMs-Driven Reasoning
Abstract:
Reliable collision avoidance under extreme situations remains a critical challenge for autonomous vehicles. While large language models (LLMs) offer promising reasoning capabilities, their application in safety-critical evasive maneuvers is limited by latency and robustness issues. Even so, LLMs stand out for their ability to weigh emotional, legal, and ethical factors, enabling socially responsible and context-aware collision avoidance. This paper proposes a scenario-aware collision avoidance (SACA) framework for extreme situations by integrating predictive scenario evaluation, data-driven reasoning, and scenario-preview-based deployment to improve collision avoidance decision-making. SACA consists of three key components. First, a predictive scenario analysis module utilizes obstacle reachability analysis and motion intention prediction to construct a comprehensive situational prompt. Second, an online reasoning module refines decision-making by leveraging prior collision avoidance knowledge and fine-tuning with scenario data. Third, an offline evaluation module assesses performance and stores scenarios in a memory bank. Additionally, A precomputed policy method improves deployability by previewing scenarios and retrieving or reasoning policies based on similarity and confidence levels. Real-vehicle tests show that, compared with baseline methods, SACA effectively reduces collision losses in extreme high-risk scenarios and lowers false triggering under complex conditions. Project page: https://sean-shiyuez.github.io/SACA/.

Authors:Behrooz Moosavi Ramezanzadeh
Title: Optimal Control of an Epidemic with Intervention Design
Abstract:
In this paper, I propose a controlled SEIR model that advances epidemic management through optimal control theory. I improve the traditional framework by incorporating practical intervention constraints and economic considerations. Approaching this problem using modern methods of calculus of variations, I first conduct a rigorous mathematical analysis of the controlled system. Then, I formulate an infinite time horizon control problem and investigate its mathematical connections with finite time, setting the stage for applying the Hamiltonian procedure.
中文: 本文通过最优控制理论提出改进的SEIR传染病模型，结合实际干预和经济因素，采用变分法和哈密顿方法进行严谨数学分析。
English: This paper introduces an enhanced SEIR epidemic model using optimal control theory, incorporating practical interventions and economic factors through rigorous mathematical analysis and Hamiltonian methods.

Authors:Juliana Costa-Silva, David Menotti, Fabricio M. Lopes
Title: consexpressionR: an R package for consensus differential gene expression analysis
Abstract:
Motivation: Bulk RNA-Seq is a widely used method for studying gene expression across a variety of contexts. The significance of RNA-Seq studies has grown with the advent of high-throughput sequencing technologies. Computational methods have been developed for each stage of the identification of differentially expressed genes. Nevertheless, there are few studies exploring the association between different types of methods. In this study, we evaluated the impact of the association of methodologies in the results of differential expression analysis. By adopting two data sets with qPCR data (to gold-standard reference), seven methods were implemented and assessed in R packages (EBSeq, edgeR, DESeq2, limma, SAMseq, NOISeq, and Knowseq), which was performed and assessed separately and in association. The results were evaluated considering the adopted qPCR data. Results: Here, we introduce consexpressionR, an R package that automates differential expression analysis using consensus of at least seven methodologies, producing more assertive results with a significant reduction in false positives. Availability: consexpressionR is an R package available via source code and support are available at GitHub (https://github.com/costasilvati/consexpressionR).
中文: 本研究推出了consexpressionR这一R软件包，它通过整合七种方法自动化进行差异表达分析，以提高准确性并减少假阳性结果。
English: The study introduces consexpressionR, an R package that automates differential expression analysis by combining seven methods to improve accuracy and reduce false positives.

Authors:Adriano del Río, Christoph Stoeffler
Title: Adaptive Koopman Model Predictive Control of Simple Serial Robots
Abstract:
Approximating nonlinear systems as linear ones is a common workaround to apply control tools tailored for linear systems. This motivates our present work where we developed a data-driven model predictive controller (MPC) based on the Koopman operator framework, allowing the embedding of nonlinear dynamics in a higher dimensional, but linear function space. The controller, termed adaptive Koopman model predictive control (KMPC), uses online closed-loop feedback to learn and incrementally update a linear representation of nonlinear system dynamics, without the prior knowledge of a model. Adaptive KMPC differs from most other Koopman-based control frameworks that aim to identify high-validity-range models in advance and then enter closed-loop control without further model adaptations. To validate the controller, trajectory tracking experiments are conducted with 1R and 2R robots under force disturbances and changing model parameters. We compare the controller to classical linearization MPC and Koopman-based MPC without model updates, denoted static KMPC. The results show that adaptive KMPC can, opposed to static KMPC, generalize over unforeseen force disturbances and can, opposed to linearization MPC, handle varying dynamic parameters, while using a small set of basis functions to approximate the Koopman operator.
中文: 本文提出了一种自适应Koopman模型预测控制器，通过在线闭环反馈学习并更新非线性系统的线性表示，无需先验模型即可在干扰和参数变化下实现鲁棒的轨迹跟踪。
English: This paper introduces an adaptive Koopman model predictive controller that learns and updates linear representations of nonlinear systems online using closed-loop feedback, enabling robust trajectory tracking under disturbances and parameter changes without prior model knowledge.

Authors:Songqiao Hu, Zidong Wang, Zeyi Liu, Zhen Shen, Xiao He
Title: SafeLink: Safety-Critical Control Under Dynamic and Irregular Unsafe Regions
Abstract:
Control barrier functions (CBFs) provide a theoretical foundation for safety-critical control in robotic systems. However, most existing methods rely on the analytical expressions of unsafe state regions, which are often impractical for irregular and dynamic unsafe regions. This paper introduces SafeLink, a novel CBF construction method based on cost-sensitive incremental random vector functional-link (RVFL) neural networks. By designing a valid cost function, SafeLink assigns different sensitivities to safe and unsafe state points, thereby eliminating false negatives in classification of unsafe state points. Furthermore, an incremental update theorem is established, enabling precise real-time adaptation to changes in unsafe regions. An analytical expression for the gradient of SafeLink is also derived to facilitate control input computation. The proposed method is validated on the endpoint position control task of a nonlinear two-link manipulator. Experimental results demonstrate that the method effectively learns the unsafe regions and rapidly adapts as these regions change, achieving an update speed significantly faster than comparison methods, while safely reaching the target position. The source code is available at https://github.com/songqiaohu/SafeLink.
中文：本文提出SafeLink方法，通过基于代价敏感增量随机向量函数链接神经网络的新型控制屏障函数构建方案，能实时精准学习并快速适应动态危险区域，在机械臂控制实验中展现出远超对比方法的更新速度与安全保障。
English: This paper presents SafeLink, a novel control barrier function method using cost-sensitive incremental neural networks to accurately learn and rapidly adapt to dynamic unsafe regions in real-time, validated on a robotic manipulator with superior speed and safety performance.

Authors:Pieter Pas, Panagiotis Patrinos
Title: Blocked Cholesky factorization updates of the Riccati recursion using hyperbolic Householder transformations
Abstract:
Newton systems in quadratic programming (QP) methods are often solved using direct Cholesky or LDL factorizations. When the linear systems in successive iterations differ by a low-rank modification (as is common in active set and augmented Lagrangian methods), updating the existing factorization can offer significant performance improvements over recomputing a full Cholesky factorization. We review the hyperbolic Householder transformation, and demonstrate its usefulness in describing low-rank Cholesky factorization updates. By applying this hyperbolic Householder-based framework to the well-known Riccati recursion for solving saddle-point problems with optimal control structure, we develop a novel algorithm for updating the factorizations used in optimization solvers for optimal control. Specifically, the proposed method can be used to efficiently solve the semismooth Newton systems that are at the core of the augmented Lagrangian-based QPALM-OCP solver. An optimized open-source implementation of the proposed factorization update routines is provided as well.
中文: 该摘要提出了一种基于双曲Householder变换的新算法，用于高效更新二次规划方法中的Cholesky分解，特别通过处理低秩修正避免完全重计算，从而优化了QPALM-OCP等最优控制求解器的性能。
English: The abstract presents a novel algorithm using hyperbolic Householder transformations to efficiently update Cholesky factorizations in quadratic programming methods, particularly benefiting optimal control solvers like QPALM-OCP by handling low-rank modifications without full recomputation.

Authors:Merijn Floren, Jean-Philippe Noël, Jan Swevers
Title: Inference and Learning of Nonlinear LFR State-Space Models
Abstract:
Estimating the parameters of nonlinear block-oriented state-space models from input-output data typically involves solving a highly non-convex optimization problem, which is prone to poor local minima and slow convergence. This paper presents a computationally efficient initialization method for nonlinear linear fractional representation (NL-LFR) models using periodic data. By first inferring the latent signals and subsequently estimating the model parameters, the approach generates initial estimates for use in a later nonlinear optimization step. The proposed method shows robustness against poor local minima, and achieves a twofold error reduction compared to the state-of-the-art on a challenging benchmark dataset.
中文: 本文提出了一种利用周期数据对非线性线性分式表示模型进行高效初始化的方法，通过推断潜在信号和估计参数来避免不良局部极小值，并在基准数据集上实现比现有技术误差减半的效果。
English: This paper introduces an efficient initialization method for nonlinear linear fractional representation models using periodic data, which infers latent signals and estimates parameters to avoid poor local minima and reduce error by half compared to existing methods.

Authors:Samuel Mallick, Gianpietro Battocletti, Qizhang Dong, Azita Dabiri, Bart De Schutter
Title: Learning-Based MPC for Fuel Efficient Control of Autonomous Vehicles with Discrete Gear Selection
Abstract:
Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear positions may be too computationally intensive for a real-time implementation. This work proposes a learning-based MPC scheme to address this issue. A policy is trained to select and fix the gear positions across the prediction horizon of the MPC controller, leaving a significantly simpler continuous optimization problem to be solved online. In simulation, the proposed approach is shown to have a significantly lower computation burden and a comparable performance, with respect to pure MPC-based co-optimization.
Chinese: 本研究提出了一种基于学习的模型预测控制方法，通过预先选择档位来简化优化过程，在保持与传统协同优化方法相当性能的同时，显著降低了计算负担。
English: This study introduces a learning-based model predictive control (MPC) method that pre-selects gear positions to simplify the optimization process, reducing computational demands while maintaining performance comparable to traditional co-optimization approaches.

Authors:Masoud Jamshidiyan Tehrani, Jinhan Kim, Paolo Tonella
Title: PCLA: A Framework for Testing Autonomous Agents in the CARLA Simulator
Abstract:
Recent research on testing autonomous driving agents has grown significantly, especially in simulation environments. The CARLA simulator is often the preferred choice, and the autonomous agents from the CARLA Leaderboard challenge are regarded as the best-performing agents within this environment. However, researchers who test these agents, rather than training their own ones from scratch, often face challenges in utilizing them within customized test environments and scenarios. To address these challenges, we introduce PCLA (Pretrained CARLA Leaderboard Agents), an open-source Python testing framework that includes nine high-performing pre-trained autonomous agents from the Leaderboard challenges. PCLA is the first infrastructure specifically designed for testing various autonomous agents in arbitrary CARLA environments/scenarios. PCLA provides a simple way to deploy Leaderboard agents onto a vehicle without relying on the Leaderboard codebase, it allows researchers to easily switch between agents without requiring modifications to CARLA versions or programming environments, and it is fully compatible with the latest version of CARLA while remaining independent of the Leaderboard's specific CARLA version. PCLA is publicly accessible at https://github.com/MasoudJTehrani/PCLA.
中文: PCLA是一个开源Python测试框架，集成了九款CARLA排行榜预训练自动驾驶智能体，可在任意CARLA环境中便捷部署测试，且完全兼容最新版本模拟器。
English: PCLA is an open-source Python framework that simplifies testing of nine high-performing pre-trained autonomous driving agents from CARLA Leaderboard in custom scenarios, offering easy deployment and full compatibility with the latest CARLA simulator.

Authors:Rui Huang, Siyu Tang, Zhiqian Cai, Lin Zhao
Title: Robust Self-Reconfiguration for Fault-Tolerant Control of Modular Aerial Robot Systems
Abstract:
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit failures and maintain stable flight. However, existing works on MARS self-reconfiguration often overlook the practical controllability of intermediate structures formed during the reassembly process, which limits their applicability. In this paper, we address this gap by considering the control-constrained dynamic model of MARS and proposing a robust and efficient self-reconstruction algorithm that maximizes the controllability margin at each intermediate stage. Specifically, we develop algorithms to compute optimal, controllable disassembly and assembly sequences, enabling robust self-reconfiguration. Finally, we validate our method in several challenging fault-tolerant self-reconfiguration scenarios, demonstrating significant improvements in both controllability and trajectory tracking while reducing the number of assembly steps. The videos and source code of this work are available at https://github.com/RuiHuangNUS/MARS-Reconfig/
中文摘要：本文提出一种模块化空中机器人系统的鲁棒自重构算法，确保在中间组装阶段的可控性，并通过容错场景验证了其性能提升。
English Summary: This paper introduces a robust self-reconfiguration algorithm for Modular Aerial Robotic Systems that ensures controllability during intermediate assembly stages, validated through fault-tolerant scenarios with improved performance.

Authors:Rui Huang, Zhenyu Zhang, Siyu Tang, Zhiqian Cai, Lin Zhao
Title: MARS-FTCP: Robust Fault-Tolerant Control and Agile Trajectory Planning for Modular Aerial Robot Systems
Abstract:
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations during docking and separation, impacting system stability. To address this issue, we propose a novel fault-tolerant control reallocation method that adapts to an arbitrary number of modular robots and their assembly formations. The algorithm redistributes the expected collective force and torque required for MARS to individual units according to their moment arm relative to the center of MARS mass. Furthermore, we propose an agile trajectory planning method for MARS of arbitrary configurations, which is collision-avoiding and dynamically feasible. Our work represents the first comprehensive approach to enable fault-tolerant and collision avoidance flight for MARS. We validate our method through extensive simulations, demonstrating improved fault tolerance, enhanced trajectory tracking accuracy, and greater robustness in cluttered environments. The videos and source code of this work are available at https://github.com/RuiHuangNUS/MARS-FTCP/
中文摘要：本研究针对模块化空中机器人系统提出了一种新型容错控制重分配方法和灵活轨迹规划，有效提升了系统重构稳定性，并实现了复杂环境中的无碰撞飞行能力。
English Summary: This study introduces a novel fault-tolerant control reallocation method and agile trajectory planning for Modular Aerial Robot Systems (MARS), enhancing stability during reconfiguration and enabling collision-free flight in complex environments.

Authors:Paolo Torrado, Joshua Levin, Markus Grotz, Joshua Smith
Title: TetraGrip: Sensor-Driven Multi-Suction Reactive Object Manipulation in Cluttered Scenes
Abstract:
Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object orientations, stacked and obstructed items, and surfaces that are difficult to suction. We introduce \tetra, a novel vacuum-based grasping strategy featuring four suction cups mounted on linear actuators. Each actuator is equipped with an optical time-of-flight (ToF) proximity sensor, enabling reactive grasping. We evaluate \tetra in a warehouse-style setting, demonstrating its ability to manipulate objects in stacked and obstructed configurations. Our results show that our RL-based policy improves picking success in stacked-object scenarios by 22.86\% compared to a single-suction gripper. Additionally, we demonstrate that TetraGrip can successfully grasp objects in scenarios where a single-suction gripper fails due to physical limitations, specifically in two cases: (1) picking an object occluded by another object and (2) retrieving an object in a complex scenario. These findings highlight the advantages of multi-actuated, suction-based grasping in unstructured warehouse environments. The project website is available at: \href{https://tetragrip.github.io/}{https://tetragrip.github.io/}.

Authors:Tianyu Li, Sunan Sun, Shubhodeep Shiv Aditya, Nadia Figueroa
Title: Elastic Motion Policy: An Adaptive Dynamical System for Robust and Efficient One-Shot Imitation Learning
Abstract:
Behavior cloning (BC) has become a staple imitation learning paradigm in robotics due to its ease of teaching robots complex skills directly from expert demonstrations. However, BC suffers from an inherent generalization issue. To solve this, the status quo solution is to gather more data. Yet, regardless of how much training data is available, out-of-distribution performance is still sub-par, lacks any formal guarantee of convergence and success, and is incapable of allowing and recovering from physical interactions with humans. These are critical flaws when robots are deployed in ever-changing human-centric environments. Thus, we propose Elastic Motion Policy (EMP), a one-shot imitation learning framework that allows robots to adjust their behavior based on the scene change while respecting the task specification. Trained from a single demonstration, EMP follows the dynamical systems paradigm where motion planning and control are governed by first-order differential equations with convergence guarantees. We leverage Laplacian editing in full end-effector space, $\mathbb{R}^3\times SO(3)$, and online convex learning of Lyapunov functions, to adapt EMP online to new contexts, avoiding the need to collect new demonstrations. We extensively validate our framework in real robot experiments, demonstrating its robust and efficient performance in dynamic environments, with obstacle avoidance and multi-step task capabilities. Project Website: https://elastic-motion-policy.github.io/EMP/

Authors:John Z. Zhang, Taylor A. Howell, Zeji Yi, Chaoyi Pan, Guanya Shi, Guannan Qu, Tom Erez, Yuval Tassa, Zachary Manchester
Title: Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
Abstract:
We demonstrate the surprising real-world effectiveness of a very simple approach to whole-body model-predictive control (MPC) of quadruped and humanoid robots: the iterative LQR (iLQR) algorithm with MuJoCo dynamics and finite-difference approximated derivatives. Building upon the previous success of model-based behavior synthesis and control of locomotion and manipulation tasks with MuJoCo in simulation, we show that these policies can easily generalize to the real world with few sim-to-real considerations. Our baseline method achieves real-time whole-body MPC on a variety of hardware experiments, including dynamic quadruped locomotion, quadruped walking on two legs, and full-sized humanoid bipedal locomotion. We hope this easy-to-reproduce hardware baseline lowers the barrier to entry for real-world whole-body MPC research and contributes to accelerating research velocity in the community. Our code and experiment videos will be available online at:https://johnzhang3.github.io/mujoco_ilqr

Authors:Haowei Sun, Xintao Yan, Zhijie Qiao, Haojie Zhu, Yihao Sun, Jiawei Wang, Shengyin Shen, Darian Hogue, Rajanikant Ananta, Derek Johnson, Greg Stevens, Greg McGuire, Yifan Wei, Wei Zheng, Yong Sun, Yasuo Fukai, Henry X. Liu
Title: TeraSim: Uncovering Unknown Unsafe Events for Autonomous Vehicles through Generative Simulation
Abstract:
Traffic simulation is essential for autonomous vehicle (AV) development, enabling comprehensive safety evaluation across diverse driving conditions. However, traditional rule-based simulators struggle to capture complex human interactions, while data-driven approaches often fail to maintain long-term behavioral realism or generate diverse safety-critical events. To address these challenges, we propose TeraSim, an open-source, high-fidelity traffic simulation platform designed to uncover unknown unsafe events and efficiently estimate AV statistical performance metrics, such as crash rates. TeraSim is designed for seamless integration with third-party physics simulators and standalone AV stacks, to construct a complete AV simulation system. Experimental results demonstrate its effectiveness in generating diverse safety-critical events involving both static and dynamic agents, identifying hidden deficiencies in AV systems, and enabling statistical performance evaluation. These findings highlight TeraSim's potential as a practical tool for AV safety assessment, benefiting researchers, developers, and policymakers. The code is available at https://github.com/mcity/TeraSim.
中文: TeraSim是一个开源交通仿真平台，能生成多样化安全关键事件并精确评估自动驾驶车辆性能指标，有效识别系统缺陷以提升安全评估效果。
English: TeraSim is an open-source traffic simulation platform that generates diverse safety-critical events and accurately estimates autonomous vehicle performance metrics, effectively identifying system deficiencies for enhanced safety assessment.

Authors:Yiming Wang, Jianbin Ma, Junda Wu, Huizhe Li, Zhexuan Zhou, Youmin Gong, Jie Mei, Guangfu Ma
Title: SEAL: Safety Enhanced Trajectory Planning and Control Framework for Quadrotor Flight in Complex Environments
Abstract:
For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods address wind disturbances in either trajectory planning or control, which may lead to hazardous situations during flight. The emergence of dynamic obstacles would further worsen the situation. Therefore, we propose an efficient and reliable framework for quadrotors that incorporates wind disturbance estimations during both the planning and control phases via a generalized proportional integral observer. First, we develop a real-time adaptive spatial-temporal trajectory planner that utilizes Hamilton-Jacobi (HJ) reachability analysis for error dynamics resulting from wind disturbances. By considering the forward reachability sets propagation on an Euclidean Signed Distance Field (ESDF) map, safety is guaranteed. Additionally, a Nonlinear Model Predictive Control (NMPC) controller considering wind disturbance compensation is implemented for robust trajectory tracking. Simulation and real-world experiments verify the effectiveness of our framework. The video and supplementary material will be available at https://github.com/Ma29-HIT/SEAL/.
中文: 本研究提出了一种四旋翼飞行器的综合框架，通过广义比例积分观测器将风扰估计同时纳入轨迹规划和控制阶段，利用自适应时空规划和非线性模型预测控制实现安全飞行与鲁棒跟踪。
English: This study introduces a comprehensive framework for quadrotors that integrates wind disturbance estimation into both trajectory planning and control phases using a generalized proportional integral observer, ensuring safety through adaptive spatial-temporal planning and robust tracking with Nonlinear Model Predictive Control.

Authors:Anas Abdelkarim, Holger Voos, Daniel Görges
Title: ecg2o: A Seamless Extension of g2o for Equality-Constrained Factor Graph Optimization
Abstract:
Factor graph optimization serves as a fundamental framework for robotic perception, enabling applications such as pose estimation, simultaneous localization and mapping (SLAM), structure-from-motion (SfM), and situational awareness. Traditionally, these methods solve unconstrained least squares problems using algorithms such as Gauss-Newton and Levenberg-Marquardt. However, extending factor graphs with native support for equality constraints can improve solution accuracy and broaden their applicability, particularly in optimal control. In this paper, we propose a novel extension of factor graphs that seamlessly incorporates equality constraints without requiring additional optimization algorithms. Our approach maintains the efficiency and flexibility of existing second-order optimization techniques while ensuring constraint feasibility. To validate our method, we apply it to an optimal control problem for velocity tracking in autonomous vehicles and benchmark our results against state-of-the-art constraint handling techniques. Additionally, we introduce ecg2o, a header-only C++ library that extends the widely used g2o factor graph library by adding full support for equality-constrained optimization. This library, along with demonstrative examples and the optimal control problem, is available as open source at https://github.com/snt-arg/ecg2o
中文摘要：本文提出了一种新颖的因子图扩展方法，能够无缝整合等式约束，在保持计算效率的同时提高了解决方案精度，并拓宽了在最优控制等领域的应用范围。
English Summary: The paper introduces a novel extension to factor graphs that natively integrates equality constraints, enhancing solution accuracy and expanding applications in areas like optimal control while maintaining computational efficiency.

Authors:Yuhang Zhang, Zhiyao Zhang, Junyi Ji, Marcos Quiñones-Grueiro, William Barbour, Derek Gloudemans, Gergely Zachár, Clay Weston, Gautam Biswas, Daniel B. Work
Title: Real-World Deployment and Assessment of a Multi-Agent Reinforcement Learning-Based Variable Speed Limit Control System
Abstract:
This article presents the first field deployment of a multi-agent reinforcement learning (MARL) based variable speed limit (VSL) control system on Interstate 24 (I-24) near Nashville, Tennessee. We design and demonstrate a full pipeline from training MARL agents in a traffic simulator to a field deployment on a 17-mile segment of I-24 encompassing 67 VSL controllers. The system was launched on March 8th, 2024, and has made approximately 35 million decisions on 28 million trips in six months of operation. We apply an invalid action masking mechanism and several safety guards to ensure real-world constraints. The MARL-based implementation operates up to 98% of the time, with the safety guards overriding the MARL decisions for the remaining time. We evaluate the performance of the MARL-based algorithm in comparison to a previously deployed non-RL VSL benchmark algorithm on I-24. Results show that the MARL-based VSL control system achieves a superior performance. The accuracy of correctly warning drivers about slowing traffic ahead is improved by 14% and the response delay to non-recurrent congestion is reduced by 75%. The preliminary data shows that the VSL control system has reduced the crash rate by 26% and the secondary crash rate by 50%. We open-sourced the deployed MARL-based VSL algorithm at https://github.com/Lab-Work/marl-vsl-controller.
中文: 本研究首次在24号州际公路17英里路段部署了基于多智能体强化学习的可变限速控制系统，相比原有方法显著提升了交通预警准确率14%、拥堵响应速度75%，并有效降低了26%的事故率和50%的二次事故率。
English: This study details the first real-world deployment of a multi-agent reinforcement learning-based variable speed limit control system on a 17-mile stretch of Interstate 24, demonstrating superior performance over previous methods with significant improvements in traffic warning accuracy, congestion response speed, and crash reduction rates.

Authors:Haofei Lu, Zhe Wu, Junliang Xing, Jianshu Li, Ruoyu Li, Zhe Li, Yuanchun Shi
Title: BodyGen: Advancing Towards Efficient Embodiment Co-Design
Abstract:
Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in optimization efficiency due to the (i) combinatorial nature of morphological search spaces and (ii) intricate dependencies between morphology and control. We prove that the ineffective morphology representation and unbalanced reward signals between the design and control stages are key obstacles to efficiency. To advance towards efficient embodiment co-design, we propose BodyGen, which utilizes (1) topology-aware self-attention for both design and control, enabling efficient morphology representation with lightweight model sizes; (2) a temporal credit assignment mechanism that ensures balanced reward signals for optimization. With our findings, Body achieves an average 60.03% performance improvement against state-of-the-art baselines. We provide codes and more results on the website: https://genesisorigin.github.io.
Chinese: BodyGen采用拓扑感知自注意力机制和时间信用分配，显著提升了具身协同设计的效率，相比现有方法性能平均提高60.03%。
English: BodyGen introduces a topology-aware self-attention mechanism and temporal credit assignment to enhance embodiment co-design efficiency, achieving a 60.03% performance gain over existing methods.

Authors:Giuseppe Stracquadanio, Federico Vasile, Elisa Maiettini, Nicolò Boccardo, Lorenzo Natale
Title: Bring Your Own Grasp Generator: Leveraging Robot Grasp Generation for Prosthetic Grasping
Abstract:
One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As prosthetic devices become more complex, users often struggle to control the additional degrees of freedom. In this context, leveraging shared-autonomy principles can significantly improve the usability of these systems. In this paper, we present a novel eye-in-hand prosthetic grasping system that follows these principles. Our system initiates the approach-to-grasp action based on user's command and automatically configures the DoFs of a prosthetic hand. First, it reconstructs the 3D geometry of the target object without the need of a depth camera. Then, it tracks the hand motion during the approach-to-grasp action and finally selects a candidate grasp configuration according to user's intentions. We deploy our system on the Hannes prosthetic hand and test it on able-bodied subjects and amputees to validate its effectiveness. We compare it with a multi-DoF prosthetic control baseline and find that our method enables faster grasps, while simplifying the user experience. Code and demo videos are available online at https://hsp-iit.github.io/byogg/.

Authors:Jiawei Zhang, Xuan Yang, Taiqi Wang, Yu Yao, Aleksandr Petiushko, Bo Li
Title: SafeAuto: Knowledge-Enhanced Safe Autonomous Driving with Multimodal Foundation Models
Abstract:
Traditional autonomous driving systems often struggle to connect high-level reasoning with low-level control, leading to suboptimal and sometimes unsafe behaviors. Recent advances in multimodal large language models (MLLMs), which process both visual and textual data, offer an opportunity to unify perception and reasoning. However, effectively embedding precise safety knowledge into MLLMs for autonomous driving remains a significant challenge. To address this, we propose SafeAuto, a framework that enhances MLLM-based autonomous driving by incorporating both unstructured and structured knowledge. First, we introduce a Position-Dependent Cross-Entropy (PDCE) loss to improve low-level control signal predictions when values are represented as text. Second, to explicitly integrate safety knowledge, we develop a reasoning component that translates traffic rules into first-order logic (e.g., "red light $\implies$ stop") and embeds them into a probabilistic graphical model (e.g., Markov Logic Network) to verify predicted actions using recognized environmental attributes. Additionally, our Multimodal Retrieval-Augmented Generation (RAG) model leverages video, control signals, and environmental attributes to learn from past driving experiences. Integrating PDCE, MLN, and Multimodal RAG, SafeAuto outperforms existing baselines across multiple datasets, enabling more accurate, reliable, and safer autonomous driving. The code is available at https://github.com/AI-secure/SafeAuto.
中文总结：SafeAuto是一种创新框架，通过结合位置相关损失函数、概率逻辑推理与多模态检索增强生成技术，将多模态大语言模型与结构化安全知识相融合，从而显著提升自动驾驶系统的安全性与可靠性。
English Summary: SafeAuto is a novel framework that enhances autonomous driving safety by integrating multimodal large language models with structured safety knowledge through position-dependent loss functions, probabilistic reasoning, and multimodal retrieval-augmented generation.

Authors:Federico Pizarro Bejarano, Bryson Jones, Daniel Pastor Moreno, Joseph Bowkett, Paul G. Backes, Angela P. Schoellig
Title: ProDapt: Proprioceptive Adaptation using Long-term Memory Diffusion
Abstract:
Diffusion models have revolutionized imitation learning, allowing robots to replicate complex behaviours. However, diffusion often relies on cameras and other exteroceptive sensors to observe the environment and lacks long-term memory. In space, military, and underwater applications, robots must be highly robust to failures in exteroceptive sensors, operating using only proprioceptive information. In this paper, we propose ProDapt, a method of incorporating long-term memory of previous contacts between the robot and the environment in the diffusion process, allowing it to complete tasks using only proprioceptive data. This is achieved by identifying "keypoints", essential past observations maintained as inputs to the policy. We test our approach using a UR10e robotic arm in both simulation and real experiments and demonstrate the necessity of this long-term memory for task completion.
中文: ProDapt方法通过引入以往接触环境的关键点作为长期记忆，改进了模仿学习中的扩散模型，使机器人仅凭本体感知数据即可完成任务，并在UR10e机械臂的仿真和实际实验中验证了其必要性。
English: ProDapt enhances diffusion models in imitation learning by incorporating long-term memory of environmental contacts through keypoints, enabling robots to complete tasks using only proprioceptive data, as validated with a UR10e arm in simulations and real experiments.

Authors:Toru Lin, Kartik Sachdev, Linxi Fan, Jitendra Malik, Yuke Zhu
Title: Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
Abstract:
Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are expensive, labor-intensive, and difficult to scale. Sim-to-real reinforcement learning (RL) offers a promising alternative, but has mostly succeeded in simpler state-based or single-hand setups. How to effectively extend this to vision-based, contact-rich bimanual manipulation tasks remains an open question. In this paper, we introduce a practical sim-to-real RL recipe that trains a humanoid robot to perform three challenging dexterous manipulation tasks: grasp-and-reach, box lift and bimanual handover. Our method features an automated real-to-sim tuning module, a generalized reward formulation based on contact and object goals, a divide-and-conquer policy distillation framework, and a hybrid object representation strategy with modality-specific augmentation. We demonstrate high success rates on unseen objects and robust, adaptive policy behaviors -- highlighting that vision-based dexterous manipulation via sim-to-real RL is not only viable, but also scalable and broadly applicable to real-world humanoid manipulation tasks.
中文: 本文提出了一种实用的仿真到现实强化学习方法，使人形机器人能够执行复杂的基于视觉的双臂操作任务，在面对未见物体时表现出高成功率和强大的适应能力。
English: This paper presents a practical sim-to-real reinforcement learning method that enables humanoid robots to perform complex vision-based bimanual manipulation tasks with high success rates and robust adaptability to unseen objects.

Authors:Lujie Yang, H. J. Terry Suh, Tong Zhao, Bernhard Paus Graesdal, Tarik Kelestemur, Jiuguang Wang, Tao Pang, Russ Tedrake
Title: Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Abstract:
We present a low-cost data generation pipeline that integrates physics-based simulation, human demonstrations, and model-based planning to efficiently generate large-scale, high-quality datasets for contact-rich robotic manipulation tasks. Starting with a small number of embodiment-flexible human demonstrations collected in a virtual reality simulation environment, the pipeline refines these demonstrations using optimization-based kinematic retargeting and trajectory optimization to adapt them across various robot embodiments and physical parameters. This process yields a diverse, physically consistent dataset that enables cross-embodiment data transfer, and offers the potential to reuse legacy datasets collected under different hardware configurations or physical parameters. We validate the pipeline's effectiveness by training diffusion policies from the generated datasets for challenging contact-rich manipulation tasks across multiple robot embodiments, including a floating Allegro hand and bimanual robot arms. The trained policies are deployed zero-shot on hardware for bimanual iiwa arms, achieving high success rates with minimal human input. Project website: https://lujieyang.github.io/physicsgen/.

Authors:Lei Cheng, Lihao Guo, Tianya Zhang, Tam Bang, Austin Harris, Mustafa Hajij, Mina Sartipi, Siyang Cao
Title: CalibRefine: Deep Learning-Based Online Automatic Targetless LiDAR-Camera Calibration with Iterative and Attention-Driven Post-Refinement
Abstract:
Accurate multi-sensor calibration is essential for deploying robust perception systems in applications such as autonomous driving and intelligent transportation. Existing LiDAR-camera calibration methods often rely on manually placed targets, preliminary parameter estimates, or intensive data preprocessing, limiting their scalability and adaptability in real-world settings. In this work, we propose a fully automatic, targetless, and online calibration framework, CalibRefine, which directly processes raw LiDAR point clouds and camera images. Our approach is divided into four stages: (1) a Common Feature Discriminator that leverages relative spatial positions, visual appearance embeddings, and semantic class cues to identify and generate reliable LiDAR-camera correspondences, (2) a coarse homography-based calibration that uses the matched feature correspondences to estimate an initial transformation between the LiDAR and camera frames, serving as the foundation for further refinement, (3) an iterative refinement to incrementally improve alignment as additional data frames become available, and (4) an attention-based refinement that addresses non-planar distortions by leveraging a Vision Transformer and cross-attention mechanisms. Extensive experiments on two urban traffic datasets demonstrate that CalibRefine achieves high-precision calibration with minimal human input, outperforming state-of-the-art targetless methods and matching or surpassing manually tuned baselines. Our results show that robust object-level feature matching, combined with iterative refinement and self-supervised attention-based refinement, enables reliable sensor alignment in complex real-world conditions without ground-truth matrices or elaborate preprocessing. Code is available at https://github.com/radar-lab/Lidar_Camera_Automatic_Calibration
中文：CalibRefine是一种全自动、无目标且在线的标定框架，通过鲁棒的特征匹配和迭代优化实现高精度LiDAR-相机校准，在实际场景中超越了现有方法。
English: CalibRefine is a fully automatic, targetless, and online framework that achieves high-precision LiDAR-camera calibration through robust feature matching and iterative refinement, outperforming existing methods in real-world conditions.

Authors:Federico Vasile, Elisa Maiettini, Giulia Pasquale, Nicolò Boccardo, Lorenzo Natale
Title: Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework
Abstract:
Most control techniques for prosthetic grasping focus on dexterous fingers control, but overlook the wrist motion. This forces the user to perform compensatory movements with the elbow, shoulder and hip to adapt the wrist for grasping. We propose a computer vision-based system that leverages the collaboration between the user and an automatic system in a shared autonomy framework, to perform continuous control of the wrist degrees of freedom in a prosthetic arm, promoting a more natural approach-to-grasp motion. Our pipeline allows to seamlessly control the prosthetic wrist to follow the target object and finally orient it for grasping according to the user intent. We assess the effectiveness of each system component through quantitative analysis and finally deploy our method on the Hannes prosthetic arm. Code and videos: https://hsp-iit.github.io/hannes-wrist-control.

Authors:Ji Yin, Oswin So, Eric Yang Yu, Chuchu Fan, Panagiotis Tsiotras
Title: Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions
Abstract:
A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have shown that safety can be guaranteed by enforcing a suitable terminal set constraint or a sufficiently long prediction horizon, these techniques are difficult to apply and thus are rarely used by practitioners, especially in the case of general nonlinear dynamics. To solve this problem, we impose a tradeoff between exact recursive feasibility, computational tractability, and applicability to ``black-box'' dynamics by learning an approximate discrete-time control barrier function and incorporating it into a variational inference MPC (VIMPC), a sampling-based MPC paradigm. To handle the resulting state constraints, we further propose a new sampling strategy that greatly reduces the variance of the estimated optimal control, improving the sample efficiency, and enabling real-time planning on a CPU. The resulting Neural Shield-VIMPC (NS-VIMPC) controller yields substantial safety improvements compared to existing sampling-based MPC controllers, even under badly designed cost functions. We validate our approach in both simulation and real-world hardware experiments. Project website: https://mit-realm.github.io/ns-vimpc/.

Authors:Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Elias B. Kosmatopoulos
Title: RobotIQ: Empowering Mobile Robots with Human-Level Planning for Real-World Execution
Abstract:
This paper introduces RobotIQ, a framework that empowers mobile robots with human-level planning capabilities, enabling seamless communication via natural language instructions through any Large Language Model. The proposed framework is designed in the ROS architecture and aims to bridge the gap between humans and robots, enabling robots to comprehend and execute user-expressed text or voice commands. Our research encompasses a wide spectrum of robotic tasks, ranging from fundamental logical, mathematical, and learning reasoning for transferring knowledge in domains like navigation, manipulation, and object localization, enabling the application of learned behaviors from simulated environments to real-world operations. All encapsulated within a modular crafted robot library suite of API-wise control functions, RobotIQ offers a fully functional AI-ROS-based toolset that allows researchers to design and develop their own robotic actions tailored to specific applications and robot configurations. The effectiveness of the proposed system was tested and validated both in simulated and real-world experiments focusing on a home service scenario that included an assistive application designed for elderly people. RobotIQ with an open-source, easy-to-use, and adaptable robotic library suite for any robot can be found at https://github.com/emmarapt/RobotIQ.
中文: 本文提出RobotIQ框架，通过大语言模型将人类级规划能力与自然语言指令相结合，使机器人能在模拟和真实环境中完成从导航到操作等各类任务。
English: This paper presents RobotIQ, a framework that integrates human-level planning with natural language instructions through Large Language Models, enabling robots to perform tasks from navigation to manipulation in both simulated and real-world environments.

Authors:Liang Wu, Wei Xiao, Richard D. Braatz
Title: EIQP: Execution-time-certified and Infeasibility-detecting QP Solver
Abstract:
Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-time scenarios, certifying that the employed QP algorithm can either return a solution within a predefined level of optimality or detect QP infeasibility before the predefined sampling time is a pressing requirement. This article considers convex QP (including linear programming) and adopts its homogeneous formulation to achieve infeasibility detection. Exploiting this homogeneous formulation, this article proposes a novel infeasible interior-point method (IPM) algorithm with the best theoretical $O(\sqrt{n})$ iteration complexity that feasible IPM algorithms enjoy. The iteration complexity is proved to be \textit{exact} (rather than an upper bound), \textit{simple to calculate}, and \textit{data independent}, with the value $\left\lceil\frac{\log(\frac{n+1}ε)}{-\log(1-\frac{0.414213}{\sqrt{n+1}})}\right\rceil$ (where $n$ and $ε$ denote the number of constraints and the predefined optimality level, respectively), making it appealing to certify the execution time of online time-varying convex QPs. The proposed algorithm is simple to implement without requiring a line search procedure (uses the full Newton step), and its C-code implementation (offering MATLAB, Julia, and Python interfaces) and numerical examples are publicly available at https://github.com/liangwu2019/EIQP.
本文提出了一种新颖的不可行内点法，用于实时凸二次规划，实现了精确的O(√n)迭代复杂度，具备不可行性检测功能且无需线搜索过程。
This article presents a novel infeasible interior-point method for real-time convex quadratic programming that achieves exact O(√n) iteration complexity with infeasibility detection and requires no line search.

Authors:Kaizhen Zhu, Mokai Pan, Yuexin Ma, Yanwei Fu, Jingyi Yu, Jingya Wang, Ye Shi
Title: UniDB: A Unified Diffusion Bridge Framework via Stochastic Optimal Control
Abstract:
Recent advances in diffusion bridge models leverage Doob's $h$-transform to establish fixed endpoints between distributions, demonstrating promising results in image translation and restoration tasks. However, these approaches frequently produce blurred or excessively smoothed image details and lack a comprehensive theoretical foundation to explain these shortcomings. To address these limitations, we propose UniDB, a unified framework for diffusion bridges based on Stochastic Optimal Control (SOC). UniDB formulates the problem through an SOC-based optimization and derives a closed-form solution for the optimal controller, thereby unifying and generalizing existing diffusion bridge models. We demonstrate that existing diffusion bridges employing Doob's $h$-transform constitute a special case of our framework, emerging when the terminal penalty coefficient in the SOC cost function tends to infinity. By incorporating a tunable terminal penalty coefficient, UniDB achieves an optimal balance between control costs and terminal penalties, substantially improving detail preservation and output quality. Notably, UniDB seamlessly integrates with existing diffusion bridge models, requiring only minimal code modifications. Extensive experiments across diverse image restoration tasks validate the superiority and adaptability of the proposed framework. Our code is available at https://github.com/UniDB-SOC/UniDB/.
中文摘要：提出的UniDB框架通过随机最优控制统一扩散桥模型，通过优化终端惩罚系数显著提升图像细节保留能力和输出质量。
English Summary: The proposed UniDB framework utilizes Stochastic Optimal Control to unify diffusion bridge models, enhancing image detail preservation and quality by optimizing terminal penalty coefficients.

Authors:Seyedamirhossein Talebi, Kaixiong Zhou
Title: Graph Neural Networks for Efficient AC Power Flow Prediction in Power Grids
Abstract:
This paper proposes a novel approach using Graph Neural Networks (GNNs) to solve the AC Power Flow problem in power grids. AC OPF is essential for minimizing generation costs while meeting the operational constraints of the grid. Traditional solvers struggle with scalability, especially in large systems with renewable energy sources. Our approach models the power grid as a graph, where buses are nodes and transmission lines are edges. We explore different GNN architectures, including GCN, GAT, SAGEConv, and GraphConv to predict AC power flow solutions efficiently. Our experiments on IEEE test systems show that GNNs can accurately predict power flow solutions and scale to larger systems, outperforming traditional solvers in terms of computation time. This work highlights the potential of GNNs for real-time power grid management, with future plans to apply the model to even larger grid systems.
中文: 本文提出了一种利用图神经网络解决交流潮流问题的新方法，在IEEE测试系统中展现出优于传统求解器的计算效率和扩展性。
English: This paper introduces a Graph Neural Network (GNN) approach for solving the AC Power Flow problem, demonstrating its superior scalability and computational efficiency over traditional methods across various IEEE test systems.

Authors:Miroslav Štrupl, Oleg Szehr, Francesco Faccio, Dylan R. Ashley, Rupesh Kumar Srivastava, Jürgen Schmidhuber
Title: On the Convergence and Stability of Upside-Down Reinforcement Learning, Goal-Conditioned Supervised Learning, and Online Decision Transformers
Abstract:
This article provides a rigorous analysis of convergence and stability of Episodic Upside-Down Reinforcement Learning, Goal-Conditioned Supervised Learning and Online Decision Transformers. These algorithms performed competitively across various benchmarks, from games to robotic tasks, but their theoretical understanding is limited to specific environmental conditions. This work initiates a theoretical foundation for algorithms that build on the broad paradigm of approaching reinforcement learning through supervised learning or sequence modeling. At the core of this investigation lies the analysis of conditions on the underlying environment, under which the algorithms can identify optimal solutions. We also assess whether emerging solutions remain stable in situations where the environment is subject to tiny levels of noise. Specifically, we study the continuity and asymptotic convergence of command-conditioned policies, values and the goal-reaching objective depending on the transition kernel of the underlying Markov Decision Process. We demonstrate that near-optimal behavior is achieved if the transition kernel is located in a sufficiently small neighborhood of a deterministic kernel. The mentioned quantities are continuous (with respect to a specific topology) at deterministic kernels, both asymptotically and after a finite number of learning cycles. The developed methods allow us to present the first explicit estimates on the convergence and stability of policies and values in terms of the underlying transition kernels. On the theoretical side we introduce a number of new concepts to reinforcement learning, like working in segment spaces, studying continuity in quotient topologies and the application of the fixed-point theory of dynamical systems. The theoretical study is accompanied by a detailed investigation of example environments and numerical experiments.
中文: 本文为基于监督学习的强化学习算法建立了理论基础，证明了在接近确定性转移核的环境中，这些算法能够实现近似最优性能并保持稳定性。
English: This article establishes a theoretical foundation for reinforcement learning algorithms based on supervised learning, demonstrating their near-optimal performance and stability in environments with minimal noise near deterministic transition kernels.

Authors:Zhao-Heng Yin, Changhao Wang, Luis Pineda, Francois Hogan, Krishna Bodduluri, Akash Sharma, Patrick Lancaster, Ishita Prasad, Mrinal Kalakrishnan, Jitendra Malik, Mike Lambeta, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam
Title: DexterityGen: Foundation Controller for Unprecedented Dexterity
Abstract:
Teaching robots dexterous manipulation skills, such as tool use, presents a significant challenge. Current approaches can be broadly categorized into two strategies: human teleoperation (for imitation learning) and sim-to-real reinforcement learning. The first approach is difficult as it is hard for humans to produce safe and dexterous motions on a different embodiment without touch feedback. The second RL-based approach struggles with the domain gap and involves highly task-specific reward engineering on complex tasks. Our key insight is that RL is effective at learning low-level motion primitives, while humans excel at providing coarse motion commands for complex, long-horizon tasks. Therefore, the optimal solution might be a combination of both approaches. In this paper, we introduce DexterityGen (DexGen), which uses RL to pretrain large-scale dexterous motion primitives, such as in-hand rotation or translation. We then leverage this learned dataset to train a dexterous foundational controller. In the real world, we use human teleoperation as a prompt to the controller to produce highly dexterous behavior. We evaluate the effectiveness of DexGen in both simulation and real world, demonstrating that it is a general-purpose controller that can realize input dexterous manipulation commands and significantly improves stability by 10-100x measured as duration of holding objects across diverse tasks. Notably, with DexGen we demonstrate unprecedented dexterous skills including diverse object reorientation and dexterous tool use such as pen, syringe, and screwdriver for the first time.
中文摘要：DexGen将强化学习的底层运动技能与人类遥操作的高层指导相结合，开发出通用控制器，在复杂操作任务中显著提升了机器人的灵巧性和稳定性。
English Summary: DexGen combines reinforcement learning for low-level motion primitives with human teleoperation for high-level guidance, creating a general-purpose controller that significantly enhances robotic dexterity and stability in complex manipulation tasks.

Authors:Pouya Samanipour, Hasan Poonawala
Title: Replacing K-infinity Function with Leaky ReLU in Barrier Function Design: A Union of Invariant Sets Approach for ReLU-Based Dynamical Systems
Abstract:
In this paper, a systematic framework is presented for determining piecewise affine PWA barrier functions and their corresponding invariant sets for dynamical systems identified via Rectified Linear Unit (ReLU) neural networks or their equivalent PWA representations. A common approach to determining the invariant set is to use Nagumo's condition, or to utilize the barrier function with a class K-infinity function. It may be challenging to find a suitable class K-infinity function in some cases. We propose leaky ReLU as an efficient substitute for the complex nonlinear K-infinity function in our formulation. Moreover, we propose the Union of Invariant Sets (UIS) method, which combines information from multiple invariant sets in order to compute the largest possible PWA invariant set. The proposed framework is validated through multiple examples, showcasing its potential to enhance the analysis of invariant sets in ReLU-based dynamical systems. Our code is available at: https://github.com/PouyaSamanipour/UIS.git.
中文: 本文提出了一个系统框架，用于计算基于ReLU神经网络的动态系统中的分段仿射屏障函数及其不变集，通过引入leaky ReLU替代复杂非线性函数，并采用不变集并集方法来最大化不变集范围。
English: This paper introduces a systematic framework for computing piecewise affine barrier functions and invariant sets in ReLU neural network-based dynamical systems, proposing leaky ReLU as a substitute for complex nonlinear functions and a Union of Invariant Sets method to maximize invariant set coverage.

Authors:Zhouheng Li, Lei Xie, Cheng Hu, Hongye Su
Title: Reduce Lap Time for Autonomous Racing with Curvature-Integrated MPCC Local Trajectory Planning Method
Abstract:
The widespread application of autonomous driving technology has significantly advanced the field of autonomous racing. Model Predictive Contouring Control (MPCC) is a highly effective local trajectory planning method for autonomous racing. However, the traditional MPCC method struggles with racetracks that have significant curvature changes, limiting the performance of the vehicle during autonomous racing. To address this issue, we propose a curvature-integrated MPCC (CiMPCC) local trajectory planning method for autonomous racing. This method optimizes the velocity of the local trajectory based on the curvature of the racetrack centerline. The specific implementation involves mapping the curvature of the racetrack centerline to a reference velocity profile, which is then incorporated into the cost function for optimizing the velocity of the local trajectory. This reference velocity profile is created by normalizing and mapping the curvature of the racetrack centerline, thereby ensuring efficient and performance-oriented local trajectory planning in racetracks with significant curvature. The proposed CiMPCC method has been experimented on a self-built 1:10 scale F1TENTH racing vehicle deployed with ROS platform. The experimental results demonstrate that the proposed method achieves outstanding results on a challenging racetrack with sharp curvature, improving the overall lap time by 11.4%-12.5% compared to other autonomous racing trajectory planning methods. Our code is available at https://github.com/zhouhengli/CiMPCC.
中文: 提出的曲率集成模型预测轮廓控制（CiMPCC）方法通过基于赛道曲率优化轨迹速度，在复杂弯道赛道上相比现有方法实现了11.4%-12.5%的单圈时间提升。
English: The proposed Curvature-integrated Model Predictive Contouring Control (CiMPCC) method enhances autonomous racing performance by optimizing trajectory velocity based on track curvature, achieving 11.4%-12.5% faster lap times on challenging tracks compared to existing methods.

Authors:Yifan Sun, Rui Chen, Kai S. Yun, Yikuan Fang, Sebin Jung, Feihan Li, Bowei Li, Weiye Zhao, Changliu Liu
Title: SPARK: A Modular Benchmark for Humanoid Robot Safety
Abstract:
This paper introduces the Safe Protective and Assistive Robot Kit (SPARK), a comprehensive benchmark designed to ensure safety in humanoid autonomy and teleoperation. Humanoid robots pose significant safety risks due to their physical capabilities of interacting with complex environments. The physical structures of humanoid robots further add complexity to the design of general safety solutions. To facilitate safe deployment of complex robot systems, SPARK can be used as a toolbox that comes with state-of-the-art safe control algorithms in a modular and composable robot control framework. Users can easily configure safety criteria and sensitivity levels to optimize the balance between safety and performance. To accelerate humanoid safety research and development, SPARK provides simulation benchmarks that compare safety approaches in a variety of environments, tasks, and robot models. Furthermore, SPARK allows quick deployment of synthesized safe controllers on real robots. For hardware deployment, SPARK supports Apple Vision Pro (AVP) or a Motion Capture System as external sensors, while offering interfaces for seamless integration with alternative hardware setups at the same time. This paper demonstrates SPARK's capability with both simulation experiments and case studies with a Unitree G1 humanoid robot. Leveraging these advantages of SPARK, users and researchers can significantly improve the safety of their humanoid systems as well as accelerate relevant research. The open source code is available at: https://github.com/intelligent-control-lab/spark.
中文: 本文介绍SPARK，一个模块化基准框架与工具包，通过可配置安全算法和仿真基准提升人形机器人自主与遥操作安全性，并通过实验与案例验证其有效性。
English: This paper presents SPARK, a modular benchmark and toolbox for enhancing safety in humanoid robot autonomy and teleoperation through configurable safety algorithms and simulation benchmarks, validated via experiments and case studies.

Authors:Haohan Zou, Jie Feng, Hao Zhao, Yuanyuan Shi
Title: Analytical Lyapunov Function Discovery: An RL-based Generative Approach
Abstract:
Despite advances in learning-based methods, finding valid Lyapunov functions for nonlinear dynamical systems remains challenging. Current neural network approaches face two main issues: challenges in scalable verification and limited interpretability. To address these, we propose an end-to-end framework using transformers to construct analytical Lyapunov functions (local), which simplifies formal verification, enhances interpretability, and provides valuable insights for control engineers. Our framework consists of a transformer-based trainer that generates candidate Lyapunov functions and a falsifier that verifies candidate expressions and refines the model via risk-seeking policy gradient. Unlike Alfarano et al. (2024), which utilizes pre-training and seeks global Lyapunov functions for low-dimensional systems, our model is trained from scratch via reinforcement learning (RL) and succeeds in finding local Lyapunov functions for high-dimensional and non-polynomial systems. Given the analytical nature of the candidates, we employ efficient optimization methods for falsification during training and formal verification tools for the final verification. We demonstrate the efficiency of our approach on a range of nonlinear dynamical systems with up to ten dimensions and show that it can discover Lyapunov functions not previously identified in the control literature. Full implementation is available on \href{https://github.com/JieFeng-cse/Analytical-Lyapunov-Function-Discovery}{Github}
中文: 本文提出了一种基于Transformer的端到端框架，通过强化学习和反证机制为高维非线性系统生成解析李雅普诺夫函数，实现了可扩展的验证并提升了可解释性。
English: This paper introduces an end-to-end transformer-based framework that generates analytical Lyapunov functions for high-dimensional nonlinear systems, enabling scalable verification and improved interpretability through reinforcement learning and falsification mechanisms.

Authors:Haruka Kiyohara, Fan Yao, Sarah Dean
Title: Policy Design for Two-sided Platforms with Participation Dynamics
Abstract:
In two-sided platforms (e.g., video streaming or e-commerce), viewers and providers engage in interactive dynamics: viewers benefit from increases in provider populations, while providers benefit from increases in viewer population. Despite the importance of such "population effects" on long-term platform health, recommendation policies do not generally take the participation dynamics into account. This paper thus studies the dynamics and recommender policy design on two-sided platforms under the population effects for the first time. Our control- and game-theoretic findings warn against the use of the standard "myopic-greedy" policy and shed light on the importance of provider-side considerations (i.e., effectively distributing exposure among provider groups) to improve social welfare via population growth. We also present a simple algorithm to optimize long-term social welfare by taking the population effects into account, and demonstrate its effectiveness in synthetic and real-data experiments. Our experiment code is available at https://github.com/sdean-group/dynamics-two-sided-market.
中文: 本文首次研究双边平台中人口效应下的动态与推荐策略，提出通过优化供应商曝光分配来提升长期社会福利的算法，并在实验中验证其有效性。
English: This paper introduces a novel recommendation policy that accounts for population effects in two-sided platforms, demonstrating through experiments that optimizing provider exposure distribution enhances long-term social welfare.

Authors:Lei Cheng, Siyang Cao
Title: TransRAD: Retentive Vision Transformer for Enhanced Radar Object Detection
Abstract:
Despite significant advancements in environment perception capabilities for autonomous driving and intelligent robotics, cameras and LiDARs remain notoriously unreliable in low-light conditions and adverse weather, which limits their effectiveness. Radar serves as a reliable and low-cost sensor that can effectively complement these limitations. However, radar-based object detection has been underexplored due to the inherent weaknesses of radar data, such as low resolution, high noise, and lack of visual information. In this paper, we present TransRAD, a novel 3D radar object detection model designed to address these challenges by leveraging the Retentive Vision Transformer (RMT) to more effectively learn features from information-dense radar Range-Azimuth-Doppler (RAD) data. Our approach leverages the Retentive Manhattan Self-Attention (MaSA) mechanism provided by RMT to incorporate explicit spatial priors, thereby enabling more accurate alignment with the spatial saliency characteristics of radar targets in RAD data and achieving precise 3D radar detection across Range-Azimuth-Doppler dimensions. Furthermore, we propose Location-Aware NMS to effectively mitigate the common issue of duplicate bounding boxes in deep radar object detection. The experimental results demonstrate that TransRAD outperforms state-of-the-art methods in both 2D and 3D radar detection tasks, achieving higher accuracy, faster inference speed, and reduced computational complexity. Code is available at https://github.com/radar-lab/TransRAD
Chinese: TransRAD是一种新型3D雷达目标检测模型，通过采用保留视觉变换器和位置感知非极大值抑制技术，有效克服了雷达数据的固有缺陷，在精度、速度和计算效率上均超越了现有最优方法。
English: TransRAD is a novel 3D radar object detection model that addresses the limitations of radar data by leveraging the Retentive Vision Transformer and introducing Location-Aware NMS, achieving superior performance in accuracy, speed, and efficiency compared to state-of-the-art methods.

Authors:Attila Répai, Sándor Földi, Péter Sótonyi, György Cserey
Title: An Open Source Validation System for Continuous Arterial Blood Pressure Measuring Sensors
Abstract:
Measuring the blood pressure waveform is becoming a more frequently studied area. The development of sensor technologies opens many new ways to be able to measure high-quality signals. The development of such an aim-specific sensor can be time-consuming, expensive, and difficult to test or validate with known and consistent waveforms. In this paper, we present an open source blood pressure waveform simulator with an open source Python validation package to reduce development costs for early-stage sensor development and research. The simulator mainly consists of 3D printed parts which technology has become a widely available and cheap solution. The core part of the simulator is a 3D printed cam that can be generated based on real blood pressure waveforms. The validation framework can create a detailed comparison between the signal waveform used to design the cam and the measured time series from the sensor being validated. The presented simulator proved to be robust and accurate in short- and long-term use, as it produced the signal waveform consistently and accurately. To validate this solution, a 3D force sensor was used, which was proven earlier to be able to measure high-quality blood pressure waveforms on the radial artery at the wrist. The results showed high similarity between the measured and the nominal waveforms, meaning that comparing the normalized signals, the RMSE value ranged from $0.0276 \pm 0.0047$ to $0.0212 \pm 0.0023$, and the Pearson correlation ranged from $0.9933 \pm 0.0027$ to $0.9978 \pm 0.0005$. Our validation framework is available at https://github.com/repat8/cam-bpw-sim. Our hardware framework, which allows reproduction of the presented solution, is available at https://github.com/repat8/cam-bpw-sim-hardware. The entire design is an open source project and was developed using free software.
中文: 本文提出了一种基于3D打印技术的开源血压波形模拟器及Python验证工具包，通过实验证明其具有高精度（均方根误差最低达0.0212，皮尔逊相关系数最高达0.9978），能有效降低传感器研发成本。
English: This paper introduces an open-source blood pressure waveform simulator using 3D printed components and a Python validation package to reduce development costs, demonstrating high accuracy with RMSE values as low as 0.0212 and Pearson correlations up to 0.9978.

Authors:Muqing Cao, Thien-Minh Nguyen, Shenghai Yuan, Andreas Anastasiou, Angelos Zacharia, Savvas Papaioannou, Panayiotis Kolios, Christos G. Panayiotou, Marios M. Polycarpou, Xinhang Xu, Mingjie Zhang, Fei Gao, Boyu Zhou, Ben M. Chen, Lihua Xie
Title: Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned
Abstract:
We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic constraints, and evaluation metrics prioritizing inspection quality and efficiency. It offers a ready-to-use perception-control software stack and diverse scenarios to support the development and evaluation of task allocation and motion planning algorithms. Competitions using CARIC were held at IEEE CDC 2023 and the IROS 2024 Workshop on Multi-Robot Perception and Navigation, attracting innovative solutions from research teams worldwide. This paper examines the top three teams from CDC 2023, analyzing their exploration, inspection, and task allocation strategies while drawing insights into their performance across scenarios. The results highlight the task's complexity and suggest promising directions for future research in cooperative multi-UAV systems.
中文：协同空中机器人巡检挑战赛（CARIC）是一个面向异构多无人机运动规划的仿真基准，具备互补传感器配置和真实约束条件，通过分析顶尖团队的巡检策略揭示了任务复杂性，为协同无人机系统研究指明了方向。
English: The Cooperative Aerial Robot Inspection Challenge (CARIC) is a simulation benchmark for heterogeneous multi-UAV motion planning, featuring realistic constraints and evaluation metrics to advance cooperative inspection algorithms, with top strategies from recent competitions analyzed to guide future research.

Authors:Chunxin Zheng, Yulin Li, Zhiyuan Song, Zhihai Bi, Jinni Zhou, Boyu Zhou, Jun Ma
Title: Local Reactive Control for Mobile Manipulators with Whole-Body Safety in Complex Environments
Abstract:
Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While reactive methods excel in dynamic settings, they struggle to efficiently incorporate complex, coupled constraints across the entire state space. In this work, we present a novel local reactive controller that reformulates the time-domain single-step problem into a multi-step optimization problem in the spatial domain, leveraging the propagation of a serial kinematic chain. This transformation facilitates the formulation of customized, decoupled link-specific constraints, which is further solved efficiently with augmented Lagrangian differential dynamic programming (AL-DDP). Our approach naturally absorbs spatial kinematic propagation in the forward pass and processes all link-specific constraints simultaneously during the backward pass, enhancing both constraint management and computational efficiency. Notably, in this framework, we formulate collision avoidance constraints for each link using accurate geometric models with extracted free regions, and this improves the maneuverability of the mobile manipulator in narrow, cluttered spaces. Experimental results showcase significant improvements in safety, efficiency, and task completion rates. These findings underscore the robustness of the proposed method, particularly in narrow, cluttered environments where conventional approaches could falter. The open-source project can be found at https://github.com/Chunx1nZHENG/MM-with-Whole-Body-Safety-Release.git.
Chinese: 本文提出了一种新型反应式控制器，将单步优化问题转化为空间多步优化，利用增强拉格朗日微分动态规划高效处理解耦的连杆特定约束，显著提升了移动机械臂在狭窄杂乱环境中的导航能力。
English: This paper introduces a novel reactive controller that transforms single-step optimization into a spatial multi-step problem, enabling efficient handling of decoupled link-specific constraints through augmented Lagrangian differential dynamic programming to enhance mobile manipulator navigation in cluttered environments.

Authors:Haichao Liu, Kai Chen, Yulin Li, Zhenmin Huang, Ming Liu, Jun Ma
Title: UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving with Motion Prediction of Traffic Participants
Abstract:
Current autonomous driving systems often struggle to balance decision-making and motion control while ensuring safety and traffic rule compliance, especially in complex urban environments. Existing methods may fall short due to separate handling of these functionalities, leading to inefficiencies and safety compromises. To address these challenges, we introduce UDMC, an interpretable and unified Level 4 autonomous driving framework. UDMC integrates decision-making and motion control into a single optimal control problem (OCP), considering the dynamic interactions with surrounding vehicles, pedestrians, road lanes, and traffic signals. By employing innovative potential functions to model traffic participants and regulations, and incorporating a specialized motion prediction module, our framework enhances on-road safety and rule adherence. The integrated design allows for real-time execution of flexible maneuvers suited to diverse driving scenarios. High-fidelity simulations conducted in CARLA exemplify the framework's computational efficiency, robustness, and safety, resulting in superior driving performance when compared against various baseline models. Our open-source project is available at https://github.com/henryhcliu/udmc_carla.git.
中文摘要：UDMC框架将决策与运动控制整合为统一的最优控制问题，通过实时自适应操作提升复杂城市场景中的安全性和交通规则遵守能力。
English Summary: The UDMC framework integrates decision-making and motion control into a unified optimal control problem, enhancing safety and traffic rule compliance through real-time adaptable maneuvers in complex urban environments.

Authors:Ruoyang Chen, Changyan Yi, Fuhui Zhou, Jiawen Kang, Yuan Wu, Dusit Niyato
Title: Federated Digital Twin Construction via Distributed Sensing: A Game-Theoretic Online Optimization with Overlapping Coalitions
Abstract:
In this paper, we propose a novel federated framework for constructing the digital twin (DT) model, referring to a living and self-evolving visualization model empowered by artificial intelligence, enabled by distributed sensing under edge-cloud collaboration. In this framework, the DT model to be built at the cloud is regarded as a global one being split into and integrating from multiple functional components, i.e., partial-DTs, created at various edge servers (ESs) using feature data collected by associated sensors. Considering time-varying DT evolutions and heterogeneities among partial-DTs, we formulate an online problem that jointly and dynamically optimizes partial-DT assignments from the cloud to ESs, ES-sensor associations for partial-DT creation, and as well as computation and communication resource allocations for global-DT integration. The problem aims to maximize the constructed DT's model quality while minimizing all induced costs, including energy consumption and configuration costs, in long runs. To this end, we first transform the original problem into an equivalent hierarchical game with an upper-layer two-sided matching game and a lower-layer overlapping coalition formation game. After analyzing these games in detail, we apply the Gale-Shapley algorithm and particularly develop a switch rules-based overlapping coalition formation algorithm to obtain short-term equilibria of upper-layer and lower-layer subgames, respectively. Then, we design a deep reinforcement learning-based solution, called DMO, to extend the result into a long-term equilibrium of the hierarchical game, thereby producing the solution to the original problem. Simulations show the effectiveness of the introduced framework, and demonstrate the superiority of the proposed solution over counterparts.
中文: 本文提出了一种新颖的联邦框架，通过边缘云协作构建自演化的数字孪生模型，采用分层博弈方法和深度强化学习来优化模型质量并最小化长期成本。
English: This paper introduces a federated framework for building a self-evolving digital twin model through edge-cloud collaboration, using a hierarchical game approach and deep reinforcement learning to optimize model quality while minimizing costs.

Authors:Changyuan Zhao, Guangyuan Liu, Bin Xiang, Dusit Niyato, Benoit Delinchant, Hongyang Du, Dong In Kim
Title: Generative AI Enabled Robust Sensor Placement in Cyber-Physical Power Systems: A Graph Diffusion Approach
Abstract:
With advancements in physical power systems and network technologies, integrated Cyber-Physical Power Systems (CPPS) have significantly enhanced system monitoring and control efficiency and reliability. This integration, however, introduces complex challenges in designing coherent CPPS, particularly as few studies concurrently address the deployment of physical layers and communication connections in the cyber layer. This paper addresses these challenges by proposing a framework for robust sensor placement to optimize anomaly detection in the physical layer and enhance communication resilience in the cyber layer. We model the CPPS as an interdependent network via a graph, allowing for simultaneous consideration of both layers. Then, we adopt the Log-normal Shadowing Path Loss (LNSPL) model to ensure reliable data transmission. Additionally, we leverage the Fiedler value to measure graph resilience against line failures and three anomaly detectors to fortify system safety. However, the optimization problem is NP-hard. Therefore, we introduce the Experience Feedback Graph Diffusion (EFGD) algorithm, which utilizes a diffusion process to generate optimal sensor placement strategies. This algorithm incorporates cross-entropy gradient and experience feedback mechanisms to expedite convergence and generate higher reward strategies. Extensive simulations demonstrate that the EFGD algorithm enhances model convergence by 18.9% over existing graph diffusion methods and improves average reward by 22.90% compared to Denoising Diffusion Policy Optimization (DDPO) and 19.57% compared to Graph Diffusion Policy Optimization (GDPO), thereby significantly bolstering the robustness and reliability of CPPS operations.
中文: 本文提出了一种基于经验反馈图扩散（EFGD）算法的鲁棒传感器部署框架，通过相互依赖的网络建模增强信息物理电力系统的异常检测和通信韧性，显著提升了系统收敛速度和运行可靠性。
English: This paper proposes a robust sensor placement framework using the Experience Feedback Graph Diffusion (EFGD) algorithm to enhance anomaly detection and communication resilience in Cyber-Physical Power Systems, significantly improving convergence and operational reliability through interdependent network modeling.

Authors:Weijie Yuan, Yuanhao Cui, Jiacheng Wang, Fan Liu, Geng Sun, Tao Xiang, Jie Xu, Shi Jin, Dusit Niyato, Sinem Coleri, Sumei Sun, Shiwen Mao, Abbas Jamalipour, Dong In Kim, Mohamed-Slim Alouini, Xuemin Shen
Title: From Ground to Sky: Architectures, Applications, and Challenges Shaping Low-Altitude Wireless Networks
Abstract:
In this article, we introduce a novel low-altitude wireless network (LAWN), which is a reconfigurable, three-dimensional (3D) layered architecture. In particular, the LAWN integrates connectivity, sensing, control, and computing across aerial and terrestrial nodes that enable seamless operation in complex, dynamic, and mission-critical environments. Different from the conventional aerial communication systems, LAWN's distinctive feature is its tight integration of functional planes in which multiple functionalities continually reshape themselves to operate safely and efficiently in the low-altitude sky. With the LAWN, we discuss several enabling technologies, such as integrated sensing and communication (ISAC), semantic communication, and fully-actuated control systems. Finally, we identify potential applications and key cross-layer challenges. This article offers a comprehensive roadmap for future research and development in the low-altitude airspace.
中文: 本文介绍了一种新型低空无线网络（LAWN），其采用可重构的三维分层架构，集成了连接、感知、控制与计算功能，适用于动态复杂环境，并探讨了相关支撑技术与未来研究方向。
English: This article presents a novel low-altitude wireless network (LAWN) with a reconfigurable 3D layered architecture that integrates connectivity, sensing, control, and computing for dynamic environments, discussing enabling technologies and future research directions.

Authors:Linxuan He, Qing-Shan Jia, Ang Li, Hongyan Sang, Ling Wang, Jiwen Lu, Tao Zhang, Jie Zhou, Yi Zhang, Yisen Wang, Peng Wei, Zhongyuan Wang, Henry X. Liu, Shuo Feng
Title: Towards provable probabilistic safety for scalable embodied AI systems
Abstract:
Embodied AI systems, comprising AI models and physical plants, are increasingly prevalent across various applications. Due to the rarity of system failures, ensuring their safety in complex operating environments remains a major challenge, which severely hinders their large-scale deployment in safety-critical domains, such as autonomous vehicles, medical devices, and robotics. While achieving provable deterministic safety--verifying system safety across all possible scenarios--remains theoretically ideal, the rarity and complexity of corner cases make this approach impractical for scalable embodied AI systems. Instead, empirical safety evaluation is employed as an alternative, but the absence of provable guarantees imposes significant limitations. To address these issues, we argue for a paradigm shift to provable probabilistic safety that integrates provable guarantees with progressive achievement toward a probabilistic safety boundary on overall system performance. The new paradigm better leverages statistical methods to enhance feasibility and scalability, and a well-defined probabilistic safety boundary enables embodied AI systems to be deployed at scale. In this Perspective, we outline a roadmap for provable probabilistic safety, along with corresponding challenges and potential solutions. By bridging the gap between theoretical safety assurance and practical deployment, this Perspective offers a pathway toward safer, large-scale adoption of embodied AI systems in safety-critical applications.
中文: 本文主张具身AI系统的安全验证应从确定性转向可证明的概率性安全，通过结合统计方法与明确的安全边界，为关键领域的大规模应用提供可行路径。
English: This abstract advocates for a shift from deterministic to provable probabilistic safety in embodied AI systems, proposing a framework that combines statistical methods with defined safety boundaries to enable scalable deployment in critical applications.

Authors:Hongyi Chen, Jingtao Ding, Jianhai Shu, Xinchun Yu, Xiaojun Liang, Yong Li, Xiao-Ping Zhang
Title: Sample-efficient diffusion-based control of complex nonlinear systems
Abstract:
Complex nonlinear system control faces challenges in achieving sample-efficient, reliable performance. While diffusion-based methods have demonstrated advantages over classical and reinforcement learning approaches in long-term control performance, they are limited by sample efficiency. This paper presents SEDC (Sample-Efficient Diffusion-based Control), a novel diffusion-based control framework addressing three core challenges: high-dimensional state-action spaces, nonlinear system dynamics, and the gap between non-optimal training data and near-optimal control solutions. Through three innovations - Decoupled State Diffusion, Dual-Mode Decomposition, and Guided Self-finetuning - SEDC achieves 39.5\%-49.4\% better control accuracy than baselines while using only 10\% of the training samples, as validated across three complex nonlinear dynamic systems. Our approach represents a significant advancement in sample-efficient control of complex nonlinear systems. The implementation of the code can be found at https://anonymous.4open.science/r/DIFOCON-C019.
中文: 本文提出的SEDC框架通过解耦状态扩散、双模分解和引导自微调三项创新，在仅使用10%训练样本的情况下，将控制精度提升39.5%-49.4%，有效解决了高维空间、非线性动态及数据与控制间差距三大核心难题。
English: This paper introduces SEDC, a diffusion-based control framework that enhances sample efficiency and achieves 39.5%-49.4% higher control accuracy using only 10% of training samples through three innovations addressing high-dimensional spaces, nonlinear dynamics, and data-to-control gaps.

Authors:Zhenmin Huang, Ce Hao, Wei Zhan, Jun Ma, Masayoshi Tomizuka
Title: Fair Play in the Fast Lane: Integrating Sportsmanship into Autonomous Racing Systems
Abstract:
Autonomous racing has gained significant attention as a platform for high-speed decision-making and motion control. While existing methods primarily focus on trajectory planning and overtaking strategies, the role of sportsmanship in ensuring fair competition remains largely unexplored. In human racing, rules such as the one-motion rule and the enough-space rule prevent dangerous and unsportsmanlike behavior. However, autonomous racing systems often lack mechanisms to enforce these principles, potentially leading to unsafe maneuvers. This paper introduces a bi-level game-theoretic framework to integrate sportsmanship (SPS) into versus racing. At the high level, we model racing intentions using a Stackelberg game, where Monte Carlo Tree Search (MCTS) is employed to derive optimal strategies. At the low level, vehicle interactions are formulated as a Generalized Nash Equilibrium Problem (GNEP), ensuring that all agents follow sportsmanship constraints while optimizing their trajectories. Simulation results demonstrate the effectiveness of the proposed approach in enforcing sportsmanship rules while maintaining competitive performance. We analyze different scenarios where attackers and defenders adhere to or disregard sportsmanship rules and show how knowledge of these constraints influences strategic decision-making. This work highlights the importance of balancing competition and fairness in autonomous racing and provides a foundation for developing ethical and safe AI-driven racing systems.
中文: 本文提出了一种双层博弈论框架，通过斯塔克伯格博弈建模竞赛意图和广义纳什均衡问题优化轨迹，将体育精神融入自动驾驶赛车中，在保持竞技性的同时有效执行公平竞赛规则。
English: This paper presents a bi-level game-theoretic framework that integrates sportsmanship into autonomous racing by using a Stackelberg game for intention modeling and a Generalized Nash Equilibrium Problem for trajectory optimization, effectively enforcing fair competition rules while maintaining performance.

Authors:Patanjali Maithani, Aliasghar Arab, Farshad Khorrami, Prashanth Krishnamurthy
Title: Proactive Hierarchical Control Barrier Function-Based Safety Prioritization in Close Human-Robot Interaction Scenarios
Abstract:
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate potential harm through intelligent control strategies. This paper presents a hierarchical control framework based on Control Barrier Functions (CBFs) designed to ensure safe and adaptive operation of autonomous robotic manipulators during close-proximity human-robot interaction. The proposed method introduces a relaxation variable that enables real-time prioritization of safety constraints, allowing the robot to dynamically manage collision risks based on the criticality of different parts of the human body. A secondary constraint mechanism is incorporated to resolve infeasibility by increasing the priority of imminent threats. The framework is experimentally validated on a Franka Research 3 robot equipped with a ZED2i AI camera for real-time human pose and body detection. Experimental results confirm that the CBF-based controller, integrated with depth sensing, facilitates responsive and safe human-robot collaboration, while providing detailed risk analysis and maintaining robust performance in highly dynamic settings.
中文摘要：本文提出了一种基于控制屏障函数的分层控制框架，通过实时优先级调整安全约束和深度感知技术，在近距离人机交互中实现自主机械臂的安全自适应操作。
English Summary: This paper introduces a hierarchical control framework using Control Barrier Functions to enable safe human-robot collaboration by dynamically prioritizing safety constraints and managing collision risks in real-time through depth sensing and pose detection.

Authors:Ali Umut Kaypak, Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
Title: Safe Multi-Robotic Arm Interaction via 3D Convex Shapes
Abstract:
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging 3D convex shape-based High-Order Control Barrier Functions (HOCBFs) to address this issue. While prior works focused on using Control Barrier Functions (CBFs) for human-robotic arm and single-arm collision avoidance, we explore the problem of collision avoidance between multiple robotic arms operating in a shared space. In our methodology, we utilize the proposed HOCBFs as centralized and decentralized safety filters. These safety filters are compatible with many nominal controllers and ensure safety without significantly restricting the robots' workspace. A key challenge in implementing these filters is the computational overhead caused by the large number of safety constraints and the computation of a Hessian matrix per constraint. We address this challenge by employing numerical differentiation methods to approximate computationally intensive terms. The effectiveness of our method is demonstrated through extensive simulation studies and real-world experiments with Franka Research 3 robotic arms. The project video is available at this link.
中文：本研究提出了一种基于三维凸形体高阶控制屏障函数的在线避碰方法，通过数值近似技术解决计算瓶颈，有效保障多机械臂在共享空间中的协同作业安全。
English: This study introduces an online collision avoidance method using 3D convex shape-based High-Order Control Barrier Functions (HOCBFs) to prevent collisions between multiple robotic arms in shared workspaces, employing efficient numerical approximations to overcome computational challenges.

Authors:Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta, Mangal Kothari, Prashanth Krishnamurthy, Farshad Khorrami
Title: Compliant Control of Quadruped Robots for Assistive Load Carrying
Abstract:
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during payload transport. The acceleration is controlled using a combination of admittance control and Control Barrier Function (CBF) based quadratic program (QP). The proposed controller rejects disturbances and maintains consistent performance under varying load conditions. Additionally, the built-in CBF guarantees collision avoidance with the collaborative agent in front of the robot. The efficacy of the overall controller is shown by its implementation on the physical hardware as well as numerical simulations. The proposed control framework aims to enhance the quadruped robot's ability to perform assistive tasks in various scenarios, from industrial applications to search and rescue operations.
中文摘要：本文提出了一种四足机器人辅助载重的新方法，通过本体感知传感器估计外部力矩，结合导纳控制与基于控制屏障函数的二次规划来实现精确加速度控制，确保抗干扰性能和避障能力。
English Summary: This paper introduces a novel control method for quadruped robots that enables precise payload transport by estimating external forces through proprioceptive sensors and combining admittance control with Control Barrier Functions to ensure disturbance rejection and collision avoidance.

Authors:Md Raz, P. V. Sai Charan, Prashanth Krishnamurthy, Farshad Khorrami, Ramesh Karri
Title: SHIELD: Secure Host-Independent Extensible Logging for Tamper-Proof Detection and Real-Time Mitigation of Ransomware Threats
Abstract:
Ransomware's escalating sophistication necessitates tamper-resistant, off-host detection solutions that capture deep disk activity beyond the reach of a compromised operating system while overcoming evasion and obfuscation techniques. To address this, we introduce SHIELD: a metric acquisition framework leveraging low-level filesystem monitoring and Network Block Device (NBD) technology to provide off-host, tamper-proof measurements for continuous observation of disk activity exhibited by software executing on a target device. We employ Shield within a detection architecture leveraging deep filesystem features along with simplified metrics aggregated based on frequency of disk actions, making the metrics impervious to obfuscation while avoiding reliance on vulnerable host-based logs. We evaluate the efficacy of these metrics through extensive experiments with both binary (benign vs. malicious behavior) and multiclass (ransomware strain identification) classifiers and confirm that our metrics yield high accuracy across diverse threat profiles, including intermittent or partial encryption. In a proof-of-concept deployment, we demonstrate real-time mitigation using models trained on these metrics by halting malicious disk operations after ransomware detection with minimum file loss and memory corruption. We also show that hardware-only features collected independently of OS or network stack retain high detection effectiveness, verifying feasibility of embedding the proposed pipeline in a SATA controller ASIC or FPGA for next-generation, disk-centric defenses that combine filesystem insight with inherent off-host isolation.
SHIELD is a tamper-resistant framework that uses low-level filesystem monitoring and NBD technology for off-host ransomware detection, achieving high accuracy against evasion techniques through disk activity analysis and enabling real-time mitigation with minimal data loss.
English Summary:

Authors:Lei Lei, Kan Zheng, Jie Mei, Xuemin, Shen
Title: VoI-Driven Joint Optimization of Control and Communication in Vehicular Digital Twin Network
Abstract:
The vision of sixth-generation (6G) wireless networks paves the way for the seamless integration of digital twins into vehicular networks, giving rise to a Vehicular Digital Twin Network (VDTN). The large amount of computing resources as well as the massive amount of spatial-temporal data in Digital Twin (DT) domain can be utilized to enhance the communication and control performance of Internet of Vehicle (IoV) systems. In this article, we first propose the architecture of VDTN, emphasizing key modules that center on functions related to the joint optimization of control and communication. We then delve into the intricacies of the multitimescale decision process inherent in joint optimization in VDTN, specifically investigating the dynamic interplay between control and communication. To facilitate the joint optimization, we define two Value of Information (VoI) concepts rooted in control performance. Subsequently, utilizing VoI as a bridge between control and communication, we introduce a novel joint optimization framework, which involves iterative processing of two Deep Reinforcement Learning (DRL) modules corresponding to control and communication to derive the optimal policy. Finally, we conduct simulations of the proposed framework applied to a platoon scenario to demonstrate its effectiveness in ensu
中文: 本文提出车载数字孪生网络（VDTN）架构，利用信息价值（VoI）概念和深度强化学习框架，在车联网系统中实现控制与通信的联合优化，并通过车队仿真验证了其有效性。
English: The article proposes a Vehicular Digital Twin Network (VDTN) architecture that employs Value of Information (VoI) concepts and a deep reinforcement learning framework to jointly optimize control and communication in Internet of Vehicle systems, validated through platoon simulations.

Authors:Jiayi Zhang, Ziheng Liu, Yiyang Zhu, Enyu Shi, Bokai Xu, Chau Yuen, Dusit Niyato, Mérouane Debbah, Shi Jin, Bo Ai, Xuemin, Shen
Title: Multi-Agent Reinforcement Learning in Wireless Distributed Networks for 6G
Abstract:
The introduction of intelligent interconnectivity between the physical and human worlds has attracted great attention for future sixth-generation (6G) networks, emphasizing massive capacity, ultra-low latency, and unparalleled reliability. Wireless distributed networks and multi-agent reinforcement learning (MARL), both of which have evolved from centralized paradigms, are two promising solutions for the great attention. Given their distinct capabilities, such as decentralization and collaborative mechanisms, integrating these two paradigms holds great promise for unleashing the full power of 6G, attracting significant research and development attention. This paper provides a comprehensive study on MARL-assisted wireless distributed networks for 6G. In particular, we introduce the basic mathematical background and evolution of wireless distributed networks and MARL, as well as demonstrate their interrelationships. Subsequently, we analyze different structures of wireless distributed networks from the perspectives of homogeneous and heterogeneous. Furthermore, we introduce the basic concepts of MARL and discuss two typical categories, including model-based and model-free. We then present critical challenges faced by MARL-assisted wireless distributed networks, providing important guidance and insights for actual implementation. We also explore an interplay between MARL-assisted wireless distributed networks and emerging techniques, such as information bottleneck and mirror learning, delivering in-depth analyses and application scenarios. Finally, we outline several compelling research directions for future MARL-assisted wireless distributed networks.
中文摘要：本文全面研究了多智能体强化学习与无线分布式网络在6G中的融合，通过应对关键挑战并探索与新兴技术的协同作用，为释放6G潜力提供重要指导和研究方向。
English Summary: This paper comprehensively studies the integration of multi-agent reinforcement learning (MARL) with wireless distributed networks to unlock 6G's potential by addressing challenges and exploring synergies with emerging technologies.

Authors:Eduardo Baena, Paolo Testolina, Michele Polese, Sergi Aliaga, Andrew Benincasa, Dimitrios Koutsonikolas, Josep Jornet, Tommaso Melodia
Title: Agentic Semantic Control for Autonomous Wireless Space Networks: Extending Space-O-RAN with MCP-Driven Distributed Intelligence
Abstract:
Lunar surface operations impose stringent requirements on wireless communication systems, including autonomy, robustness to disruption, and the ability to adapt to environmental and mission-driven context. While Space-O-RAN provides a distributed orchestration model aligned with 3GPP standards, its decision logic is limited to static policies and lacks semantic integration. We propose a novel extension incorporating a semantic agentic layer enabled by the Model Context Protocol (MCP) and Agent-to-Agent (A2A) communication protocols, allowing context-aware decision making across real-time, near-real-time, and non-real-time control layers. Distributed cognitive agents deployed in rovers, landers, and lunar base stations implement wireless-aware coordination strategies, including delay-adaptive reasoning and bandwidth-aware semantic compression, while interacting with multiple MCP servers to reason over telemetry, locomotion planning, and mission constraints.
中文: 该方案在Space-O-RAN中引入基于MCP和A2A协议的语义智能体层，使月球设备能通过分布式认知代理实现动态的情境感知无线协调与自适应通信。
English: The proposed extension to Space-O-RAN introduces a semantic agentic layer using MCP and A2A protocols, enabling dynamic, context-aware wireless coordination across lunar assets for adaptive communication strategies.

Authors:Eduardo Baena, Paolo Testolina, Michele Polese, Dimitrios Koutsonikolas, Josep Jornet, Tommaso Melodia
Title: Space-O-RAN: Enabling Intelligent, Open, and Interoperable Non Terrestrial Networks in 6G
Abstract:
Satellite networks are rapidly evolving, yet most \glspl{ntn} remain isolated from terrestrial orchestration frameworks. Their control architectures are typically monolithic and static, limiting their adaptability to dynamic traffic, topology changes, and mission requirements. These constraints lead to inefficient spectrum use and underutilized network capacity. Although \gls{ai} promises automation, its deployment in orbit is limited by computing, energy, and connectivity limitations. This paper introduces Space-O-RAN, a distributed control architecture that extends Open RAN principles into satellite constellations through hierarchical, closed-loop control. Lightweight \glspl{dapp} operate onboard satellites, enabling real-time functions like scheduling and beam steering without relying on persistent ground access. Cluster-level coordination is managed via \glspl{spaceric}, which leverage low-latency \glspl{isl} for autonomous decisions in orbit. Strategic tasks, including AI training and policy updates, are transferred to terrestrial platforms \glspl{smo} using digital twins and feeder links. A key enabler is the dynamic mapping of the O-RAN interfaces to satellite links, supporting adaptive signaling under varying conditions. Simulations using the Starlink topology validate the latency bounds that inform this architectural split, demonstrating both feasibility and scalability for autonomous satellite RAN operations.
中文摘要：卫星网络因孤立且静态的控制架构面临适应性和效率限制，而Space-O-RAN通过星载轻量应用和轨道协同的分布式系统实现自主运行，同时将复杂任务卸载至地面平台。
English Summary: Satellite networks face limitations in adaptability and efficiency due to isolated, static control architectures, but Space-O-RAN introduces a distributed system using lightweight onboard applications and orbital coordination to enable autonomous operations while offloading complex tasks to ground platforms.

Authors:Yuanpeng Zheng, Tiankui Zhang, Xidong Mu, Yuanwei Liu, Rong Huang
Title: Joint Semantic Transmission and Resource Allocation for Intelligent Computation Task Offloading in MEC Systems
Abstract:
Mobile edge computing (MEC) enables the provision of high-reliability and low-latency applications by offering computation and storage resources in close proximity to end-users. Different from traditional computation task offloading in MEC systems, the large data volume and complex task computation of artificial intelligence involved intelligent computation task offloading have increased greatly. To address this challenge, we propose a MEC system for multiple base stations and multiple terminals, which exploits semantic transmission and early exit of inference. Based on this, we investigate a joint semantic transmission and resource allocation problem for maximizing system reward combined with analysis of semantic transmission and intelligent computation process. To solve the formulated problem, we decompose it into communication resource allocation subproblem, semantic transmission subproblem, and computation capacity allocation subproblem. Then, we use 3D matching and convex optimization method to solve subproblems based on the block coordinate descent (BCD) framework. The optimized feasible solutions are derived from an efficient BCD based joint semantic transmission and resource allocation algorithm in MEC systems. Our simulation demonstrates that: 1) The proposed algorithm significantly improves the delay performance for MEC systems compared with benchmarks; 2) The design of transmission mode and early exit of inference greatly increases system reward during offloading; and 3) Our proposed system achieves efficient utilization of resources from the perspective of system reward in the intelligent scenario.
中文: 该系统通过语义传输和推理提前退出机制，结合基于BCD框架的联合优化算法，显著提升了边缘计算的延迟性能和系统奖励，实现了智能场景下的高效资源利用。
English: The proposed MEC system utilizes semantic transmission and early inference exit to optimize joint semantic transmission and resource allocation, significantly improving delay performance and system reward through an efficient BCD-based algorithm.

Authors:Bo Ai, Yunlong Lu, Yuguang Fang, Dusit Niyato, Ruisi He, Wei Chen, Jiayi Zhang, Guoyu Ma, Yong Niu, Zhangdui Zhong
Title: 6G-Enabled Smart Railways
Abstract:
Smart railways integrate advanced information technologies into railway operating systems to improve efficiency and reliability. Although the development of 5G has enhanced railway services, future smart railways require ultra-high speeds, ultra-low latency, ultra-high security, full coverage, and ultra-high positioning accuracy, which 5G cannot fully meet. Therefore, 6G is envisioned to provide green and efficient all-day operations, strong information security, fully automatic driving, and low-cost intelligent maintenance. To achieve these requirements, we propose an integrated network architecture leveraging communications, computing, edge intelligence, and caching in railway systems. We have conducted in-depth investigations on key enabling technologies for reliable transmissions and wireless coverage. For high-speed mobile scenarios, we propose an AI-enabled cross-domain channel modeling and orthogonal time-frequency space-time spread multiple access mechanism to alleviate the conflict between limited spectrum availability and massive user access. The roles of blockchain, edge intelligence, and privacy technologies in endogenously secure rail communications are also evaluated. We further explore the application of emerging paradigms such as integrated sensing and communications, AI-assisted Internet of Things, semantic communications, and digital twin networks for railway maintenance, monitoring, prediction, and accident warning. Finally, possible future research and development directions are discussed.
中文: 智能铁路正通过采用6G和集成网络架构，结合人工智能、区块链和边缘智能等技术，超越5G局限，实现超高性能、安全保障和全自动运营。
English: Smart railways are advancing beyond 5G capabilities by adopting 6G and an integrated network architecture to achieve ultra-high performance, security, and automation through technologies like AI, blockchain, and edge intelligence.

Authors:Chendong Wang, Anlan Zhang, Yifan Yang, Lili Qiu, Yuqing Yang, Xinyang Jiang, Feng Qian, Suman Banerjee
Title: VoLUT: Efficient Volumetric streaming enhanced by LUT-based super-resolution
Abstract:
3D volumetric video provides immersive experience and is gaining traction in digital media. Despite its rising popularity, the streaming of volumetric video content poses significant challenges due to the high data bandwidth requirement. A natural approach to mitigate the bandwidth issue is to reduce the volumetric video's data rate by downsampling the content prior to transmission. The video can then be upsampled at the receiver's end using a super-resolution (SR) algorithm to reconstruct the high-resolution details. While super-resolution techniques have been extensively explored and advanced for 2D video content, there is limited work on SR algorithms tailored for volumetric videos. To address this gap and the growing need for efficient volumetric video streaming, we have developed VoLUT with a new SR algorithm specifically designed for volumetric content. Our algorithm uniquely harnesses the power of lookup tables (LUTs) to facilitate the efficient and accurate upscaling of low-resolution volumetric data. The use of LUTs enables our algorithm to quickly reference precomputed high-resolution values, thereby significantly reducing the computational complexity and time required for upscaling. We further apply adaptive video bit rate algorithm (ABR) to dynamically determine the downsampling rate according to the network condition and stream the selected video rate to the receiver. Compared to related work, VoLUT is the first to enable high-quality 3D SR on commodity mobile devices at line-rate. Our evaluation shows VoLUT can reduce bandwidth usage by 70% , boost QoE by 36.7% for volumetric video streaming and achieve 3D SR speed-up with no quality compromise.
中文: VoLUT采用创新的查找表超分辨率算法，有效提升低分辨率立体视频质量，在移动设备上实现带宽降低70%和流媒体体验优化，且无性能损失。
English: VoLUT introduces a novel super-resolution algorithm using lookup tables to efficiently upscale low-resolution volumetric video, reducing bandwidth by 70% and enhancing streaming quality on mobile devices without compromising performance.

Authors:Baiyang Liu, Kin-Fai Tong, Kai-Kit Wong, Chan-Byoung Chae, Hang Wong
Title: Be Water, My Antennas: Riding on Radio Wave Fluctuation in Nature for Spatial Multiplexing using Programmable Meta-Fluid Antenna
Abstract:
Interference and scattering, often deemed undesirable, are inevitable in wireless communications, especially when the current mobile networks and upcoming sixth generation (6G) have turned into ultra-dense networks. Current approaches relying on multiple-input multiple-output (MIMO) combined with artificial-intelligence-aided (AI) signal processing have drawbacks of being power-hungry and requiring wide bandwidth that raise scalability concerns. In this article, we take a radical approach and utilize the channel fading phenomenon to our advantage. Specifically, we propose a novel meta-fluid antenna architecture, referred to as the `fluid' antenna system (FAS), that can freely surf on radio wave fluctuations, like `fluid' figuratively speaking, with fine resolution in space to opportunistically avoid interference, eliminating the need for expensive signal processing. Our experimental results demonstrate that under rich scattering conditions, the proposed meta-fluidic architecture is able to exploit the natural ups and downs of radio waves in space for spatial multiplexing. These breakthrough results show that scattering can be desirable not harmful and interference can be dodged not suppressed, fundamentally changing our perception of fading and our understanding on how interference should be managed in wireless communications networks.
The proposed fluid antenna system (FAS) leverages channel fading to opportunistically avoid interference through spatial surfing of radio wave fluctuations, fundamentally transforming interference management by making scattering beneficial rather than detrimental in wireless networks.
English Summary:

Authors:Xiaoqi Wang, Hongyang Du, Yuehong Gao, Dong In Kim
Title: AOLO: Analysis and Optimization For Low-Carbon Oriented Wireless Large Language Model Services
Abstract:
Recent advancements in large language models (LLMs) have led to their widespread adoption and large-scale deployment across various domains. However, their environmental impact, particularly during inference, has become a growing concern due to their substantial energy consumption and carbon footprint. Existing research has focused on inference computation alone, overlooking the analysis and optimization of carbon footprint in network-aided LLM service systems. To address this gap, we propose AOLO, a framework for analysis and optimization for low-carbon oriented wireless LLM services. AOLO introduces a comprehensive carbon footprint model that quantifies greenhouse gas emissions across the entire LLM service chain, including computational inference and wireless communication. Furthermore, we formulate an optimization problem aimed at minimizing the overall carbon footprint, which is solved through joint optimization of inference outputs and transmit power under quality-of-experience and system performance constraints. To achieve this joint optimization, we leverage the energy efficiency of spiking neural networks (SNNs) by adopting SNN as the actor network and propose a low-carbon-oriented optimization algorithm, i.e., SNN-based deep reinforcement learning (SDRL). Comprehensive simulations demonstrate that SDRL algorithm significantly reduces overall carbon footprint, achieving an 18.77% reduction compared to the benchmark soft actor-critic, highlighting its potential for enabling more sustainable LLM inference services.
中文: AOLO框架通过引入全面的碳足迹模型，并利用脉冲神经网络联合优化推理和传输功率，显著降低了大型语言模型服务系统的碳排放，实现了更可持续的推理服务。
English: The AOLO framework addresses the environmental impact of large language models by introducing a comprehensive carbon footprint model and optimizing emissions through joint inference and power management using spiking neural networks, achieving significant reductions in carbon output.

Authors:Qi Dai, Beixiong Zheng, Qiyao Wang, Xue Xiong, Xiaodan Shao, Lipeng Zhu, Rui Zhang
Title: A Demo of Radar Sensing Aided Rotatable Antenna for Wireless Communication System
Abstract:
Rotatable antenna (RA) represents a novel antenna architecture that enhances wireless communication system performance by independently or collectively adjusting each antenna's boresight/orientation. In this demonstration, we develop a prototype of radar sensing-aided rotatable antenna that integrates radar sensing with dynamic antenna orientation to enhance wireless communication performance while maintaining low hardware costs. The proposed prototype consists of a transmitter (TX) module and a receiver (RX) module, both of which employ universal software radio peripherals (USRPs) for transmitting and receiving signals. Specifically, the TX utilizes a laser radar to detect the RX's location and conveys the angle of arrival (AoA) information to its antenna servo, which enables the RA to align its boresight direction with the identified RX. Experimental results examine the effectiveness of the proposed prototype and indicate that the RA significantly outperforms the traditional fixed-antenna system in terms of increasing received signal-to-noise ratio (SNR).
中文: 该可旋转天线原型通过集成雷达感知动态对准接收器方向，在保持低成本的同时，相比传统固定天线系统显著提升了接收信噪比。
English: The rotatable antenna prototype integrates radar sensing to dynamically align its boresight with the receiver, significantly boosting signal-to-noise ratio compared to fixed antennas while maintaining cost efficiency.

Authors:Liang Dai, Beixiong Zheng, Yanhua Tan, Lipeng Zhu, Fangjiong Chen, Rui Zhang
Title: Rotatable Antenna Enabled Wireless Communication System with Visual Recognition: A Prototype Implementation
Abstract:
Rotatable antenna (RA) is an emerging technology that has great potential to exploit additional spatial degrees of freedom (DoFs) by flexibly altering the three-dimensional (3D) orientation/boresight of each antenna. In this demonstration, we present a prototype of the RA-enabled wireless communication system with a visual recognition module to evaluate the performance gains provided by the RA in practical environments. In particular, a mechanically-driven RA is developed by integrating a digital servo motor, a directional antenna, and a microcontroller, which enables the dynamic adjustment of the RA orientation. Moreover, the orientation adjustment of the RA is guided by the user's direction information provided by the visual recognition module, thereby significantly enhancing system response speed and self-orientation accuracy. The experimental results demonstrate that the RA-enabled communication system achieves significant improvement in communication coverage performance compared to the conventional fixed antenna system.
中文: 可旋转天线技术通过视觉识别模块引导动态调整天线方向，相比传统固定天线系统显著提升了通信覆盖性能。
English: Rotatable antenna technology enhances wireless communication by dynamically adjusting antenna orientation using visual recognition guidance, significantly improving coverage and performance over fixed systems.

Authors:Hao Fang, Kai Huang, Hao Ye, Chongtao Guo, Le Liang, Xiao Li, Shi Jin
Title: Power Allocation for Delay Optimization in Device-to-Device Networks: A Graph Reinforcement Learning Approach
Abstract:
The pursuit of rate maximization in wireless communication frequently encounters substantial challenges associated with user fairness. This paper addresses these challenges by exploring a novel power allocation approach for delay optimization, utilizing graph neural networks (GNNs)-based reinforcement learning (RL) in device-to-device (D2D) communication. The proposed approach incorporates not only channel state information but also factors such as packet delay, the number of backlogged packets, and the number of transmitted packets into the components of the state information. We adopt a centralized RL method, where a central controller collects and processes the state information. The central controller functions as an agent trained using the proximal policy optimization (PPO) algorithm. To better utilize topology information in the communication network and enhance the generalization of the proposed method, we embed GNN layers into both the actor and critic networks of the PPO algorithm. This integration allows for efficient parameter updates of GNNs and enables the state information to be parameterized as a low-dimensional embedding, which is leveraged by the agent to optimize power allocation strategies. Simulation results demonstrate that the proposed method effectively reduces average delay while ensuring user fairness, outperforms baseline methods, and exhibits scalability and generalization capability.
中文摘要：本文提出一种基于图神经网络强化学习的功率分配方法，通过整合信道状态、数据包延迟等状态信息并利用网络拓扑结构，在设备间通信中有效降低平均延迟同时保障用户公平性。
English Summary: This paper introduces a GNN-based reinforcement learning approach for optimizing power allocation in D2D communications, which effectively reduces average delay while maintaining user fairness by incorporating comprehensive state information and network topology.

Authors:Manish Prajapat, Johannes Köhler, Amon Lahr, Andreas Krause, Melanie N. Zeilinger
Title: Finite-Sample-Based Reachability for Safe Control with Gaussian Process Dynamics
Abstract:
Gaussian Process (GP) regression is shown to be effective for learning unknown dynamics, enabling efficient and safety-aware control strategies across diverse applications. However, existing GP-based model predictive control (GP-MPC) methods either rely on approximations, thus lacking guarantees, or are overly conservative, which limits their practical utility. To close this gap, we present a sampling-based framework that efficiently propagates the model's epistemic uncertainty while avoiding conservatism. We establish a novel sample complexity result that enables the construction of a reachable set using a finite number of dynamics functions sampled from the GP posterior. Building on this, we design a sampling-based GP-MPC scheme that is recursively feasible and guarantees closed-loop safety and stability with high probability. Finally, we showcase the effectiveness of our method on two numerical examples, highlighting accurate reachable set over-approximation and safe closed-loop performance.
中文: 本文提出了一种基于采样的高斯过程模型预测控制框架，能有效传播认知不确定性，确保递归可行性、闭环安全性和高概率稳定性，并通过数值算例验证了其有效性。
English: This paper introduces a sampling-based Gaussian Process Model Predictive Control (GP-MPC) framework that efficiently propagates epistemic uncertainty and ensures recursive feasibility, closed-loop safety, and stability with high probability, validated through numerical examples.

Authors:Marcell Bartos, Alexandre Didier, Jerome Sieber, Johannes Köhler, Melanie N. Zeilinger
Title: Stochastic MPC with Online-optimized Policies and Closed-loop Guarantees
Abstract:
This paper proposes a stochastic model predictive control method for linear systems affected by additive Gaussian disturbances. Closed-loop satisfaction of probabilistic constraints and recursive feasibility of the underlying convex optimization problem is guaranteed. Optimization over feedback policies online increases performance and reduces conservatism compared to fixed-feedback approaches. The central mechanism is a finitely determined maximal admissible set for probabilistic constraints, together with the reconditioning of the predicted probabilistic constraints on the current knowledge at every time step. The proposed method's reduced conservatism and improved performance in terms of the achieved closed-loop cost is demonstrated in a numerical example.
本文提出了一种针对受高斯扰动线性系统的随机模型预测控制方法，通过在线优化反馈策略保证概率约束满足和优化可行性，有效提升了控制性能并降低了保守性。
This paper introduces a stochastic model predictive control approach for linear systems with Gaussian disturbances, ensuring constraint satisfaction and optimization feasibility while enhancing performance through online feedback policy adjustments.

Authors:Giovanni Pollo, Mohamed Amine Hamdi, Matteo Risso, Lorenzo Ruotolo, Pietro Furbatto, Matteo Isoldi, Yukai Chen, Alessio Burrello, Enrico Macii, Massimo Poncino, Daniele Jahier Pagliari, Sara Vinco
Title: MEbots: Integrating a RISC-V Virtual Platform with a Robotic Simulator for Energy-aware Design
Abstract:
Virtual Platforms (VPs) enable early software validation of autonomous systems' electronics, reducing costs and time-to-market. While many VPs support both functional and non-functional simulation (e.g., timing, power), they lack the capability of simulating the environment in which the system operates. In contrast, robotics simulators lack accurate timing and power features. This twofold shortcoming limits the effectiveness of the design flow, as the designer can not fully evaluate the features of the solution under development. This paper presents a novel, fully open-source framework bridging this gap by integrating a robotics simulator (Webots) with a VP for RISC-V-based systems (MESSY). The framework enables a holistic, mission-level, energy-aware co-simulation of electronics in their surrounding environment, streamlining the exploration of design configurations and advanced power management policies.
中文摘要：本文提出一种开源框架，通过整合机器人模拟器与虚拟平台，实现了对自主系统电子元件的整体性能与能耗协同仿真，有效解决了现有工具在环境交互和精确时序/功耗模拟方面的双重缺陷。
English Summary: This paper introduces an open-source framework that integrates a robotics simulator with a virtual platform to enable holistic, energy-aware co-simulation of autonomous systems, addressing the limitations of existing tools in simulating both environmental interactions and accurate timing/power features.

Authors:Grik Tadevosyan, Valerii Serpiva, Aleksey Fedoseev, Roohan Ahmed Khan, Demetros Aschu, Faryal Batool, Nickolay Efanov, Artem Mikhaylov, Dzmitry Tsetserukou
Title: AttentionSwarm: Reinforcement Learning with Attention Control Barier Function for Crazyflie Drones in Dynamic Environments
Abstract:
We introduce AttentionSwarm, a novel benchmark designed to evaluate safe and efficient swarm control across three challenging environments: a landing environment with obstacles, a competitive drone game setting, and a dynamic drone racing scenario. Central to our approach is the Attention Model Based Control Barrier Function (CBF) framework, which integrates attention mechanisms with safety-critical control theory to enable real-time collision avoidance and trajectory optimization. This framework dynamically prioritizes critical obstacles and agents in the swarms vicinity using attention weights, while CBFs formally guarantee safety by enforcing collision-free constraints. The safe attention net algorithm was developed and evaluated using a swarm of Crazyflie 2.1 micro quadrotors, which were tested indoors with the Vicon motion capture system to ensure precise localization and control. Experimental results show that our system achieves landing accuracy of 3.02 cm with a mean time of 23 s and collision-free landings in a dynamic landing environment, 100% and collision-free navigation in a drone game environment, and 95% and collision-free navigation for a dynamic multiagent drone racing environment, underscoring its effectiveness and robustness in real-world scenarios. This work offers a promising foundation for applications in dynamic environments where safety and fastness are paramount.
中文：AttentionSwarm是一种新颖的基准，采用基于注意力模型的控制屏障函数框架，在着陆、无人机游戏和竞速等挑战性环境中实现安全高效的集群控制，确保了高精度和无碰撞导航。
English: AttentionSwarm is a novel benchmark using an Attention Model Based Control Barrier Function framework to ensure safe and efficient swarm control, achieving high accuracy and collision-free navigation in challenging environments like landing, drone games, and racing.

Authors:Mattia Sinigaglia, Amirhossein Kiamarzi, Marco Bertuletti, Luigi Ghionda, Mattia Orlandi, Riccardo Tedeschi, Aurora Di Giampietro, Yvan Tortorella, Luca Bertaccini, Simone Benatti, Giuseppe Tagliavini, Luca Benini, Francesco Conti, Davide Rossi
Title: Maestro: A 302 GFLOPS/W and 19.8GFLOPS RISC-V Vector-Tensor Architecture for Wearable Ultrasound Edge Computing
Abstract:
Most Wearable Ultrasound (WUS) devices lack the computational power to process signals at the edge, instead relying on remote offload, which introduces latency, high power consumption, and privacy concerns. We present Maestro, a RISC-V SoC with unified Vector-Tensor Unit (VTU) and memory-coupled Fast Fourier Transform (FFT) accelerators targeting edge processing for wearable ultrasound devices, fabricated using low-cost TSMC 65nm CMOS technology. The VTU achieves peak 302GFLOPS/W and 19.8GFLOPS at FP16, while the multi-precision 16/32-bit floating-point FFT accelerator delivers peak 60.6GFLOPS/W and 3.6GFLOPS at FP16, We evaluate Maestro on a US-based gesture recognition task, achieving 1.62GFLOPS in signal processing at 26.68GFLOPS/W, and 19.52GFLOPS in Convolutional Neural Network (CNN) workloads at 298.03GFLOPS/W. Compared to a state-of-the-art SoC with a similar mission profile, Maestro achieves a 5x speedup while consuming only 12mW, with an energy consumption of 2.5mJ in a wearable US channel preprocessing and ML-based postprocessing pipeline.
中文: Maestro是一款集成向量张量和FFT加速器的RISC-V片上系统，专为可穿戴超声设备边缘计算设计，在仅12mW功耗下实现比现有方案快5倍的性能表现。
English: Maestro is a RISC-V SoC with integrated vector-tensor and FFT accelerators designed for wearable ultrasound edge processing, delivering up to 5x faster performance at just 12mW power consumption compared to existing solutions.

Authors:Adarsh Salagame, Shashwat Pandya, Ioannis Mandralis, Eric Sihite, Alireza Ramezani, Morteza Gharib
Title: NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Abstract:
Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event of an actuator failure is necessary for the fault-tolerant and safe operation of unmanned aerial robots. In this work, we present a fault recovery approach based on the unification of posture manipulation and thrust vectoring. The key contributions of this work are: 1) Derivation of two flight dynamics models (high-fidelity and reduced-order) that capture posture control and thrust vectoring. 2) Design of a controller based on Nonlinear Model Predictive Control (NMPC) and demonstration of fault recovery in simulation using a high-fidelity model of the Multi-Modal Mobility Morphobot (M4) in Simscape.
中文: 本研究提出了一种结合姿态操纵与推力矢量控制的故障恢复方法，通过非线性模型预测控制器和高保真仿真，确保多旋翼无人机在发生执行器故障后仍能安全运行。
English: This work presents a fault recovery approach for multi-rotors that unifies posture manipulation and thrust vectoring, using NMPC-based controllers and high-fidelity simulations to ensure safe operation after actuator failures.

Authors:Adarsh Salagame, Eric Sihite, Milad Ramezani, Alireza Ramezani
Title: Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion using NMPC
Abstract:
This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to autonomously generate gaits while constraining the robot's footprint within tight spaces. The method is validated through high-fidelity simulations that accurately model contact dynamics and the robot's motion. Key locomotion strategies are identified and further demonstrated through hardware experiments, including successful navigation through narrow corridors.
中文摘要：本文提出了一种基于优化的蛇形机器人运动规划方法，通过简化模型在受限空间中自主生成步态，并经过高精度仿真和包括穿越狭窄走廊在内的硬件实验验证。
English Summary: This paper introduces an optimization-based motion planning method for snake robots that uses a reduced-order model to simplify gait generation in confined spaces, validated through simulations and hardware experiments including corridor navigation.

Authors:Xiucheng Wang, Honggang Jia, Nan Cheng
Title: Latent Diffusion Model Based Denoising Receiver for 6G Semantic Communication: From Stochastic Differential Theory to Application
Abstract:
In this paper, a novel semantic communication framework empowered by generative artificial intelligence (GAI) is proposed, to enhance the robustness against both channel noise and transmission data distribution shifts. A theoretical foundation is established using stochastic differential equations (SDEs), from which a closed-form mapping between any signal-to-noise ratio (SNR) and the optimal denoising timestep is derived. Moreover, to address distribution mismatch, a mathematical scaling method is introduced to align received semantic features with the training distribution of the GAI. Built on this theoretical foundation, a latent diffusion model (LDM)-based semantic communication framework is proposed that combines a variational autoencoder for semantic features extraction, where a pretrained diffusion model is used for denoising. The proposed system is a training-free framework that supports zero-shot generalization, and achieves superior performance under low-SNR and out-of-distribution conditions, offering a scalable and robust solution for future 6G semantic communication systems. Experimental results demonstrate that the proposed semantic communication framework achieves state-of-the-art performance in both pixel-level accuracy and semantic perceptual quality, consistently outperforming baselines across a wide range of SNRs and data distributions without any fine-tuning or post-training.
本文提出了一种生成式人工智能赋能的语义通信框架，利用潜在扩散模型在信道噪声和数据分布偏移下实现无需训练的鲁棒性能，为6G系统展现了卓越的零样本泛化能力。
This paper introduces a generative AI-powered semantic communication framework that uses a latent diffusion model to achieve robust, training-free performance against channel noise and data distribution shifts, demonstrating superior zero-shot generalization for 6G systems.

Authors:Xiucheng Wang, Qiming Zhang, Nan Cheng, Ruijin Sun, Zan Li, Shuguang Cui, Xuemin Shen
Title: RadioDiff-$k^2$: Helmholtz Equation Informed Generative Diffusion Model for Multi-Path Aware Radio Map Construction
Abstract:
In this paper, we propose a novel physics-informed generative learning approach, termed RadioDiff-$\bm{k^2}$, for accurate and efficient multipath-aware radio map (RM) construction. As wireless communication evolves towards environment-aware paradigms, driven by the increasing demand for intelligent and proactive optimization in sixth-generation (6G) networks, accurate construction of RMs becomes crucial yet highly challenging. Conventional electromagnetic (EM)-based methods, such as full-wave solvers and ray-tracing approaches, exhibit substantial computational overhead and limited adaptability to dynamic scenarios. Although, existing neural network (NN) approaches have efficient inferencing speed, they lack sufficient consideration of the underlying physics of EM wave propagation, limiting their effectiveness in accurately modeling critical EM singularities induced by complex multipath environments. To address these fundamental limitations, we propose a novel physics-inspired RM construction method guided explicitly by the Helmholtz equation, which inherently governs EM wave propagation. Specifically, we theoretically establish a direct correspondence between EM singularities, which correspond to the critical spatial features influencing wireless propagation, and regions defined by negative wave numbers in the Helmholtz equation. Based on this insight, we design an innovative dual generative diffusion model (DM) framework comprising one DM dedicated to accurately inferring EM singularities and another DM responsible for reconstructing the complete RM using these singularities along with environmental contextual information. Our physics-informed approach uniquely combines the efficiency advantages of data-driven methods with rigorous physics-based EM modeling, significantly enhancing RM accuracy, particularly in complex propagation environments dominated by multipath effects.
Chinese: 本文提出RadioDiff-k²这一物理信息生成学习方法，通过基于亥姆霍兹方程的双扩散模型，在复杂多径环境中精确建模电磁奇点，从而实现高精度无线电地图构建。
English: This paper introduces RadioDiff-k², a physics-informed generative learning method that uses dual diffusion models guided by the Helmholtz equation to accurately construct radio maps by modeling electromagnetic singularities in complex multipath environments.

Authors:Xiucheng Wang, Xuan Zhao, Nan Cheng
Title: Differentiable Projection-based Learn to Optimize in Wireless Network-Part I: Convex Constrained (Non-)Convex Programming
Abstract:
This paper addresses a class of (non-)convex optimization problems subject to general convex constraints, which pose significant challenges for traditional methods due to their inherent non-convexity and diversity. Conventional convex optimization-based solvers often struggle to efficiently handle these problems in their most general form. While neural network (NN)-based approaches offer a promising alternative, ensuring the feasibility of NN-generated solutions and effectively training the NN remain key hurdles, largely because finite-capacity networks can produce infeasible outputs. To overcome these issues, we propose a projection-based method that projects any infeasible NN output onto the feasible domain, thus guaranteeing strict adherence to the constraints without compromising the NN's optimization capability. Furthermore, we derive the objective function values for both the raw NN outputs and their projected counterparts, along with the gradients of these values with respect to the NN parameters. This derivation enables label-free (unsupervised) training, reducing reliance on labeled data and improving scalability. Experimental results demonstrate that the proposed projection-based method consistently ensures feasibility.
中文: 本文提出了一种基于投影的神经网络方法，通过将输出投影到可行域来保证复杂优化问题的解可行性，并通过推导梯度实现无监督训练。
English: This paper introduces a projection-based neural network approach that guarantees feasible solutions for complex optimization problems by projecting outputs onto the feasible domain and enabling unsupervised training through derived gradients.

Authors:Xiucheng Wang, Peilin Zheng, Nan Cheng
Title: Erasing Noise in Signal Detection with Diffusion Model: From Theory to Application
Abstract:
In this paper, a signal detection method based on the denoise diffusion model (DM) is proposed, which outperforms the maximum likelihood (ML) estimation method that has long been regarded as the optimal signal detection technique. Theoretically, a novel mathematical theory for intelligent signal detection based on stochastic differential equations (SDEs) is established in this paper, demonstrating the effectiveness of DM in reducing the additive white Gaussian noise in received signals. Moreover, a mathematical relationship between the signal-to-noise ratio (SNR) and the timestep in DM is established, revealing that for any given SNR, a corresponding optimal timestep can be identified. Furthermore, to address potential issues with out-of-distribution inputs in the DM, we employ a mathematical scaling technique that allows the trained DM to handle signal detection across a wide range of SNRs without any fine-tuning. Building on the above theoretical foundation, we propose a DM-based signal detection method, with the diffusion transformer (DiT) serving as the backbone neural network, whose computational complexity of this method is $\mathcal{O}(n^2)$. Simulation results demonstrate that, for BPSK and QAM modulation schemes, the DM-based method achieves a significantly lower symbol error rate (SER) compared to ML estimation, while maintaining a much lower computational complexity.
中文: 本文提出了一种基于去噪扩散模型的信号检测方法，通过随机微分方程建立数学理论框架，在BPSK和QAM调制方案中相比传统最大似然估计显著降低了误码率并保持较低计算复杂度。
English: This paper introduces a denoising diffusion model-based signal detection method that surpasses traditional maximum likelihood estimation by establishing a mathematical framework using stochastic differential equations, achieving lower symbol error rates and computational complexity for BPSK and QAM modulations.

Authors:Savvas Papaioannou, Panayiotis Kolios, Christos G. Panayiotou, Marios M. Polycarpou
Title: Data-Driven Predictive Planning and Control for Aerial 3D Inspection with Back-face Elimination
Abstract:
Automated inspection with Unmanned Aerial Systems (UASs) is a transformative capability set to revolutionize various application domains. However, this task is inherently complex, as it demands the seamless integration of perception, planning, and control which existing approaches often treat separately. Moreover, it requires accurate long-horizon planning to predict action sequences, in contrast to many current techniques, which tend to be myopic. To overcome these limitations, we propose a 3D inspection approach that unifies perception, planning, and control within a single data-driven predictive control framework. Unlike traditional methods that rely on known UAS dynamic models, our approach requires only input-output data, making it easily applicable to off-the-shelf black-box UASs. Our method incorporates back-face elimination, a visibility determination technique from 3D computer graphics, directly into the control loop, thereby enabling the online generation of accurate, long-horizon 3D inspection trajectories.
Chinese: 我们提出的三维检测方法将感知、规划与控制整合在统一的数据驱动框架中，无需无人机动态模型即可为现成设备生成长期精确检测轨迹。
English: Our proposed 3D inspection approach integrates perception, planning, and control within a unified data-driven framework, enabling long-horizon trajectory generation for off-the-shelf UASs without requiring dynamic models.

Authors:Yian Zhu, Ziye Jia, Lei Zhang, Yao Wu, Qiuming Zhu, Qihui Wu
Title: Delay Optimization in Remote ID-Based UAV Communication via BLE and Wi-Fi Switching
Abstract:
The remote identification (Remote ID) broadcast capability allows unmanned aerial vehicles (UAVs) to exchange messages, which is a pivotal technology for inter-UAV communications. Although this capability enhances the operational visibility, low delay in Remote ID-based communications is critical for ensuring the efficiency and timeliness of multi-UAV operations in dynamic environments. To address this challenge, we first establish delay models for Remote ID communications by considering packet reception and collisions across both BLE 4 and Wi-Fi protocols. Building upon these models, we formulate an optimization problem to minimize the long-term communication delay through adaptive protocol selection. Since the delay performance varies with the UAV density, we propose an adaptive BLE/Wi-Fi switching algorithm based on the multi-agent deep Q-network approach. Experimental results demonstrate that in dynamic-density scenarios, our strategy achieves 32.1% and 37.7% lower latency compared to static BLE 4 and Wi-Fi modes respectively.
中文: 本研究提出基于多智能体深度Q网络的自适应蓝牙/Wi-Fi切换算法，在动态无人机密度场景中将远程识别通信延迟降低了超过30%。
English: The study develops adaptive BLE/Wi-Fi switching using multi-agent deep Q-networks to reduce Remote ID communication delays by over 30% in dynamic UAV environments.

Authors:Wenjie Liu, Yifei Li, Jian Sun, Gang Wang, Keyou You, Lihua Xie, Jie Chen
Title: Data-driven Internal Model Control for Output Regulation
Abstract:
Output regulation is a fundamental problem in control theory, extensively studied since the 1970s. Traditionally, research has primarily addressed scenarios where the system model is explicitly known, leaving the problem in the absence of a system model less explored. Leveraging the recent advancements in Willems et al.'s fundamental lemma, data-driven control has emerged as a powerful tool for stabilizing unknown systems. This paper tackles the output regulation problem for unknown single and multi-agent systems (MASs) using noisy data. Previous approaches have attempted to solve data-based output regulation equations (OREs), which are inadequate for achieving zero tracking error with noisy data. To circumvent the need for solving data-based OREs, we propose an internal model-based data-driven controller that reformulates the output regulation problem into a stabilization problem. This method is first applied to linear time-invariant (LTI) systems, demonstrating exact solution capabilities, i.e., zero tracking error, through solving a straightforward data-based linear matrix inequality (LMI). Furthermore, we extend our approach to solve the $k$th-order output regulation problem for nonlinear systems. Extensions to both linear and nonlinear MASs are discussed. Finally, numerical tests validate the effectiveness and correctness of the proposed controllers.
Chinese: 本文提出了一种基于内部模型的数据驱动控制器，将输出调节问题转化为镇定问题，无需求解传统输出调节方程即可利用噪声数据实现未知线性和非线性系统的零跟踪误差。
English: This paper introduces an internal model-based data-driven controller that transforms output regulation into a stabilization problem, enabling zero tracking error for unknown linear and nonlinear systems using noisy data without solving traditional output regulation equations.

Authors:Andreas Anastasiou, Savvas Papaioannou, Panayiotis Kolios, Christos G. Panayiotou
Title: Multiple Target Tracking Using a UAV Swarm in Maritime Environments
Abstract:
Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this work, we introduce a collaborative model predictive control (MPC) framework aimed at addressing the joint problem of guidance and state estimation for tracking multiple castaway targets with a fleet of autonomous UAV agents. We assume that each UAV agent is equipped with a camera sensor, which has a limited sensing range and is utilized for receiving noisy observations from multiple moving castaways adrift in maritime conditions. We derive a nonlinear mixed integer programming (NMIP) -based controller that facilitates the guidance of the UAVs by generating non-myopic trajectories within a receding planning horizon. These trajectories are designed to minimize the tracking error across multiple targets by directing the UAV fleet to locations expected to yield targets measurements, thereby minimizing the uncertainty of the estimated target states. Extensive simulation experiments validate the effectiveness of our proposed method in tracking multiple castaways in maritime environments.
中文: 本研究提出了一种协作模型预测控制框架，通过生成非近视轨迹引导无人机编队跟踪海上遇险者，以优化传感器定位来最小化跟踪误差和状态估计不确定性。
English: This study presents a collaborative MPC framework for UAV fleets to track multiple maritime castaways by generating non-myopic trajectories that minimize tracking error and state uncertainty through optimized sensor positioning.

Authors:Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G. Panayiotou, Marios M. Polycarpou
Title: Jointly-optimized Trajectory Generation and Camera Control for 3D Coverage Planning
Abstract:
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that maximally cover the surface area of a 3D object of interest. Specifically, the UAV's kinematic and camera control inputs are jointly optimized over a rolling planning horizon to achieve complete 3D coverage of the object. The proposed controller incorporates ray-tracing into the planning process to simulate the propagation of light rays, thereby determining the visible parts of the object through the UAV's camera. This integration enables the generation of precise look-ahead coverage trajectories. The coverage planning problem is formulated as a rolling finite-horizon optimal control problem and solved using mixed-integer programming techniques. Extensive real-world and synthetic experiments validate the performance of the proposed approach.
中文: 本研究提出一种轨迹生成与相机控制的联合优化方法，通过集成光线追踪的滚动规划与混合整数规划，使无人机能够高效实现目标物体的完整三维覆盖。
English: This study introduces a joint optimization method for trajectory generation and camera control that enables UAVs to efficiently achieve complete 3D object coverage through rolling-horizon planning with integrated ray-tracing and mixed-integer programming.

Authors:Junteng Mao, Ziye Jia, Hanzhi Gu, Chenyu Shi, Haomin Shi, Lijun He, Qihui Wu
Title: Robust UAV Path Planning with Obstacle Avoidance for Emergency Rescue
Abstract:
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle avoidance for UAVs is a significant issue for security assurance. In this paper, we construct a comprehensive 3D scenario with obstacles and no-fly zones for dynamic UAV trajectory. Moreover, a novel artificial potential field algorithm coupled with simulated annealing (APF-SA) is proposed to tackle the robust path planning problem. APF-SA modifies the attractive and repulsive potential functions and leverages simulated annealing to escape local minimum and converge to globally optimal solutions. Simulation results demonstrate that the effectiveness of APF-SA, enabling efficient autonomous path planning for UAVs with obstacle avoidance.
中文: 本文提出了一种结合模拟退火的人工势场算法（APF-SA），通过改进势场函数和避免局部最优，实现了无人机在复杂三维环境中高效安全的自主路径规划与避障。
English: This paper introduces a hybrid APF-SA algorithm that enhances UAV path planning in complex 3D environments by optimizing potential functions and using simulated annealing to achieve global optimality with effective obstacle avoidance.

Authors:Erblin Isaku, Hassan Sartaj, Shaukat Ali
Title: Digital Twin-based Out-of-Distribution Detection in Autonomous Vessels
Abstract:
An autonomous vessel (AV) is a complex cyber-physical system (CPS) with software enabling many key functionalities, e.g., navigation software enables an AV to autonomously or semi-autonomously follow a path to its destination. Digital twins of such AVs enable advanced functionalities such as running what-if scenarios, performing predictive maintenance, and enabling fault diagnosis. Due to technological improvements, real-time analyses using continuous data from vessels' real-time operations have become increasingly possible. However, the literature has little explored developing advanced analyses in real-time data in AVs with digital twins built with machine learning techniques. To this end, we present a novel digital twin-based approach (ODDIT) to detect future out-of-distribution (OOD) states of an AV before reaching them, enabling proactive intervention. Such states may indicate anomalies requiring attention (e.g., manual correction by the ship master) and assist testers in scenario-centered testing. The digital twin consists of two machine-learning models predicting future vessel states and whether the predicted state will be OOD. We evaluated ODDIT with five vessels across waypoint and zigzag maneuvering under simulated conditions, including sensor and actuator noise and environmental disturbances i.e., ocean current. ODDIT achieved high accuracy in detecting OOD states, with AUROC and TNR@TPR95 scores reaching 99\% across multiple vessels.
中文: ODDIT方法采用基于机器学习的数字孪生技术，可在自主船舶到达前主动预测其未来异常状态，并在模拟环境中实现了高精度检测。
English: The ODDIT approach uses a digital twin with machine learning models to proactively detect future out-of-distribution states in autonomous vessels, achieving high detection accuracy under simulated conditions.

Authors:Yifan Xie, Julian Berberich, Robin Strässer, Frank Allgöwer
Title: Bilinear Data-Driven Min-Max MPC: Designing Rational Controllers via Sum-of-squares Optimization
Abstract:
We propose a data-driven min-max model predictive control (MPC) scheme to control unknown discrete-time bilinear systems. Based on a sequence of noisy input-state data, we state a set-membership representation for the unknown system dynamics. Then, we derive a sum-of-squares (SOS) program that minimizes an upper bound on the worst-case cost over all bilinear systems consistent with the data. As a crucial technical ingredient, the SOS program involves a rational controller parameterization to improve feasibility and tractability. We prove that the resulting data-driven MPC scheme ensures closed-loop stability and constraint satisfaction for the unknown bilinear system. We demonstrate the practicality of the proposed scheme in a numerical example.
中文: 本文提出了一种数据驱动的极小极大模型预测控制方案，通过平方和规划与有理控制器参数化，确保未知双线性系统的闭环稳定性和约束满足。
English: This paper introduces a data-driven min-max model predictive control scheme that ensures stability and constraint satisfaction for unknown bilinear systems through sum-of-squares programming and rational controller parameterization.

Authors:Robin Strässer, Manuel Schaller, Julian Berberich, Karl Worthmann, Frank Allgöwer
Title: Kernel-based error bounds of bilinear Koopman surrogate models for nonlinear data-driven control
Abstract:
We derive novel deterministic bounds on the approximation error of data-based bilinear surrogate models for unknown nonlinear systems. The surrogate models are constructed using kernel-based extended dynamic mode decomposition to approximate the Koopman operator in a reproducing kernel Hilbert space. Unlike previous methods that require restrictive assumptions on the invariance of the dictionary, our approach leverages kernel-based dictionaries that allow us to control the projection error via pointwise error bounds, overcoming a significant limitation of existing theoretical guarantees. The derived state- and input-dependent error bounds allow for direct integration into Koopman-based robust controller designs with closed-loop guarantees for the unknown nonlinear system. Numerical examples illustrate the effectiveness of the proposed framework.
中文: 本研究提出了针对非线性系统数据驱动双线性代理模型的新型确定性误差界限，利用基于核的方法改进库普曼算子逼近，并支持具有闭环保证的鲁棒控制器设计。
English: This study introduces new deterministic error bounds for data-driven bilinear surrogate models of nonlinear systems, utilizing kernel-based methods to enhance Koopman operator approximations and enable robust controller designs with closed-loop guarantees.

Authors:Shiyu Cheng, Luyao Niu, Bhaskar Ramasubramanian, Andrew Clark, Radha Poovendran
Title: Swarm-STL: A Framework for Motion Planning in Large-Scale, Multi-Swarm Systems
Abstract:
In multi-agent systems, signal temporal logic (STL) is widely used for path planning to accomplish complex objectives with formal safety guarantees. However, as the number of agents increases, existing approaches encounter significant computational challenges. Recognizing that many complex tasks require cooperation among multiple agents, we propose swarm STL specifications to describe the collective tasks that need to be achieved by a team of agents. Next, we address the motion planning problem for all the agents in two stages. First, we abstract a group of cooperating agents as a swarm and construct a reduced-dimension state space whose dimension does not increase with the number of agents. The path planning is performed at the swarm level, ensuring the safety and swarm STL specifications are satisfied. Then, we design low-level control strategies for agents within each swarm based on the path synthesized in the first step. The trajectories of agents generated by the two-step policy ensure satisfaction of the STL specifications. We evaluate our two-stage approach in both single-swarm and multi-swarm scenarios. The results demonstrate that all tasks are completed with safety guarantees. Compared to the baseline multi-agent planning approach, our method maintains computational efficiency as the number of agents increases, since the computational time scales with the number of swarms rather than the number of agents.
Chinese: 本文提出了一种采用群体信号时序逻辑的两阶段运动规划方法，首先在群体层面进行路径规划以确保安全性和任务规范，然后设计个体代理控制策略，随着代理数量增加，计算效率得以保持。
English: This paper introduces a two-stage motion planning method using swarm signal temporal logic to efficiently manage multi-agent systems by first planning at the swarm level to ensure safety and task specifications, then designing individual agent controls, which maintains computational efficiency as the number of agents grows.

Authors:Mingxue Yan, Xuewen Zhang, Kaixiang Zhang, Zhaojian Li, Xunyuan Yin
Title: Economic data-enabled predictive control using machine learning
Abstract:
In this paper, we propose a convex data-based economic predictive control method within the framework of data-enabled predictive control (DeePC). Specifically, we use a neural network to transform the system output into a new state space, where the nonlinear economic cost function of the underlying nonlinear system is approximated using a quadratic function expressed by the transformed output in the new state space. Both the neural network parameters and the coefficients of the quadratic function are learned from open-loop data of the system. Additionally, we reconstruct constrained output variables from the transformed output through learning an output reconstruction matrix; this way, the proposed economic DeePC can handle output constraints explicitly. The performance of the proposed method is evaluated via a case study in a simulated chemical process.
中文: 本文提出了一种基于数据的凸经济预测控制方法，通过神经网络将系统输出转换到新状态空间，用二次函数近似非线性经济成本，并借助学习的重构矩阵处理输出约束。
English: This paper introduces a convex data-driven economic predictive control method that uses a neural network to transform system outputs into a new state space, approximating nonlinear economic costs with a quadratic function and handling output constraints through learned reconstruction.

Authors:Victoria Marie Tuck, Hardik Parwana, Pei-Wei Chen, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, S. Shankar Sastry, Sanjit A. Seshia
Title: MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments
Abstract:
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too restrictive for use in complex, dynamic environments such in warehouses, department stores, hospitals, etc. However, approaches that operate in free-space often operate at a layer of abstraction above the control and planning layers of a robot and make an assumption on approximate travel time between points of interest in the system. These abstractions can neglect the impact of the tight space and multi-agent interactions on the quality of the solution. Therefore, MRTA solutions should be tested with the navigation stacks of the robots in mind, taking into account robot planning, conflict avoidance between robots, and human interaction and avoidance. This tool connects the allocation output of MRTA solvers to individual robot planning using the NAV2 stack and local, centralized multi-robot deconfliction using Control Barrier Function-Quadrtic Programs (CBF-QPs), creating a platform closer to real-world operation for more comprehensive testing of these approaches. The simulation architecture is modular so that users can swap out methods at different levels of the stack. We show the use of our system with a Satisfiability Modulo Theories (SMT)-based approach to dynamic MRTA on a fleet of indoor delivery robots.
Chinese: 本文介绍了MRTA-Sim，一个基于Python/ROS2/Gazebo的仿真平台，通过将多机器人任务分配求解器与机器人导航系统相结合，在复杂室内环境中测试任务分配方案，同时考虑机器人路径规划和冲突避免等实际约束。
English: This paper presents MRTA-Sim, a Python/ROS2/Gazebo simulator that integrates MRTA solvers with robot navigation stacks to test multi-robot task allocation in complex indoor environments while accounting for real-world constraints like robot planning and conflict avoidance.

Authors:Amin Vahidi-Moghaddam, Kaian Chen, Kaixiang Zhang, Zhaojian Li, Yan Wang, Kai Wu
Title: Safe Data-Driven Predictive Control
Abstract:
In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, especially within real-time nonlinear systems. This study presents an innovative control framework to enhance the practical viability of the MPC. The developed safe data-driven predictive control aims to eliminate the requirement for precise models and alleviate computational burdens in the nonlinear MPC (NMPC). This is achieved by learning both the system dynamics and the control policy, enabling efficient data-driven predictive control while ensuring system safety. The methodology involves a spatial temporal filter (STF)-based concurrent learning for system identification, a robust control barrier function (RCBF) to ensure the system safety amid model uncertainties, and a RCBF-based NMPC policy approximation. An online policy correction mechanism is also introduced to counteract performance degradation caused by the existing model uncertainties. Demonstrated through simulations on two applications, the proposed approach offers comparable performance to existing benchmarks with significantly reduced computational costs.
中文摘要：本研究提出了一种安全的数据驱动预测控制框架，通过同时学习系统动力学和控制策略，结合鲁棒控制屏障函数和在线策略校正机制，在确保系统安全的同时消除了非线性模型预测控制对精确模型的依赖并显著降低了计算负担。
English Summary: This study introduces a safe data-driven predictive control framework that eliminates the need for precise models and reduces computational burdens in nonlinear MPC by learning system dynamics and control policies while ensuring safety through robust control barrier functions and online policy correction.

Authors:Amin Vahidi-Moghaddam, Keyi Zhu, Kaixiang Zhang, Ziyou Song, Zhaojian Li
Title: Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm
Abstract:
Data-enabled predictive control (DeePC) has recently emerged as a powerful data-driven approach for efficient system controls with constraints handling capabilities. It performs optimal controls by directly harnessing input-output (I/O) data, bypassing the process of explicit model identification that can be costly and time-consuming. However, its high computational complexity, driven by a large-scale optimization problem (typically in a higher dimension than its model-based counterpart--Model Predictive Control), hinders real-time applications. To overcome this limitation, we propose the data-enabled neighboring extremal (DeeNE) framework, which significantly reduces computational cost while preserving control performance. DeeNE leverages first-order optimality perturbation analysis to efficiently update a precomputed nominal DeePC solution in response to changes in initial conditions and reference trajectories. We validate its effectiveness on a 7-DoF KINOVA Gen3 robotic arm, demonstrating substantial computational savings and robust, data-driven control performance.
中文: 提出的数据驱动邻近极值（DeeNE）框架通过高效更新预计算解，克服了数据驱动预测控制的计算瓶颈，在保持鲁棒控制性能的同时显著降低计算成本，并在机械臂上验证了其有效性。
English: The proposed data-enabled neighboring extremal (DeeNE) framework overcomes the computational limitations of data-enabled predictive control by efficiently updating precomputed solutions, achieving significant computational savings while maintaining robust control performance as validated on a robotic arm.

Authors:Yiqi Zhao, Emily Zhu, Bardh Hoxha, Georgios Fainekos, Jyotirmoy V. Deshmukh, Lars Lindemann
Title: Distributionally Robust Predictive Runtime Verification under Spatio-Temporal Logic Specifications
Abstract:
Cyber-physical systems (CPS) designed in simulators, often consisting of multiple interacting agents (e.g. in multi-agent formations), behave differently in the real-world. We want to verify these systems during runtime when they are deployed. We thus propose robust predictive runtime verification (RPRV) algorithms for: (1) general stochastic CPS under signal temporal logic (STL) tasks, and (2) stochastic multi-agent systems (MAS) under spatio-temporal logic tasks. The RPRV problem presents the following challenges: (1) there may not be sufficient data on the behavior of the deployed CPS, (2) predictive models based on design phase system trajectories may encounter distribution shift during real-world deployment, and (3) the algorithms need to scale to the complexity of MAS and be applicable to spatio-temporal logic tasks. To address the challenges, we assume knowledge of an upper bound on the statistical distance between the trajectory distributions of the system at deployment and design time. We are motivated by our prior work [1, 2] where we proposed an accurate and an interpretable RPRV algorithm for general CPS, which we here extend to the MAS setting and spatio-temporal logic tasks. Specifically, we use a learned predictive model to estimate the system behavior at runtime and robust conformal prediction to obtain probabilistic guarantees by accounting for distribution shifts. Building on [1], we perform robust conformal prediction over the robust semantics of spatio-temporal reach and escape logic (STREL) to obtain centralized RPRV algorithms for MAS. We empirically validate our results in a drone swarm simulator, where we show the scalability of our RPRV algorithms to MAS and analyze the impact of different trajectory predictors on the verification result. To the best of our knowledge, these are the first statistically valid algorithms for MAS under distribution shift.
中文: 本文提出了鲁棒预测性运行时验证（RPRV）算法，通过预测模型和保形预测处理信息物理系统和多智能体系统在现实部署中的性能差异与分布偏移，提供概率性验证保证。
English: The paper introduces robust predictive runtime verification (RPRV) algorithms to address real-world performance discrepancies and distribution shifts in cyber-physical systems and multi-agent systems, using predictive modeling and conformal prediction for probabilistic guarantees.

Authors:Mohammad R. Hajidavalloo, Kaixiang Zhang, Vaibhav Srivastava, Zhaojian Li
Title: Model-free Vehicle Rollover Prevention: A Data-driven Predictive Control Approach
Abstract:
Vehicle rollovers pose a significant safety risk and account for a disproportionately high number of fatalities in road accidents. This paper addresses the challenge of rollover prevention using Data-EnablEd Predictive Control (DeePC), a data-driven control strategy that directly leverages raw input-output data to maintain vehicle stability without requiring explicit system modeling. To enhance computational efficiency, we employ a reduced-dimension DeePC that utilizes singular value decomposition-based dimension reduction to significantly lower computation complexity without compromising control performance. This optimization enables real-time application in scenarios with high-dimensional data, making the approach more practical for deployment in real-world vehicles. The proposed approach is validated through high-fidelity CarSim simulations in both sedan and utility truck scenarios, demonstrating its versatility and ability to maintain vehicle stability under challenging driving conditions. Comparative results with Linear Model Predictive Control (LMPC) highlight the superior performance of DeePC in preventing rollovers while preserving maneuverability. The findings suggest that DeePC offers a robust and adaptable solution for rollover prevention, capable of handling varying road and vehicle conditions.
中文: 本文提出了一种基于降维数据驱动预测控制的方法来预防车辆侧翻，通过仿真验证了该方法相比传统控制策略在实时性和稳定性维护方面具有更优性能。
English: This paper presents a data-driven control strategy using dimension-reduced Data-EnablEd Predictive Control (DeePC) to prevent vehicle rollovers, which demonstrates superior real-time performance and stability maintenance over traditional methods in simulations.

Authors:Yasheerah Yaqoot, Muhammad Ahsan Mustafa, Oleg Sautenkov, Artem Lykov, Valerii Serpiva, Dzmitry Tsetserukou
Title: UAV-VLRR: Vision-Language Informed NMPC for Rapid Response in UAV Search and Rescue
Abstract:
Emergency search and rescue (SAR) operations often require rapid and precise target identification in complex environments where traditional manual drone control is inefficient. In order to address these scenarios, a rapid SAR system, UAV-VLRR (Vision-Language-Rapid-Response), is developed in this research. This system consists of two aspects: 1) A multimodal system which harnesses the power of Visual Language Model (VLM) and the natural language processing capabilities of ChatGPT-4o (LLM) for scene interpretation. 2) A non-linearmodel predictive control (NMPC) with built-in obstacle avoidance for rapid response by a drone to fly according to the output of the multimodal system. This work aims at improving response times in emergency SAR operations by providing a more intuitive and natural approach to the operator to plan the SAR mission while allowing the drone to carry out that mission in a rapid and safe manner. When tested, our approach was faster on an average by 33.75% when compared with an off-the-shelf autopilot and 54.6% when compared with a human pilot. Video of UAV-VLRR: https://youtu.be/KJqQGKKt1xY
中文：UAV-VLRR系统融合了多模态视觉语言模型和非线性模型预测控制技术，使无人机能够执行快速避障的紧急搜救任务，响应时间比自动导航快33.75%，比人工操作快54.6%。
English: The UAV-VLRR system integrates a multimodal vision-language model and nonlinear model predictive control to enable drones to perform rapid, obstacle-avoiding emergency search and rescue, achieving response times 33.75% faster than autopilot and 54.6% faster than human pilots.

Authors:Huanqing Wang, Kaixiang Zhang, Amin Vahidi-Moghaddam, Haowei An, Nan Li, Daning Huang, Zhaojian Li
Title: Data-Enabled Predictive Control for Flexible Spacecraft
Abstract:
Spacecraft are vital to space exploration and are often equipped with lightweight, flexible appendages to meet strict weight constraints. These appendages pose significant challenges for modeling and control due to their inherent nonlinearity. Data-driven control methods have gained traction to address such challenges. This paper introduces, to the best of the authors' knowledge, the first application of the data-enabled predictive control (DeePC) framework to boundary control for flexible spacecraft. Leveraging the fundamental lemma, DeePC constructs a non-parametric model by utilizing recorded past trajectories, eliminating the need for explicit model development. The developed method also incorporates dimension reduction techniques to enhance computational efficiency. Through comprehensive numerical simulations, this study compares the proposed method with Lyapunov-based control, demonstrating superior performance and offering a thorough evaluation of data-driven control for flexible spacecraft.
Chinese: 本文首次将数据驱动的预测控制应用于柔性航天器边界控制，利用轨迹数据规避显式建模，并通过仿真验证了其优于李雅普诺夫控制方法的性能。
English: This paper presents the first application of data-enabled predictive control for flexible spacecraft boundary control, using trajectory data to bypass explicit modeling and demonstrating superior performance over Lyapunov-based control through simulations.

Authors:Yaodan Xu, Sheng Zhou, Zhisheng Niu
Title: SMDP-Based Dynamic Batching for Improving Responsiveness and Energy Efficiency of Batch Services
Abstract:
For servers incorporating parallel computing resources, batching is a pivotal technique for providing efficient and economical services at scale. Parallel computing resources exhibit heightened computational and energy efficiency when operating with larger batch sizes. However, in the realm of online services, the adoption of a larger batch size may lead to longer response times. This paper aims to provide a dynamic batching scheme that delicately balances latency and efficiency. The system is modeled as a batch service queue with size-dependent service times. Then, the design of dynamic batching is formulated as a semi-Markov decision process (SMDP) problem, with the objective of minimizing the weighted sum of average response time and average power consumption. A method is proposed to derive an approximate optimal SMDP solution, representing the chosen dynamic batching policy. By introducing an abstract cost to reflect the impact of "tail" states, the space complexity and the time complexity of the procedure can decrease by 63.5% and 98%, respectively. Numerical results showcase the superiority of SMDP-based batching policies across various parameter setups. Additionally, the proposed scheme exhibits noteworthy flexibility in balancing power consumption and latency.
中文摘要：本文提出了一种基于半马尔可夫决策过程的动态批处理方案，通过建立批量服务队列模型，在保证系统灵活性的同时有效平衡并行计算中的延迟与能效，显著降低了计算复杂度。
English Summary: This paper introduces a dynamic batching scheme using a semi-Markov decision process to optimize the trade-off between latency and efficiency in parallel computing systems, achieving significant complexity reductions while maintaining flexibility in balancing power consumption and response time.

Authors:Isabelle Krauss, Victor G. Lopez, Matthias A. Müller
Title: On sample-based functional observability of linear systems
Abstract:
Sample-based observability characterizes the ability to reconstruct the internal state of a dynamical system by using limited output information, i.e., when measurements are only infrequently and/or irregularly available. In this work, we investigate the concept of functional observability, which refers to the ability to infer a function of the system state from the outputs, within a samplebased framework. Here, we give necessary and sufficient conditions for a system to be sample-based functionally observable, and formulate conditions on the sampling schemes such that these are satisfied. Furthermore, we provide a numerical example, where we demonstrate the applicability of the obtained results.
中文: 本研究探讨了在有限输出采样下动态系统的函数可观测性，确立了推断状态函数的充要条件并规定了有效采样方案，同时通过数值示例验证了结果的适用性。
English: This work explores functional observability in dynamical systems with limited output sampling, establishing necessary and sufficient conditions for inferring state functions and specifying valid sampling schemes, supported by a numerical demonstration.

Authors:Dong Liu, Sander Timmerman, Yu Xiang, Peter Palensky, Pedro P. Vergara
Title: A Data-Driven Approach for Topology Correction in Low Voltage Networks with DERs
Abstract:
This paper introduces a data-driven topology identification and correction approach for low-voltage distribution networks (LVDNs) combined with a time-based smart meter data selection strategy, aiming to correct outdated recordings and identify the missed recordings. The proposed approach solely relies on voltage magnitude measurements, releasing privacy concerns and measurement burdens. It enables the distribution system operators to identify switch states through supervised learning algorithms, as well as determine user-feeder connections and phase labels of customers by a modified Hierarchical Clustering algorithm. To address the similarity among smart meter (SM) data caused by distributed photovoltaic (PV) systems, a time-based SM data selection strategy is combined with the proposed correlation analysis. The feasibility and robustness of the proposed approach are validated using modified real-world LVDNs and multiple incomplete SM datasets collected from customers in the Netherlands. The results demonstrate that the time-based SM data selection strategy effectively mitigates their impact on phase identification, and the corrected topology not only improves network observability but also supports network operators in load balancing and PV consumption.
中文摘要：本文提出一种基于智能电表电压数据和时序选择策略的低压配电网拓扑识别与校正方法，能够准确识别开关状态和用户相位连接，有效缓解光伏系统影响并提升电网可观测性。
English Summary: This paper presents a data-driven method using smart meter voltage data and time-based selection to correct low-voltage network topologies, enabling accurate switch state identification and customer-phase mapping while addressing photovoltaic system impacts.

Authors:Seth Siriya, Julian D. Schiller, Victor G. Lopez, Matthias A. Müller
Title: Sufficient Conditions for Detectability of Approximately Discretized Nonlinear Systems
Abstract:
In many sampled-data applications, observers are designed based on approximately discretized models of continuous-time systems, where usually only the discretized system is analyzed in terms of its detectability. In this paper, we show that if the continuous-time system satisfies certain linear matrix inequality (LMI) conditions, and the sampling period of the discretization scheme is sufficiently small, then the whole family of discretized systems (parameterized by the sampling period) satisfies analogous discrete-time LMI conditions that imply detectability. Our results are applicable to general discretization schemes, as long as they produce approximate models whose linearizations are in some sense consistent with the linearizations of the continuous-time ones. We explicitly show that the Euler and second-order Runge-Kutta methods satisfy this condition. A batch-reactor system example is provided to highlight the usefulness of our results from a practical perspective.
中文摘要：本文证明，只要连续时间系统满足特定线性矩阵不等式条件且采样周期足够小，其离散化模型就能保持可检测性，适用于包括欧拉法和龙格-库塔法在内的通用离散化方法，并通过反应器实例验证了实际应用价值。
English Summary: This paper demonstrates that if a continuous-time system meets specific linear matrix inequality conditions and uses sufficiently small sampling periods, its discretized models will maintain detectability across general discretization methods, with validation provided through Euler and Runge-Kutta methods and a practical reactor example.

Authors:Zeynab Kaseb, Matthias Moller, Peter Palensky, Pedro P. Vergara
Title: Quantum-Enhanced Power Flow and Optimal Power Flow based on Combinatorial Reformulation
Abstract:
This study introduces the Adiabatic Quantum Power Flow (AQPF) and Adiabatic Quantum Optimal Power Flow (AQOPF) algorithms to solve power flow (PF) and optimal power flow (OPF) problems, respectively. These algorithms utilize a novel combinatorial optimization reformulation of classical PF and OPF problems, and hence, enable their implementation on Ising machines, e.g., quantum and quantum-inspired hardware. The experiments are conducted on standard test cases ranging from 4-bus to 1354-bus systems, using D-Wave's Advantage system (QA), its hybrid quantum-classical solver (HA), as well as the third-generation Digital Annealer (DAv3) and Quantum-Inspired Integrated Optimization software (QIIO) developed by Fujitsu. The annealers are systematically evaluated based on: (i) full and partitioned formulations, (ii) ability to handle ill-conditioned cases, and (iii) scalability. The results are benchmarked against the Newton-Raphson numerical method (NR) and suggest that AQPF and AQOPF can serve as effective solvers or complementary tools to classical methods to address unsolved challenges in large-scale modern power systems.
中文: 本研究提出了绝热量子潮流（AQPF）和绝热量子最优潮流（AQOPF）算法，通过将经典潮流问题重构为组合优化形式实现在量子硬件上的运行，实验证明其可作为传统方法的有效求解器或补充工具应对现代大型电力系统的未解难题。
English: This study presents the Adiabatic Quantum Power Flow (AQPF) and Adiabatic Quantum Optimal Power Flow (AQOPF) algorithms, which reformulate classical power flow problems for implementation on quantum and quantum-inspired hardware, demonstrating their effectiveness as solvers or complementary tools to classical methods in large-scale power systems.

Authors:Zeynab Kaseb, Rahul Rane, Aleksandra Lekic, Matthias Moller, Amin Khodaei, Peter Palensky, Pedro P. Vergara
Title: Quantum Hardware-in-the-Loop for Optimal Power Flow in Renewable-Integrated Power Systems
Abstract:
This paper presents a proof-of-concept for integrating quantum hardware with real-time digital simulator (RTDS) to model and control modern power systems, including renewable energy resources. Power flow (PF) analysis and optimal power flow (OPF) studies are conducted using RTDS coupled with Fujitsu's CMOS Digital Annealer and D-Wave's Advantage quantum processors. The adiabatic quantum power flow (AQPF) and adiabatic quantum optimal power flow (AQOPF) algorithms are used to perform PF and OPF, respectively, on quantum and quantum-inspired hardware. The experiments are performed on the IEEE 9-bus test system and a modified version that includes solar and wind farms. The findings demonstrate that the AQPF and AQOPF algorithms can accurately perform PF and OPF, yielding results that closely match those of classical Newton-Raphson (NR) solvers while also exhibiting robust convergence. Furthermore, the integration of renewable energy sources (RES) within the AQOPF framework proves effective in maintaining system stability and performance, even under variable generation conditions. These findings highlight the potential of quantum computing to significantly enhance the modeling and control of future power grids, particularly in systems with high renewable energy penetration.
中文: 本文展示了将量子硬件与实时数字模拟器集成的概念验证，能够对含可再生能源的电力系统准确执行潮流和最优潮流分析，其结果与传统方法相当且能保持系统稳定性。
English: This paper demonstrates a proof-of-concept for integrating quantum hardware with real-time digital simulators to accurately perform power flow and optimal power flow analyses on power systems with renewable energy, showing results comparable to classical methods while maintaining system stability.

Authors:Yongqiang Zhang, Mustafa A. Kishk, Mohamed-Slim Alouini
Title: High Altitude Platform-Based Caching and Multicasting for Rural Connectivity
Abstract:
Providing efficient and reliable content delivery in rural areas remains a significant challenge due to the lack of communication infrastructure. To bridge the digital divide, this paper investigates the potential of leveraging multiple high-altitude platforms (HAPs) for energy-efficient content delivery in wide rural regions. Each caching-enabled HAP is equipped with both Free-Space Optical (FSO) transceivers for backhaul links and Radio Frequency (RF) antenna arrays for access links. To further enhance network efficiency, we consider a network coding-based multicasting scheme, where different types of content are treated as distinct multicast sessions. With the objective of minimizing long-term power cost, we propose a hierarchical framework that integrates deep reinforcement learn-ing (DRL) and convex optimization to jointly optimize dynamic caching strategies and resource allocation across the network. Simulation results demonstrate that our approach significantly reduces power cost compared to several baseline approaches, providing a practical solution for improving rural connectivity.
中文摘要：本文提出了一种结合深度强化学习与凸优化的分层框架，通过采用网络编码组播的多高空平台系统，显著降低了农村地区高效内容交付的长期能耗成本。
English Summary: This paper proposes a hierarchical framework combining deep reinforcement learning and convex optimization to minimize power costs for energy-efficient content delivery in rural areas using multiple high-altitude platforms with network coding-based multicasting.

Authors:Hongjin Du, Tuanku Badzlin Hashfi, Rashmi Prasad, Pedro P. Vergara, Peter Palensky, Aleksandra Lekić
Title: Optimal Droop Control Strategy for Coordinated Voltage Regulation and Power Sharing in Hybrid AC-MTDC Systems
Abstract:
With the growing integration of modular multilevel converters (MMCs) in Multi-Terminal Direct Current (MTDC) transmission systems, there is an increasing need for control strategies that ensure both economic efficiency and robust dynamic performance. This paper presents an enhanced Optimal Power Flow (OPF) framework for hybrid AC-MTDC systems, integrating a novel droop control strategy that coordinates DC voltage and AC frequency regulation. By embedding frequency control loops into the MMCs, the method enables system-wide coordination, enhancing power sharing and improving system resilience under disturbances. The proposed strategy dynamically adjusts converter operating points to minimize generation costs and DC voltage deviations, thus balancing economic objectives with system stability. A modified Nordic test system integrated with a four-terminal MTDC grid is used to validate the approach. Optimization is performed using Julia, while the system's dynamic performance is evaluated through electromagnetic transient simulations with the EMTP software. Case studies across multiple scenarios demonstrate that the proposed method consistently achieves lower generation costs than active power control and adaptive droop control strategy while maintaining stable control characteristics. The results highlight the method's capability to deliver cost-effective operation without compromising performance, offering a promising solution for the coordinated control of future hybrid AC-DC transmission networks.
中文: 本文提出了一种用于混合交流-多端直流系统的改进最优潮流框架，通过新型下垂控制策略实现系统范围的协调，在改进的北欧测试系统中验证了其降低发电成本并保持稳定控制性能的能力。
English: This paper introduces an enhanced Optimal Power Flow framework with a novel droop control strategy for hybrid AC-MTDC systems, achieving cost-effective operation and improved stability through system-wide coordination validated on a modified Nordic test system.

Authors:Zeynab Kaseb, Matthias Moller, Peter Palensky, Pedro P. Vergara
Title: Solving Power System Problems using Adiabatic Quantum Computing
Abstract:
This paper proposes a novel combinatorial optimization framework that reformulates existing power system problems into a format executable on quantum annealers. The proposed framework accommodates both normal and complex numbers and enables efficient handling of large-scale problems, thus ensuring broad applicability across power system problems. As a proof of concept, we demonstrate its applicability in two classical problems: (i) power system parameter identification, where we estimate the admittance matrix given voltage and current measurements, and (ii) power flow analysis, where we reformulate the nonlinear equations governing active and reactive power balance. The results show that the proposed framework effectively and efficiently solves both linear and nonlinear power system problems, and thus offers significant advantages in scenarios where traditional solvers face challenges, such as ill-conditioned systems and fault conditions.
中文摘要：本文提出了一种新颖的组合优化框架，将电力系统问题重构为可在量子退火器上执行的格式，有效解决了参数辨识和潮流分析等线性和非线性问题。
English Summary: This paper introduces a novel combinatorial optimization framework that reformulates power system problems for quantum annealers, demonstrating effective solutions for both linear and nonlinear issues like parameter identification and power flow analysis.

Authors:Gianluca Giacomelli, Simone Formentin, Victor G. Lopez, Matthias A. Müller, Valentina Breschi
Title: Insights into the explainability of Lasso-based DeePC for nonlinear systems
Abstract:
Data-enabled Predictive Control (DeePC) has recently gained the spotlight as an easy-to-use control technique that allows for constraint handling while relying on raw data only. Initially proposed for linear time-invariant systems, several DeePC extensions are now available to cope with nonlinear systems. Nonetheless, these solutions mainly focus on ensuring the controller's effectiveness, overlooking the explainability of the final result. As a step toward explaining the outcome of DeePC for the control of nonlinear systems, in this paper, we focus on analyzing the earliest and simplest DeePC approach proposed to cope with nonlinearities in the controlled system, using a Lasso regularization. Our theoretical analysis highlights that the decisions undertaken by DeePC with Lasso regularization are unexplainable, as control actions are determined by data incoherent with the system's local behavior. This result is true even when the available input/output samples are grouped according to the different operating conditions explored during data collection. Our numerical study confirms these findings, highlighting the benefits of data grouping in terms of performance while showing that explainability remains a challenge in control design via DeePC.
中文: 数据驱动预测控制（DeePC）是一种易于使用的非线性系统控制技术，但采用Lasso正则化时，由于数据与系统局部行为不一致，其决策不可解释，即使数据分组也无济于事。
English: Data-enabled Predictive Control (DeePC) is an easy-to-use control technique for nonlinear systems, but its decisions with Lasso regularization are unexplainable due to data incoherence with local system behavior, even with grouped data.

Authors:Yujie Qin, Mustafa A. Kishk, Mohamed-Slim Alouini
Title: Velocity-Aware Statistical Analysis of Peak AoI for Ground and Aerial Users
Abstract:
In this paper, we present a framework to analyze the impact of user velocity on the distribution of the peak age-of-information (PAoI) for both ground and aerial users by using the dominant interferer-based approximation. We first approximate the SINR meta distribution for the uplink transmission using the distances between the serving base station (BS) and each of the user of interest and the dominant interfering user, which is the interferer that provides the strongest average received power at the tagged BS. We then analyze the spatio-temporal correlation coefficient of the conditional success probability by studying the correlation between the aforementioned two distances. Finally, we choose PAoI as a performance metric to showcase how spatio-temporal correlation or user velocity affect system performance. Our results reveal that ground users exhibit higher spatio-temporal correlations compared to aerial users, resulting in a more pronounced impact of velocity on system performance, such as joint probability of the conditional success probability and distribution of PAoI. Furthermore, our work demonstrates that the dominant interferer-based approximation for the SINR meta distribution delivers good matching performance in complex scenarios, such as Nakagami-m fading model, and it can also be effectively utilized in computing spatio-temporal correlation, as this approximation is derived from the distances to the serving BS and the dominant interferer.
中文: 本文通过主导干扰源近似框架分析用户速度对峰值信息时效分布的影响，结果表明地面用户比空中用户具有更强的时空相关性，其系统性能受速度影响更为显著。
English: This paper introduces a framework using dominant interferer-based approximation to analyze how user velocity affects the peak age-of-information distribution, revealing that ground users experience stronger spatio-temporal correlations and greater velocity impact than aerial users.

Authors:Dong Liu, Juan S. Giraldo, Peter Palensky, Pedro P. Vergara
Title: Model-Free Privacy Preserving Power Flow Analysis in Distribution Networks
Abstract:
Model-free power flow calculation, driven by the rise of smart meter (SM) data and the lack of network topology, often relies on artificial intelligence neural networks (ANNs). However, training ANNs require vast amounts of SM data, posing privacy risks for households in distribution networks. To ensure customers' privacy during the SM data gathering and online sharing, we introduce a privacy preserving PF calculation framework, composed of two local strategies: a local randomisation strategy (LRS) and a local zero-knowledge proof (ZKP)-based data collection strategy. First, the LRS is used to achieve irreversible transformation and robust privacy protection for active and reactive power data, thereby ensuring that personal data remains confidential. Subsequently, the ZKP-based data collecting strategy is adopted to securely gather the training dataset for the ANN, enabling SMs to interact with the distribution system operator without revealing the actual voltage magnitude. Moreover, to mitigate the accuracy loss induced by the seasonal variations in load profiles, an incremental learning strategy is incorporated into the online application. The results across three datasets with varying measurement errors demonstrate that the proposed framework efficiently collects one month of SM data within one hour. Furthermore, it robustly maintains mean errors of 0.005 p.u. and 0.014 p.u. under multiple measurement errors and seasonal variations in load profiles, respectively.
中文: 本文提出了一种隐私保护的电力潮流计算框架，采用本地随机化和零知识证明策略，在保护用户隐私的前提下安全采集智能电表数据训练神经网络，并通过增量学习保持计算精度，实现了高效数据采集和稳定的误差控制。
English: This paper introduces a privacy-preserving power flow calculation framework that uses local randomization and zero-knowledge proof strategies to securely collect smart meter data for training neural networks while maintaining accuracy through incremental learning, achieving efficient data collection and robust error control.

Authors:Hao Lin, Mustafa A. Kishk, Mohamed-Slim Alouini
Title: Performance Analysis of Infrastructure Sharing Techniques in Cellular Networks: A Percolation Theory Approach
Abstract:
In the context of 5G, infrastructure sharing has been identified as a potential solution to reduce the investment costs of cellular networks. In particular, it can help low-income regions build 5G networks more affordably and further bridge the digital divide. There are two main kinds of infrastructure sharing: passive sharing (i.e. site sharing) and active sharing (i.e. access sharing), which require mobile network operators (MNOs) to share their non-electronic elements or electronic elements, respectively. Because co-construction and sharing can achieve broader coverage with lower investment, through percolation theory, we investigate how different sharing strategies can deliver large-scale continuous services. First, we examine the percolation characteristics in signal-to-interference-plus-noise ratio (SINR) coverage graphs and the necessary conditions for percolation. Second, we propose an 'average coverage radius' to approximate the SINR graph with a low base station (BS) density based on the Gilbert disk model. Finally, we estimate the critical conditions of BS densities of MNOs for different sharing strategies and compare the percolation probabilities under different infrastructure sharing strategies.
中文摘要：5G基础设施共享通过被动和主动共享策略降低网络投资成本并缩小数字鸿沟，利用渗流理论分析不同共享模式下基站密度的临界条件，以实现大规模连续服务覆盖。
English Summary: Infrastructure sharing in 5G networks reduces investment costs and bridges the digital divide by enabling broader coverage through passive and active sharing strategies, with percolation theory used to analyze critical base station densities for continuous service delivery.

Authors:Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
Title: Adaptive Grasping of Moving Objects in Dense Clutter via Global-to-Local Detection and Static-to-Dynamic Planning
Abstract:
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties, where commonly used learning-based approaches struggle to perform consistently across varying conditions. In this study, we integrate the idea of similarity matching to tackle the challenge of grasping novel objects that are simultaneously in motion and densely cluttered using a single RGBD camera, where multiple uncertainties coexist. We achieve this by shifting visual detection from global to local states and operating grasp planning from static to dynamic scenes. Notably, we introduce optimization methods to enhance planning efficiency for this time-sensitive task. Our proposed system can adapt to various object types, arrangements and movement speeds without the need for extensive training, as demonstrated by real-world experiments. Videos are available at https://youtu.be/sdC50dx-xp8?si=27oVr4dhG0rqN_tT.
中文: 本研究采用相似性匹配方法，通过单目RGBD相机提升了机器人在动态密集环境中抓取新物体的能力，无需大量训练即可适应不同物体类型和运动速度。
English: This study introduces a similarity matching approach to enhance robotic grasping of moving and cluttered novel objects using a single RGBD camera, improving adaptability across various conditions without extensive training.

Authors:Stavros Orfanoudakis, Peter Palensky, Pedro P. Vergara
Title: Optimizing Electric Vehicles Charging using Large Language Models and Graph Neural Networks
Abstract:
Maintaining grid stability amid widespread electric vehicle (EV) adoption is vital for sustainable transportation. Traditional optimization methods and Reinforcement Learning (RL) approaches often struggle with the high dimensionality and dynamic nature of real-time EV charging, leading to sub-optimal solutions. To address these challenges, this study demonstrates that combining Large Language Models (LLMs), for sequence modeling, with Graph Neural Networks (GNNs), for relational information extraction, not only outperforms conventional EV smart charging methods, but also paves the way for entirely new research directions and innovative solutions.
中文: 本研究证明，将大语言模型与图神经网络相结合，不仅优于传统的电动汽车智能充电方法，还为应对电动汽车普及带来的电网稳定性挑战开辟了全新研究方向。
English: This study shows that integrating Large Language Models with Graph Neural Networks surpasses traditional EV smart charging methods and opens new research avenues for grid stability amid widespread electric vehicle adoption.

Authors:Stavros Orfanoudakis, Nanda Kishor Panda, Peter Palensky, Pedro P. Vergara
Title: GNN-DT: Graph Neural Network Enhanced Decision Transformer for Efficient Optimization in Dynamic Environments
Abstract:
Reinforcement Learning (RL) methods used for solving real-world optimization problems often involve dynamic state-action spaces, larger scale, and sparse rewards, leading to significant challenges in convergence, scalability, and efficient exploration of the solution space. This study introduces GNN-DT, a novel Decision Transformer (DT) architecture that integrates Graph Neural Network (GNN) embedders with a novel residual connection between input and output tokens crucial for handling dynamic environments. By learning from previously collected trajectories, GNN-DT tackles the sparse rewards limitations of online RL algorithms and delivers high-quality solutions in real-time. We evaluate GNN-DT on the complex electric vehicle (EV) charging optimization problem and prove that its performance is superior and requires significantly fewer training trajectories, thus improving sample efficiency compared to existing DT and offline RL baselines. Furthermore, GNN-DT exhibits robust generalization to unseen environments and larger action spaces, addressing a critical gap in prior offline and online RL approaches.
中文: GNN-DT是一种新型决策变换器，结合图神经网络和残差连接，有效应对动态环境、稀疏奖励和大规模优化问题，在电动汽车充电场景中展现出卓越性能、样本效率和强大泛化能力。
English: GNN-DT is a novel Decision Transformer that integrates Graph Neural Networks and a residual connection to effectively handle dynamic environments, sparse rewards, and large-scale optimization, demonstrating superior performance and sample efficiency in EV charging scenarios with robust generalization.

Authors:Le Xia, Yao Sun, Haijian Sun, Rose Qingyang Hu, Dusit Niyato, Muhammad Ali Imran
Title: Joint Power and Spectrum Orchestration for D2D Semantic Communication Underlying Energy-Efficient Cellular Networks
Abstract:
Semantic communication (SemCom) has been recently deemed a promising next-generation wireless technique to enable efficient spectrum savings and information exchanges, thus naturally introducing a novel and practical network paradigm where cellular and device-to-device (D2D) SemCom approaches coexist. Nevertheless, the involved wireless resource management becomes complicated and challenging due to the unique semantic performance measurements and energy-consuming semantic coding mechanism. To this end, this paper jointly investigates power control and spectrum reuse problems for energy-efficient D2D SemCom cellular networks. Concretely, we first model the user preference-aware semantic triplet transmission and leverage a novel metric of semantic value to identify the semantic information importance conveyed in SemCom. Then, we define the additional power consumption from semantic encoding in conjunction with basic power amplifier dissipation to derive the overall system energy efficiency (semantic-value/Joule). Next, we formulate an energy efficiency maximization problem for joint power and spectrum allocation subject to several SemCom-related and practical constraints. Afterward, we propose an optimal resource management solution by employing the fractional-to-subtractive problem transformation and decomposition while developing a three-stage method with theoretical analysis of its optimality guarantee and computational complexity. Numerical results demonstrate the adequate performance superiority of our proposed solution compared with different benchmarks.
中文: 语义通信通过融合蜂窝与设备间通信提升无线效率，但需创新资源管理以优化能耗与性能，本文通过联合功率与频谱分配方案解决了这一问题。
English: Semantic communication enhances wireless efficiency by integrating cellular and device-to-device approaches, but requires innovative resource management to optimize energy use and performance, addressed here through a joint power and spectrum allocation solution.

Authors:Ezzat Elokda, Andrea Censi, Emilio Frazzoli, Florian Dörfler, Saverio Bolognani
Title: A Vision for Trustworthy, Fair, and Efficient Socio-Technical Control using Karma Economies
Abstract:
Control systems will play a pivotal role in addressing societal-scale challenges as they drive the development of sustainable future smart cities. At the heart of these challenges is the trustworthy, fair, and efficient allocation of scarce public resources, including renewable energy, transportation, data, computation, etc.. Historical evidence suggests that monetary control -- the prototypical mechanism for managing resource scarcity -- is not always well-accepted in socio-technical resource contexts. In this vision article, we advocate for karma economies as an emerging non-monetary mechanism for socio-technical control. Karma leverages the repetitive nature of many socio-technical resources to jointly attain trustworthy, fair, and efficient allocations; by budgeting resource consumption over time and letting resource users ``play against their future selves.'' To motivate karma, we review related concepts in economics through a control systems lens, and make a case for a) shifting the viewpoint of resource allocations from single-shot and static to repeated and dynamic games; and b) adopting long-run Nash welfare as the formalization of ``fairness and efficiency'' in socio-technical contexts. We show that in many dynamic resource settings, karma Nash equilibria maximize long-run Nash welfare. Moreover, we discuss implications for a future smart city built on multi-karma economies: by choosing whether to combine different socio-technical resources, e.g., electricity and transportation, in a single karma economy, or separate into resource-specific economies, karma provides new flexibility to design the scope of fairness and efficiency.

Authors:Sophie Hall, Florian Dörfler, Heinrich H. Nax, Saverio Bolognani
Title: The Limits of "Fairness" of the Variational Generalized Nash Equilibrium
Abstract:
Generalized Nash equilibrum (GNE) problems are commonly used to model strategic interactions between self-interested agents who are coupled in cost and constraints. Specifically, the variational GNE, a refinement of the GNE, is often selected as the solution concept due to it's non-discriminatory treatment of agents by charging a uniform ``shadow price" for shared resources. We study the fairness concept of v-GNEs from a comparability perspective and show that it makes an implicit assumption of unit comparability of agent's cost functions, one of the strongest comparability notions. Further, we introduce a new solution concept, f-GNE in which a fairness metric is chosen a priori which is compatible with the comparability at hand. We introduce an electric vehicle charging game to demonstrate the fragility of v-GNE fairness and compare it to the f-GNE under various fairness metrics.
Chinese: 本研究分析了变分广义纳什均衡（v-GNE）的公平性，揭示了其对智能体成本函数单位可比性的隐含假设，并提出新的解决方案f-GNE，通过预先设定公平度量来弥补这一缺陷，并以电动汽车充电博弈为例进行了验证。
English: The study examines the fairness of variational generalized Nash equilibrium (v-GNE), revealing its implicit assumption of unit comparability in agents' cost functions, and introduces a new solution concept, f-GNE, which incorporates a pre-selected fairness metric to address this limitation, as demonstrated through an electric vehicle charging game.

Authors:Winnie Chan, Zhiyu He, Keith Moffat, Saverio Bolognani, Michael Muehlebach, Florian Dörfler
Title: Robust Feedback Optimization with Model Uncertainty: A Regularization Approach
Abstract:
Feedback optimization optimizes the steady state of a dynamical system by implementing optimization iterations in closed loop with the plant. It relies on online measurements and limited model information, namely, the input-output sensitivity. In practice, various issues including inaccurate modeling, lack of observation, or changing conditions can lead to sensitivity mismatches, causing closed-loop sub-optimality or even instability. To handle such uncertainties, we pursue robust feedback optimization, where we optimize the closed-loop performance against all possible sensitivities lying in specific uncertainty sets. We provide tractable reformulations for the corresponding min-max problems via regularizations and characterize the online closed-loop performance through the tracking error in case of time-varying optimal solutions. Simulations on a distribution grid illustrate the effectiveness of our robust feedback optimization controller in addressing sensitivity mismatches in a non-stationary environment.

Authors:Zongyuan Zhang, Tianyang Duan, Zheng Lin, Dong Huang, Zihan Fang, Zekai Sun, Ling Xiong, Hongbin Liang, Heming Cui, Yong Cui
Title: State-Aware Perturbation Optimization for Robust Deep Reinforcement Learning
Abstract:
Recently, deep reinforcement learning (DRL) has emerged as a promising approach for robotic control. However, the deployment of DRL in real-world robots is hindered by its sensitivity to environmental perturbations. While existing whitebox adversarial attacks rely on local gradient information and apply uniform perturbations across all states to evaluate DRL robustness, they fail to account for temporal dynamics and state-specific vulnerabilities. To combat the above challenge, we first conduct a theoretical analysis of white-box attacks in DRL by establishing the adversarial victim-dynamics Markov decision process (AVD-MDP), to derive the necessary and sufficient conditions for a successful attack. Based on this, we propose a selective state-aware reinforcement adversarial attack method, named STAR, to optimize perturbation stealthiness and state visitation dispersion. STAR first employs a soft mask-based state-targeting mechanism to minimize redundant perturbations, enhancing stealthiness and attack effectiveness. Then, it incorporates an information-theoretic optimization objective to maximize mutual information between perturbations, environmental states, and victim actions, ensuring a dispersed state-visitation distribution that steers the victim agent into vulnerable states for maximum return reduction. Extensive experiments demonstrate that STAR outperforms state-of-the-art benchmarks.
中文: 深度强化学习在现实机器人部署中因环境敏感性受阻，为此提出了STAR方法，这是一种选择性状态感知攻击技术，通过优化扰动隐蔽性和状态访问分散性，有效降低智能体性能。
English: Deep reinforcement learning faces challenges in real-world robotic deployment due to environmental sensitivity, prompting the development of STAR, a selective state-aware attack method that optimizes perturbation stealthiness and state visitation dispersion to effectively reduce agent performance.

Authors:Zhiyu He, Saverio Bolognani, Florian Dörfler, Michael Muehlebach
Title: Decision-Dependent Stochastic Optimization: The Role of Distribution Dynamics
Abstract:
Distribution shifts have long been regarded as troublesome external forces that a decision-maker should either counteract or conform to. An intriguing feedback phenomenon termed decision dependence arises when the deployed decision affects the environment and alters the data-generating distribution. In the realm of performative prediction, this is encoded by distribution maps parameterized by decisions due to strategic behaviors. In contrast, we formalize an endogenous distribution shift as a feedback process featuring nonlinear dynamics that couple the evolving distribution with the decision. Stochastic optimization in this dynamic regime provides a fertile ground to examine the various roles played by dynamics in the composite problem structure. To this end, we develop an online algorithm that achieves optimal decision-making by both adapting to and shaping the dynamic distribution. Throughout the paper, we adopt a distributional perspective and demonstrate how this view facilitates characterizations of distribution dynamics and the optimality and generalization performance of the proposed algorithm. We showcase the theoretical results in an opinion dynamics context, where an opportunistic party maximizes the affinity of a dynamic polarized population, and in a recommender system scenario, featuring performance optimization with discrete distributions in the probability simplex.
中文摘要：本文将内生分布偏移定义为决策与数据分布之间的动态反馈过程，提出一种在线算法，既能适应又能塑造这些不断演变的分布，从而实现最优决策。
English Summary: The paper introduces endogenous distribution shifts as a dynamic feedback process between decisions and data distributions, proposing an online algorithm that optimally adapts to and shapes these evolving distributions.

Authors:Pieter van Goor, Robert Mahony, Manuel Schaller, Karl Worthmann
Title: Maximum-likelihood reprojections for reliable Koopman-based predictions and bifurcation analysis of parametric dynamical systems
Abstract:
Koopman-based methods leverage a nonlinear lifting to enable linear regression techniques. Consequently, data generation, learning and prediction is performed through the lens of this lifting, giving rise to a nonlinear manifold that is invariant under the Koopman operator. In data-driven approximation such as Extended Dynamic Mode Decomposition, this invariance is typically lost due to the presence of (finite-data) approximation errors. In this work, we show that reprojections are crucial for reliable predictions. We provide an approach via closest-point projections that ensure consistency with this nonlinear manifold, which is strongly related to a Riemannian metric and maximum likelihood estimates. While these results are already novel for autonomous systems, we present our approach for parametric systems, providing the basis for data-driven bifurcation analysis and control applications.
中文: 库普曼方法通过非线性提升实现线性回归，本研究提出最近点投影法确保与不变流形的一致性，从而提供可靠预测，并将该方法推广至参数化系统，为数据驱动的分岔分析和控制应用奠定基础。
English: Koopman-based methods use nonlinear lifting for linear regression, and this study introduces closest-point projections to maintain consistency with the invariant manifold, enabling reliable predictions and extending the approach to parametric systems for data-driven analysis and control.

Authors:Kushagra Gupta, Ross Allen, David Fridovich-Keil, Ufuk Topcu
Title: More Information is Not Always Better: Connections between Zero-Sum Local Nash Equilibria in Feedback and Open-Loop Information Patterns
Abstract:
Non-cooperative dynamic game theory provides a principled approach to modeling sequential decision-making among multiple noncommunicative agents. A key focus has been on finding Nash equilibria in two-agent zero-sum dynamic games under various information structures. A well-known result states that in linear-quadratic games, unique Nash equilibria under feedback and open-loop information structures yield identical trajectories. Motivated by two key perspectives -- (i) many real-world problems extend beyond linear-quadratic settings and lack unique equilibria, making only local Nash equilibria computable, and (ii) local open-loop Nash equilibria (OLNE) are easier to compute than local feedback Nash equilibria (FBNE) -- it is natural to ask whether a similar result holds for local equilibria in zero-sum games. To this end, we establish that for a broad class of zero-sum games with potentially nonconvex-nonconcave objectives and nonlinear dynamics: (i) the state/control trajectory of a local FBNE satisfies local OLNE first-order optimality conditions, and vice versa, (ii) a local FBNE trajectory satisfies local OLNE second-order necessary conditions, (iii) a local FBNE trajectory satisfying feedback sufficiency conditions also constitutes a local OLNE, and (iv) with additional hard constraints on agents' actuations, a local FBNE where strict complementarity holds also satisfies local OLNE first-order optimality conditions, and vice versa.
中文摘要：本文将线性二次博弈中反馈与开环纳什均衡的等价性推广至具有非线性动态的更广泛零和博弈，确立了二者轨迹与最优性条件相互对应的多种情形。
English Summary: This paper extends the equivalence between feedback and open-loop Nash equilibria from linear-quadratic games to broader zero-sum games with nonlinear dynamics, establishing conditions under which their trajectories and optimality conditions align.

Authors:Yunian Pan, Tao Li, Quanyan Zhu
Title: Model-Agnostic Meta-Policy Optimization via Zeroth-Order Estimation: A Linear Quadratic Regulator Perspective
Abstract:
Meta-learning has been proposed as a promising machine learning topic in recent years, with important applications to image classification, robotics, computer games, and control systems. In this paper, we study the problem of using meta-learning to deal with uncertainty and heterogeneity in ergodic linear quadratic regulators. We integrate the zeroth-order optimization technique with a typical meta-learning method, proposing an algorithm that omits the estimation of policy Hessian, which applies to tasks of learning a set of heterogeneous but similar linear dynamic systems. The induced meta-objective function inherits important properties of the original cost function when the set of linear dynamic systems are meta-learnable, allowing the algorithm to optimize over a learnable landscape without projection onto the feasible set. We provide stability and convergence guarantees for the exact gradient descent process by analyzing the boundedness and local smoothness of the gradient for the meta-objective, which justify the proposed algorithm with gradient estimation error being small. We provide the sample complexity conditions for these theoretical guarantees, as well as a numerical example at the end to corroborate this perspective.
中文: 本文提出一种结合零阶优化的元学习算法，用于处理遍历线性二次调节器中的不确定性，在无需策略海森矩阵估计的情况下提供了稳定性与收敛性的理论保证。
English: This paper introduces a meta-learning algorithm combining zeroth-order optimization to handle uncertainty in ergodic linear quadratic regulators, providing theoretical guarantees for stability and convergence without policy Hessian estimation.

Authors:Benedikt Oppeneiger, Manuel Schaller, Karl Worthmann
Title: Spatial decay of perturbations in hyperbolic equations with optimal boundary control
Abstract:
Recently, domain-uniform stabilizability and detectability has been the central assumption %in order robustness results on the to ensure robustness in the sense of exponential decay of spatially localized perturbations in optimally controlled evolution equations. In the present paper we analyze a chain of transport equations with boundary and point controls with regard to this property. Both for Dirichlet and Neumann boundary and coupling conditions, we show a necessary and sufficient criterion on control domains which allow for the domain-uniform stabilization of this equation. We illustrate the results by means of a numerical example.
中文摘要：本文分析了具有边界和点控制的传输方程的领域一致可稳性，在不同边界条件下建立了控制域的必要和充分判据，并通过数值算例进行了验证。
English Summary: This paper analyzes domain-uniform stabilizability for transport equations with boundary and point controls, establishing necessary and sufficient criteria for control domains under various boundary conditions, supported by numerical examples.

Authors:Simone Göttlich, Benedikt Oppeneiger, Manuel Schaller, Karl Worthmann
Title: Spatial exponential decay of perturbations in optimal control of general evolution equations
Abstract:
We analyze the robustness of optimally controlled evolution equations with respect to spatially localized perturbations. We prove that if the involved operators are domain-uniformly stabilizable and detectable, then these localized perturbations only have a local effect on the optimal solution. We characterize this domain-uniform stabilizability and detectability for the transport equation with constant transport velocity, showing that even for unitary semigroups, optimality implies exponential damping. We extend this result to the case of a space-dependent transport velocity. Finally we leverage the results for the transport equation to characterize domain-uniform stabilizability of the wave equation. Numerical examples in one space dimension complement the theoretical results.
中文摘要：本研究证明，当算子满足区域一致可镇定和可检测条件时，空间局部扰动对最优控制演化方程仅产生局部影响，并通过一维数值算例验证了理论结果。
English Summary: This study demonstrates that optimally controlled evolution equations remain robust under spatially localized perturbations, showing such disturbances only have local effects when operators are domain-uniformly stabilizable and detectable, with numerical examples supporting the theoretical findings.

Authors:Lukas Brand, Fardad Vakilipoor, Sören Botsch, Timo Jakumeit, Sebastian Lotter, Robert Schober, Maximilian Schäfer
Title: Closed-Loop Molecular Communication with Local and Global Degradation: Modeling and ISI Analysis
Abstract:
This paper presents a novel physics-based model for signal propagation in closed-loop molecular communication (MC) systems, which are particularly relevant for many envisioned biomedical applications, such as health monitoring or drug delivery within the closed-loop human cardiovascular system (CVS). Compared to open-loop systems, which are mostly considered in MC, closed-loop systems exhibit different characteristic effects influencing signaling molecule (SM) propagation. One key phenomenon are the periodic SM arrivals at the receiver (RX), leading to various types of inter-symbol interference (ISI) inherent to closed-loop system. To capture these characteristic effects, we propose an analytical model for the SM propagation inside closed-loop systems. The model accounts for arbitrary spatio-temporal SM release patterns at the transmitter (TX), and incorporates several environmental effects such as fluid flow, SM diffusion, and SM degradation. Moreover, to capture a wide range of practically relevant degradation and clearance mechanisms, the model includes both local removal (e.g., due to SM absorption into organs) and global removal (e.g., due to chemical degradation) of SMs. The accuracy of the proposed model is validated with three-dimensional (3-D) particle-based simulations (PBSs). Moreover, we utilize the proposed model to develop a rigorous characterization of the various types of ISI encountered in closed-loop MC systems.
中文摘要：本文提出了一种基于物理学的闭环分子通信系统信号传播分析模型，通过三维仿真验证了其准确性，并对系统固有的符号间干扰进行了严格表征。
English Summary: This paper introduces a physics-based analytical model for signal propagation in closed-loop molecular communication systems, incorporating fluid flow, diffusion, and degradation effects, and validates its accuracy through 3-D simulations while characterizing inter-symbol interference.

Authors:Faizan M. Tariq, Zheng-Hang Yeh, Avinash Singh, David Isele, Sangjae Bae
Title: Frenet Corridor Planner: An Optimal Local Path Planning Framework for Autonomous Driving
Abstract:
Motivated by the requirements for effectiveness and efficiency, path-speed decomposition-based trajectory planning methods have widely been adopted for autonomous driving applications. While a global route can be pre-computed offline, real-time generation of adaptive local paths remains crucial. Therefore, we present the Frenet Corridor Planner (FCP), an optimization-based local path planning strategy for autonomous driving that ensures smooth and safe navigation around obstacles. Modeling the vehicles as safety-augmented bounding boxes and pedestrians as convex hulls in the Frenet space, our approach defines a drivable corridor by determining the appropriate deviation side for static obstacles. Thereafter, a modified space-domain bicycle kinematics model enables path optimization for smoothness, boundary clearance, and dynamic obstacle risk minimization. The optimized path is then passed to a speed planner to generate the final trajectory. We validate FCP through extensive simulations and real-world hardware experiments, demonstrating its efficiency and effectiveness.
中文: Frenet走廊规划器（FCP）是一种基于优化的局部路径规划方法，通过定义可行驶走廊避开障碍物并优化路径平滑性与安全性，已在仿真和实际测试中验证其高效性和有效性。
English: The Frenet Corridor Planner (FCP) is an optimization-based local path planning method for autonomous driving that ensures smooth and safe navigation by defining drivable corridors around obstacles and optimizing paths for smoothness and safety, with validation through simulations and real-world tests.

Authors:Farhad Nawaz, Minjun Sung, Darshan Gadginmath, Jovin D'sa, Sangjae Bae, David Isele, Nadia Figueroa, Nikolai Matni, Faizan M. Tariq
Title: Graph-based Path Planning with Dynamic Obstacle Avoidance for Autonomous Parking
Abstract:
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient planning strategy that seamlessly integrates the predictions of dynamic obstacles into the planning process, ensuring the generation of collision-free paths. Our approach builds upon the conventional Hybrid A star algorithm by introducing a time-indexed variant that explicitly accounts for the predictions of dynamic obstacles during node exploration in the graph, thus enabling dynamic obstacle avoidance. We integrate the time-indexed Hybrid A star algorithm within an online planning framework to compute local paths at each planning step, guided by an adaptively chosen intermediate goal. The proposed method is validated in diverse parking scenarios, including perpendicular, angled, and parallel parking. Through simulations, we showcase our approach's potential in greatly improving the efficiency and safety when compared to the state of the art spline-based planning method for parking situations.
Chinese: 本研究提出了一种时间索引的混合A*算法，将动态障碍物预测融入路径规划过程，在多种停车场景中相比现有方法显著提升了安全性和效率。
English: This study introduces a time-indexed Hybrid A* algorithm that integrates dynamic obstacle predictions into path planning, significantly enhancing safety and efficiency in various parking scenarios compared to existing methods.

Authors:Fardad Vakilipoor, Andreas Ettner-Sitter, Lucas Brand, Sebastian Lotter, Thiha Aung, Silke Harteis, Robert Schober, Maximilian Schäfer
Title: The CAM Model: An in vivo Testbed for Molecular Communication Systems
Abstract:
Molecular communication (MC) research increasingly focuses on biomedical applications like health monitoring and drug delivery, demanding testing in realistic living environments. Elevating MC research requires developing advanced in vivo testbeds. We introduce the chorioallantoic membrane (CAM) model as the first versatile 3D in vivo MC platform. The CAM, a highly vascularized membrane in fertilized chicken eggs, is established in bioengineering, cancer research, and drug development. Its biological realism, reproducibility, and versatility make it ideal for next-generation MC testbeds, bridging proof-of-concept systems and practical applications. We comprehensively characterize the CAM model's properties and MC system relevance. Through experimental studies, we investigate fluorescent molecule distribution in the CAM's closed-loop vascular system. We derive an analytical model using the wrapped normal distribution to describe particle propagation in dispersive closed-loop systems dominated by diffusion and flow. Parametric models are developed to approximate particle dynamics in the CAM, with parameters estimated via nonlinear least squares curve fitting. A dataset of 69 regions from 25 eggs validates our models. We analyze parameter relationships and biological plausibility. Finally, we develop a parametric model for long-term particle behavior and liver accumulation in chick embryos.
中文摘要：本研究首次提出绒毛尿囊膜（CAM）模型作为分子通信研究的通用三维体内实验平台，通过建立参数化模型分析粒子在闭环血管系统中的传播特性，并经过大量实验数据验证了其生物可行性。
English Summary: The chorioallantoic membrane (CAM) model is introduced as a pioneering 3D in vivo platform for molecular communication research, enabling experimental studies of particle propagation in biological systems through analytical modeling and empirical validation.

Authors:Riccardo Zuliani, Efe C. Balta, Alisa Rupenyan, John Lygeros
Title: Iterative Learning Predictive Control for Constrained Uncertain Systems
Abstract:
Iterative learning control (ILC) improves the performance of a repetitive system by learning from previous trials. ILC can be combined with Model Predictive Control (MPC) to mitigate non-repetitive disturbances, thus improving overall system performance. However, existing approaches either assume perfect model knowledge or fail to actively learn system uncertainties, leading to conservativeness. To address these limitations we propose a binary mixed-integer ILC scheme, combined with a convex MPC scheme, that ensures robust constraint satisfaction, non-increasing nominal cost, and convergence to optimal performance. Our scheme is designed for uncertain nonlinear systems subject to both bounded additive stochastic noise and additive uncertain components. We showcase the benefits of our scheme in simulation.
中文: 提出的二进制混合整数迭代学习控制与凸模型预测控制相结合，确保了对带有干扰的不确定非线性系统的鲁棒约束满足和最优性能收敛。
English: The proposed binary mixed-integer iterative learning control combined with convex model predictive control ensures robust constraint satisfaction and convergence to optimal performance for uncertain nonlinear systems with disturbances.

Authors:Yangyang Xie, Cheng Hu, Nicolas Baumann, Edoardo Ghignone, Michele Magno, Lei Xie
Title: GP-enhanced Autonomous Drifting Framework using ADMM-based iLQR
Abstract:
Autonomous drifting is a complex challenge due to the highly nonlinear dynamics and the need for precise real-time control, especially in uncertain environments. To address these limitations, this paper presents a hierarchical control framework for autonomous vehicles drifting along general paths, primarily focusing on addressing model inaccuracies and mitigating computational challenges in real-time control. The framework integrates Gaussian Process (GP) regression with an Alternating Direction Method of Multipliers (ADMM)-based iterative Linear Quadratic Regulator (iLQR). GP regression effectively compensates for model residuals, improving accuracy in dynamic conditions. ADMM-based iLQR not only combines the rapid trajectory optimization of iLQR but also utilizes ADMM's strength in decomposing the problem into simpler sub-problems. Simulation results demonstrate the effectiveness of the proposed framework, with significant improvements in both drift trajectory tracking and computational efficiency. Our approach resulted in a 38$\%$ reduction in RMSE lateral error and achieved an average computation time that is 75$\%$ lower than that of the Interior Point OPTimizer (IPOPT).
中文摘要：本文提出一种结合高斯过程回归与ADMM-iLQR的分层控制框架，用于提升自动驾驶车辆的漂移性能，实现了38%的横向误差降低和75%的计算速度提升。
English Summary: This paper introduces a hierarchical control framework combining Gaussian Process regression and ADMM-based iLQR to enhance autonomous vehicle drifting, achieving 38% lower lateral error and 75% faster computation than traditional methods.

Authors:David Isele, Alexandre Miranda Anon, Faizan M. Tariq, Goro Yeh, Avinash Singh, Sangjae Bae
Title: Delayed-Decision Motion Planning in the Presence of Multiple Predictions
Abstract:
Reliable automated driving technology is challenged by various sources of uncertainties, in particular, behavioral uncertainties of traffic agents. It is common for traffic agents to have intentions that are unknown to others, leaving an automated driving car to reason over multiple possible behaviors. This paper formalizes a behavior planning scheme in the presence of multiple possible futures with corresponding probabilities. We present a maximum entropy formulation and show how, under certain assumptions, this allows delayed decision-making to improve safety. The general formulation is then turned into a model predictive control formulation, which is solved as a quadratic program or a set of quadratic programs. We discuss implementation details for improving computation and verify operation in simulation and on a mobile robot.
中文: 本文提出了一种针对自动驾驶车辆的行为规划方案，通过采用最大熵方法和模型预测控制来处理交通参与者意图的不确定性，从而通过延迟决策来提高安全性。
English: This paper introduces a behavior planning scheme for automated vehicles that addresses uncertainties in traffic agent intentions by employing a maximum entropy approach and model predictive control to enhance safety through delayed decision-making.

Authors:Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Sung-Kyun Kim, Muhammad Fadhil Ginting, Xianmei Lei, Jeffrey Edlund, Seyed Fakoorian, Amanda Bouman, Fernando Chavez, Taeyeon Kim, Gustavo J. Correa, Maira Saboia, Angel Santamaria-Navarro, Brett Lopez, Boseong Kim, Chanyoung Jung, Mamoru Sobue, Oriana Claudia Peltzer, Joshua Ott, Robert Trybula, Thomas Touma, Marcel Kaufmann, Tiago Stegun Vaquero, Torkom Pailevanian, Matteo Palieri, Yun Chang, Andrzej Reinke, Matthew Anderson, Frederik E. T. Schöller, Patrick Spieler, Lillian M. Clark, Avak Archanian, Kenny Chen, Hovhannes Melikyan, Anushri Dixit, Harrison Delecki, Daniel Pastor, Barry Ridge, Nicolas Marchal, Jose Uribe, Sharmita Dey, Kamak Ebadi, Kyle Coble, Alexander Nikitas Dimopoulos, Vivek Thangavelu, Vivek S. Varadharajan, Nicholas Palomo, Antoni Rosinol, Arghya Chatterjee, Christoforos Kanellakis, Bjorn Lindqvist, Micah Corah, Kyle Strickland, Ryan Stonebraker, Michael Milano, Christopher E. Denniston, Sami Sahnoune, Thomas Claudet, Seungwook Lee, Gautam Salhotra, Edward Terry, Rithvik Musuku, Robin Schmid, Tony Tran, Ara Kourchians, Justin Schachter, Hector Azpurua, Levi Resende, Arash Kalantari, Jeremy Nash, Josh Lee, Christopher Patterson, Jennifer G. Blank, Kartik Patath, Yuki Kubo, Ryan Alimo, Yasin Almalioglu, Aaron Curtis, Jacqueline Sly, Tesla Wells, Nhut T. Ho, Mykel Kochenderfer, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick
Title: An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Abstract:
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents extensions to NeBula's hardware, software, and algorithmic components that focus on increasing the range and scale of the exploration environment. From the algorithmic perspective, we discuss the following extensions to the original NeBula framework: (i) large-scale geometric and semantic environment mapping; (ii) an adaptive positioning system; (iii) probabilistic traversability analysis and local planning; (iv) large-scale POMDP-based global motion planning and exploration behavior; (v) large-scale networking and decentralized reasoning; (vi) communication-aware mission planning; and (vii) multi-modal ground-aerial exploration solutions. We demonstrate the application and deployment of the presented systems and solutions in various large-scale underground environments, including limestone mine exploration scenarios as well as deployment in the DARPA Subterranean challenge.
本文扩展了NeBula自主系统框架，通过硬件、软件和算法增强提升了大规模地下环境的探索能力，并在DARPA地下挑战赛中进行了验证。
This paper extends the NeBula autonomy framework with hardware, software, and algorithmic enhancements to improve exploration capabilities in large-scale underground environments, as demonstrated in the DARPA Subterranean Challenge.

Authors:Xuehui Dong, Kai Wan, Shuangyang Li, Robert Caiming Qiu, Giuseppe Caire
Title: Frequency-Space Channel Estimation and Spatial Equalization in Wideband Fluid Antenna System
Abstract:
The Fluid Antenna System (FAS) overcomes the spatial degree-of-freedom limitations of conventional static antenna arrays in wireless communications.This capability critically depends on acquiring full Channel State Information across all accessible ports. Existing studies focus exclusively on narrowband FAS, performing channel estimation solely in the spatial domain. This work proposes a channel estimation and spatial equalization framework for wideband FAS, revealing for the first time an inherent group-sparse structure in aperture-limited FAS channels. First, we establish a group-sparse recovery framework for space-frequency characteristics in FAS, formally characterizing leakage-induced sparsity degradation from limited aperture and bandwidth as a structured group-sparsity problem. By deriving dictionary-adapted group restricted isometry property, we prove tight recovery bounds for a convex $\ell_1/\ell_2$-mixed norm optimization formulation that preserves leakage-aware sparsity patterns. Second, we develop a descending correlation group orthogonal matching pursuit algorithm that systematically relaxes leakage constraints to reduce subcoherence. This approach enables FSC recovery with accelerated convergence and superior performance compared to conventional compressive sensing methods like OMP or GOMP. Third, we formulate spatial equalization as a mixed-integer linear programming problem, complement this with a greedy algorithm maintaining near-optimal performance. Simulation results demonstrate the proposed channel estimation algorithm effectively resolves energy misallocation and enables recovery of weak details, achieving superior recovery accuracy and convergence rate. The SE framework suppresses deep fading phenomena and largely reduces time consumption overhead while maintaining equivalent link reliability.
中文摘要：本文针对宽带流体天线系统提出了一种信道估计与空间均衡框架，利用固有的群稀疏结构实现卓越的恢复精度和加速收敛，同时有效抑制深度衰落现象。
English Summary: This paper introduces a channel estimation and spatial equalization framework for wideband fluid antenna systems, leveraging inherent group-sparse structures to achieve superior recovery accuracy and accelerated convergence while effectively suppressing deep fading.

Authors:Minjie Tang, Photios A. Stavrou, Marios Kountouris
Title: CSI-Free Low-Complexity Remote State Estimation over Wireless MIMO Fading Channels using Semantic Analog Aggregation
Abstract:
In this work, we investigate low-complexity remote system state estimation over wireless multiple-input-multiple-output (MIMO) channels without requiring prior knowledge of channel state information (CSI). We start by reviewing the conventional Kalman filtering-based state estimation algorithm, which typically relies on perfect CSI and incurs considerable computational complexity. To overcome the need for CSI, we introduce a novel semantic aggregation method, in which sensors transmit semantic measurement discrepancies to the remote state estimator through analog aggregation. To further reduce computational complexity, we introduce a constant-gain-based filtering algorithm that can be optimized offline using the constrained stochastic successive convex approximation (CSSCA) method. We derive a closed-form sufficient condition for the estimation stability of our proposed scheme via Lyapunov drift analysis. Numerical results showcase significant performance gains using the proposed scheme compared to several widely used methods.

Authors:Matteo Esposito, Alexander Bakhtin, Noman Ahmad, Mikel Robredo, Ruoyu Su, Valentina Lenarduzzi, Davide Taibi
Title: Autonomic Microservice Management via Agentic AI and MAPE-K Integration
Abstract:
While microservices are revolutionizing cloud computing by offering unparalleled scalability and independent deployment, their decentralized nature poses significant security and management challenges that can threaten system stability. We propose a framework based on MAPE-K, which leverages agentic AI, for autonomous anomaly detection and remediation to address the daunting task of highly distributed system management. Our framework offers practical, industry-ready solutions for maintaining robust and secure microservices. Practitioners and researchers can customize the framework to enhance system stability, reduce downtime, and monitor broader system quality attributes such as system performance level, resilience, security, and anomaly management, among others.
中文: 该基于MAPE-K的框架利用智能代理AI自主检测和修复微服务异常，提供可定制方案以增强系统稳定性、安全性及性能。
English: The proposed MAPE-K-based framework utilizes agentic AI to autonomously detect and remediate anomalies in microservices, offering customizable solutions for enhancing system stability, security, and performance.

Authors:Chunlin Tian, Xinpeng Qin, Kahou Tam, Li Li, Zijian Wang, Yuanzhe Zhao, Minglei Zhang, Chengzhong Xu
Title: CLONE: Customizing LLMs for Efficient Latency-Aware Inference at the Edge
Abstract:
Deploying large language models (LLMs) on edge devices is crucial for delivering fast responses and ensuring data privacy. However, the limited storage, weight, and power of edge devices make it difficult to deploy LLM-powered applications. These devices must balance latency requirements with energy consumption and model accuracy. In this paper, we first quantify the challenges of deploying LLMs on off-the-shelf edge devices and then we present CLONE, an in-depth algorithm-hardware co-design at both the model- and system-level that intelligently integrates real-time, energy optimization while maintaining robust generality. In order to maximize the synergistic benefits of these algorithms in always-on and intermediate edge computing settings, we specialize in a 28nm scalable hardware accelerator system. We implement and extensively evaluate CLONE on two off-the-shelf edge platforms. Experiments show that CLONE effectively accelerates the inference process up to 11.92x, and saves energy up to 7.36x, while maintaining high-generation.
Chinese: 本文提出了CLONE，一种算法与硬件协同设计方案，通过在边缘设备上优化大型语言模型的部署，实现推理速度最高提升11.92倍、能耗最多降低7.36倍，同时保持高性能。
English: This paper introduces CLONE, an algorithm-hardware co-design that optimizes the deployment of large language models on edge devices by accelerating inference up to 11.92 times and reducing energy consumption by up to 7.36 times while maintaining performance.

Authors:Simón Martínez-Rozas, David Alejo, José Javier Carpio, Fernando Caballero, Luis Merino
Title: Long Duration Inspection of GNSS-Denied Environments with a Tethered UAV-UGV Marsupial System
Abstract:
Unmanned Aerial Vehicles (UAVs) have become essential tools in inspection and emergency response operations due to their high maneuverability and ability to access hard-to-reach areas. However, their limited battery life significantly restricts their use in long-duration missions. This paper presents a novel tethered marsupial robotic system composed of a UAV and an Unmanned Ground Vehicle (UGV), specifically designed for autonomous, long-duration inspection tasks in Global Navigation Satellite System (GNSS)-denied environments. The system extends the UAV's operational time by supplying power through a tether connected to high-capacity battery packs carried by the UGV. We detail the hardware architecture based on off-the-shelf components to ensure replicability and describe our full-stack software framework, which is composed of open-source components and built upon the Robot Operating System (ROS). The proposed software architecture enables precise localization using a Direct LiDAR Localization (DLL) method and ensures safe path planning and coordinated trajectory tracking for the integrated UGV-tether-UAV system. We validate the system through three field experiments: (1) a manual flight endurance test to estimate the operational duration, (2) an autonomous navigation test, and (3) an inspection mission to demonstrate autonomous inspection capabilities. Experimental results confirm the robustness and autonomy of the system, its capacity to operate in GNSS-denied environments, and its potential for long-endurance, autonomous inspection and monitoring tasks.

Authors:Yimian Ding, Jingzehua Xu, Guanwen Xie, Shuai Zhang, Yi Li
Title: Make Your AUV Adaptive: An Environment-Aware Reinforcement Learning Framework For Underwater Tasks
Abstract:
This study presents a novel environment-aware reinforcement learning (RL) framework designed to augment the operational capabilities of autonomous underwater vehicles (AUVs) in underwater environments. Departing from traditional RL architectures, the proposed framework integrates an environment-aware network module that dynamically captures flow field data, effectively embedding this critical environmental information into the state space. This integration facilitates real-time environmental adaptation, significantly enhancing the AUV's situational awareness and decision-making capabilities. Furthermore, the framework incorporates AUV structure characteristics into the optimization process, employing a large language model (LLM)-based iterative refinement mechanism that leverages both environmental conditions and training outcomes to optimize task performance. Comprehensive experimental evaluations demonstrate the framework's superior performance, robustness and adaptability.

Authors:Nicholas H. Barbara, Ruigang Wang, Alexandre Megretski, Ian R. Manchester
Title: React to Surprises: Stable-by-Design Neural Feedback Control and the Youla-REN
Abstract:
We study parameterizations of stabilizing nonlinear policies for learning-based control. We propose a structure based on a nonlinear version of the Youla-Kucera parameterization combined with robust neural networks such as the recurrent equilibrium network (REN). The resulting parameterizations are unconstrained, and hence can be searched over with first-order optimization methods, while always ensuring closed-loop stability by construction. We study the combination of (a) nonlinear dynamics, (b) partial observation, and (c) incremental closed-loop stability requirements (contraction and Lipschitzness). We find that with any two of these three difficulties, a contracting and Lipschitz Youla parameter always leads to contracting and Lipschitz closed loops. However, if all three hold, then incremental stability can be lost with exogenous disturbances. Instead, a weaker condition is maintained, which we call d-tube contraction and Lipschitzness. We further obtain converse results showing that the proposed parameterization covers all contracting and Lipschitz closed loops for certain classes of nonlinear systems. Numerical experiments illustrate the utility of our parameterization when learning controllers with built-in stability certificates for: (i) "economic" rewards without stabilizing effects; (ii) short training horizons; and (iii) uncertain systems.

Authors:Xiao Li, Tianhao Wei, Changliu Liu, Anouck Girard, Ilya Kolmanovsky
Title: Control Invariant Sets for Neural Network Dynamical Systems and Recursive Feasibility in Model Predictive Control
Abstract:
Neural networks are powerful tools for data-driven modeling of complex dynamical systems, enhancing predictive capability for control applications. However, their inherent nonlinearity and black-box nature challenge control designs that prioritize rigorous safety and recursive feasibility guarantees. This paper presents algorithmic methods for synthesizing control invariant sets specifically tailored to neural network based dynamical models. These algorithms employ set recursion, ensuring termination after a finite number of iterations and generating subsets in which closed-loop dynamics are forward invariant, thus guaranteeing perpetual operational safety. Additionally, we propose model predictive control designs that integrate these control invariant sets into mixed-integer optimization, with guaranteed adherence to safety constraints and recursive feasibility at the computational level. We also present a comprehensive theoretical analysis examining the properties and guarantees of the proposed methods. Numerical simulations in an autonomous driving scenario demonstrate the methods' effectiveness in synthesizing control-invariant sets offline and implementing model predictive control online, ensuring safety and recursive feasibility.
中文: 本文提出了针对神经网络动态模型的控制不变集合成算法，通过模型预测控制和理论保证，确保系统安全性和递归可行性。
English: This paper introduces algorithmic methods for synthesizing control invariant sets tailored to neural network-based dynamical models, ensuring safety and recursive feasibility through model predictive control and theoretical guarantees.

Authors:Tong Zhang, Boyuan Zheng, Ruiqian Nai, Yingdong Hu, Yen-Jen Wang, Geng Chen, Fanqi Lin, Jiongye Li, Chuye Hong, Koushil Sreenath, Yang Gao
Title: HuB: Learning Extreme Humanoid Balance
Abstract:
The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control has leveraged reinforcement learning to track human motions for skill acquisition, applying this paradigm to balance-intensive tasks remains challenging. In this work, we identify three key obstacles: instability from reference motion errors, learning difficulties due to morphological mismatch, and the sim-to-real gap caused by sensor noise and unmodeled dynamics. To address these challenges, we propose HuB (Humanoid Balance), a unified framework that integrates reference motion refinement, balance-aware policy learning, and sim-to-real robustness training, with each component targeting a specific challenge. We validate our approach on the Unitree G1 humanoid robot across challenging quasi-static balance tasks, including extreme single-legged poses such as Swallow Balance and Bruce Lee's Kick. Our policy remains stable even under strong physical disturbances-such as a forceful soccer strike-while baseline methods consistently fail to complete these tasks. Project website: https://hub-robot.github.io

Authors:Yurui Zhang, Ruigang Wang, Ian R. Manchester
Title: Robustly Invertible Nonlinear Dynamics and the BiLipREN: Contracting Neural Models with Contracting Inverses
Abstract:
We study the invertibility of nonlinear dynamical systems from the perspective of contraction and incremental stability analysis and propose a new invertible recurrent neural model: the BiLipREN. In particular, we consider a nonlinear state space model to be robustly invertible if an inverse exists with a state space realisation, and both the forward model and its inverse are contracting, i.e. incrementally exponentially stable, and Lipschitz, i.e. have bounded incremental gain. This property of bi-Lipschitzness implies both robustness in the sense of sensitivity to input perturbations, as well as robust distinguishability of different inputs from their corresponding outputs, i.e. the inverse model robustly reconstructs the input sequence despite small perturbations to the initial conditions and measured output. Building on this foundation, we propose a parameterization of neural dynamic models: bi-Lipschitz recurrent equilibrium networks (biLipREN), which are robustly invertible by construction. Moreover, biLipRENs can be composed with orthogonal linear systems to construct more general bi-Lipschitz dynamic models, e.g., a nonlinear analogue of minimum-phase/all-pass (inner/outer) factorization. We illustrate the utility of our proposed approach with numerical examples.

Authors:Kanghong Shi, Ruigang Wang, Ian R. Manchester
Title: Negative Imaginary Neural ODEs: Learning to Control Mechanical Systems with Stability Guarantees
Abstract:
We propose a neural control method to provide guaranteed stabilization for mechanical systems using a novel negative imaginary neural ordinary differential equation (NINODE) controller. Specifically, we employ neural networks with desired properties as state-space function matrices within a Hamiltonian framework to ensure the system possesses the NI property. This NINODE system can serve as a controller that asymptotically stabilizes an NI plant under certain conditions. For mechanical plants with colocated force actuators and position sensors, we demonstrate that all the conditions required for stability can be translated into regularity constraints on the neural networks used in the controller. We illustrate the utility, effectiveness, and stability guarantees of the NINODE controller through an example involving a nonlinear mass-spring system.

Authors:Nicholas H. Barbara, Ruigang Wang, Ian R. Manchester
Title: R2DN: Scalable Parameterization of Contracting and Lipschitz Recurrent Deep Networks
Abstract:
This paper presents the Robust Recurrent Deep Network (R2DN), a scalable parameterization of robust recurrent neural networks for machine learning and data-driven control. We construct R2DNs as a feedback interconnection of a linear time-invariant system and a 1-Lipschitz deep feedforward network, and directly parameterize the weights so that our models are stable (contracting) and robust to small input perturbations (Lipschitz) by design. Our parameterization uses a structure similar to the previously-proposed recurrent equilibrium networks (RENs), but without the requirement to iteratively solve an equilibrium layer at each time-step. This speeds up model evaluation and backpropagation on GPUs, and makes it computationally feasible to scale up the network size, batch size, and input sequence length in comparison to RENs. We compare R2DNs to RENs on three representative problems in nonlinear system identification, observer design, and learning-based feedback control and find that training and inference are both up to an order of magnitude faster with similar test set performance, and that training/inference times scale more favorably with respect to model expressivity.

Authors:Oluwaseyi Giwa, Muhammad Ahmed Mohsin, Muhammad Ali Jamshed
Title: Quantum Fisher-Preconditioned Reinforcement Learning: From Single-Qubit Control to Rayleigh-Fading Link Adaptation
Abstract:
In this letter, we propose Quantum-Preconditioned Policy Gradient (QPPG), a natural gradient-based algorithm for link adaptation that whitens policy updates using the full inverse quantum Fisher information with Tikhonov regularization. QPPG bridges classical and quantum geometry, achieving stable learning even under noise. Evaluated on classical and quantum environments, including noisy single-qubit Gym tasks and Rayleigh-fading channels, QPPG converges 4 times faster than REINFORCE and sustains a 1 dB gain under uncertainty. It reaches a 90 percent return in one hundred episodes with high noise robustness, showcasing the advantages of full QFI-based preconditioning for scalable quantum reinforcement learning.

Authors:Noriaki Hirose, Lydia Ignatova, Kyle Stachowicz, Catherine Glossop, Sergey Levine, Dhruv Shah
Title: Learning to Drive Anywhere with Model-Based Reannotation
Abstract:
Developing broadly generalizable visual navigation policies for robots is a significant challenge, primarily constrained by the availability of large-scale, diverse training data. While curated datasets collected by researchers offer high quality, their limited size restricts policy generalization. To overcome this, we explore leveraging abundant, passively collected data sources, including large volumes of crowd-sourced teleoperation data and unlabeled YouTube videos, despite their potential for lower quality or missing action labels. We propose Model-Based ReAnnotation (MBRA), a framework that utilizes a learned short-horizon, model-based expert model to relabel or generate high-quality actions for these passive datasets. This relabeled data is then distilled into LogoNav, a long-horizon navigation policy conditioned on visual goals or GPS waypoints. We demonstrate that LogoNav, trained using MBRA-processed data, achieves state-of-the-art performance, enabling robust navigation over distances exceeding 300 meters in previously unseen indoor and outdoor environments. Our extensive real-world evaluations, conducted across a fleet of robots (including quadrupeds) in six cities on three continents, validate the policy's ability to generalize and navigate effectively even amidst pedestrians in crowded settings.
中文：MBRA框架通过重新标注被动数据训练LogoNav导航策略，实现了在六大洲六个城市的真实环境中超过300米的先进泛化能力，即使在拥挤场景下也能有效导航。
English: The Model-Based ReAnnotation (MBRA) framework enhances robot navigation by relabeling passive data sources to train LogoNav, a policy achieving state-of-the-art generalization over 300 meters in diverse, unseen environments across global real-world tests.

Authors:David Meister, Robin Strässer, Felix Brändle, Marc Seidel, Benno Bassler, Nathan Gerber, Jan Kautz, Elena Rommel, Frank Allgöwer
Title: Path-following model predictive control for autonomous e-scooters
Abstract:
In order to mitigate economical, ecological, and societal challenges in electric scooter (e-scooter) sharing systems, we develop an autonomous e-scooter prototype. Our vision is to design a fully autonomous prototype that can find its way to the next parking spot, high-demand area, or charging station. In this work, we propose a path-following model predictive control solution to enable localization and navigation in an urban environment with a provided path to follow. We design a closed-loop architecture that solves the localization and path following problem while allowing the e-scooter to maintain its balance with a previously developed reaction wheel mechanism. Our model predictive control approach facilitates state and input constraints, e.g., adhering to the path width, while remaining executable on a Raspberry Pi 5. We demonstrate the efficacy of our approach in a real-world experiment on our prototype.

Authors:Sahan Liyanaarachchi, Sennur Ulukus, Nail Akar
Title: Structured Estimators: A New Perspective on Information Freshness
Abstract:
In recent literature, when modeling for information freshness in remote estimation settings, estimators have been mainly restricted to the class of martingale estimators, meaning the remote estimate at any time is equal to the most recently received update. This is mainly due to its simplicity and ease of analysis. However, these martingale estimators are far from optimal in some cases, especially in pull-based update systems. For such systems, maximum aposteriori probability (MAP) estimators are optimum, but can be challenging to analyze. Here, we introduce a new class of estimators, called structured estimators, which retain useful characteristics from a MAP estimate while still being analytically tractable. Our proposed estimators move seamlessly from a martingale estimator to a MAP estimator.
中文: 该摘要提出结构化估计器作为一类新型估计方法，它融合了简单但次优的鞅估计器和最优但复杂的MAP估计器的优点，在拉动式更新系统中兼具分析易处理性和适应性。
English: The abstract introduces structured estimators as a novel class that bridges the gap between simple but suboptimal martingale estimators and optimal yet complex MAP estimators, offering analytical tractability and adaptability in pull-based systems.

Authors:Robin Arbaud, Elisa Motta, Marco Domenico Avaro, Stefano Picinich, Marta Lorenzini, Arash Ajoudani
Title: Learning and Online Replication of Grasp Forces from Electromyography Signals for Prosthetic Finger Control
Abstract:
Partial hand amputations significantly affect the physical and psychosocial well-being of individuals, yet intuitive control of externally powered prostheses remains an open challenge. To address this gap, we developed a force-controlled prosthetic finger activated by electromyography (EMG) signals. The prototype, constructed around a wrist brace, functions as a supernumerary finger placed near the index, allowing for early-stage evaluation on unimpaired subjects. A neural network-based model was then implemented to estimate fingertip forces from EMG inputs, allowing for online adjustment of the prosthetic finger grip strength. The force estimation model was validated through experiments with ten participants, demonstrating its effectiveness in predicting forces. Additionally, online trials with four users wearing the prosthesis exhibited precise control over the device. Our findings highlight the potential of using EMG-based force estimation to enhance the functionality of prosthetic fingers.

Authors:Qinghao Li, Zhen Tian, Xiaodan Wang, Jinming Yang, Zhihao Lin
Title: Efficient and Safe Planner for Automated Driving on Ramps Considering Unsatisfication
Abstract:
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an unsatisfactory level metric for efficiency and arrow-cluster-based sampling for safety. The planner identifies optimal times for the AV to change lanes, taking into account the vehicle's velocity as a key factor in efficiency. Additionally, the integrated planner employs arrow-cluster-based sampling to evaluate collision risks and select an optimal lane-changing curve. Extensive simulations were conducted in a ramp scenario to verify the planner's efficient and safe performance. The results demonstrate that the proposed planner can effectively select an appropriate lane-changing time point and a safe lane-changing curve for AVs, without incurring any collisions during the maneuver.

Authors:Yaoze Liu, Zhen Tian, Jinming Yang, Zhihao Lin
Title: Data-Driven Evolutionary Game-Based Model Predictive Control for Hybrid Renewable Energy Dispatch in Autonomous Ships
Abstract:
In this paper, we propose a data-driven Evolutionary Game-Based Model Predictive Control (EG-MPC) framework for the energy dispatch of a hybrid renewable energy system powering an autonomous ship. The system integrates solar photovoltaic and wind turbine generation with battery energy storage and diesel backup power to ensure reliable operation. Given the uncertainties in renewable generation and dynamic energy demands, an optimal dispatch strategy is crucial to minimize operational costs while maintaining system reliability. To address these challenges, we formulate a cost minimization problem that considers both battery degradation costs and diesel fuel expenses, leveraging real-world data to enhance modeling accuracy. The EG-MPC approach integrates evolutionary game dynamics within a receding-horizon optimization framework, enabling adaptive and near-optimal control solutions in real time. Simulation results based on site-specific data demonstrate that the proposed method achieves cost-effective, reliable, and adaptive energy dispatch, outperforming conventional rule-based and standard MPC approaches, particularly under uncertainty.

Authors:Qinghao Li, Zhen Tian, Xiaodan Wang, Jinming Yang, Zhihao Lin
Title: Adaptive Field Effect Planner for Safe Interactive Autonomous Driving on Curved Roads
Abstract:
Autonomous driving has garnered significant attention for its potential to improve safety, traffic efficiency, and user convenience. However, the dynamic and complex nature of interactive driving poses significant challenges, including the need to navigate non-linear road geometries, handle dynamic obstacles, and meet stringent safety and comfort requirements. Traditional approaches, such as artificial potential fields (APF), often fall short in addressing these complexities independently, necessitating the development of integrated and adaptive frameworks. This paper presents a novel approach to autonomous vehicle navigation that integrates artificial potential fields, Frenet coordinates, and improved particle swarm optimization (IPSO). A dynamic risk field, adapted from traditional APF, is proposed to ensure interactive safety by quantifying risks and dynamically adjusting lane-changing intentions based on surrounding vehicle behavior. Frenet coordinates are utilized to simplify trajectory planning on non-straight roads, while an enhanced quintic polynomial trajectory generator ensures smooth and comfortable path transitions. Additionally, an IPSO algorithm optimizes trajectory selection in real time, balancing safety and user comfort within a feasible input range. The proposed framework is validated through extensive simulations and real-world scenarios, demonstrating its ability to navigate complex traffic environments, maintain safety margins, and generate smooth, dynamically feasible trajectories.

Authors:Kangwei Xu, Bing Li, Grace Li Zhang, Ulf Schlichtmann
Title: HLSTester: Efficient Testing of Behavioral Discrepancies with LLMs for High-Level Synthesis
Abstract:
In high-level synthesis (HLS), C/C++ programs with synthesis directives are used to generate circuits for FPGA implementations. However, hardware-specific and platform-dependent characteristics in these implementations can introduce behavioral discrepancies between the original C/C++ programs and the circuits after high-level synthesis. Existing methods for testing behavioral discrepancies in HLS are still immature, and the testing workflow requires significant human efforts. To address this challenge, we propose HLSTester, a large language model (LLM) aided testing framework that efficiently detects behavioral discrepancies in HLS. To mitigate hallucinations in LLMs and enhance prompt quality, the testbenches for original C/C++ programs are leveraged to guide LLMs in generating HLS-compatible testbenches, effectively eliminating certain traditional C/C++ constructs that are incompatible with HLS tools. Key variables are pinpointed through a backward slicing technique in both C/C++ and HLS programs to monitor their runtime spectra, enabling an in-depth analysis of the discrepancy symptoms. To reduce test time, a testing input generation mechanism is introduced to integrate dynamic mutation with insights from an LLM-based progressive reasoning chain. In addition, repetitive hardware testing is skipped by a redundancy-aware filtering technique for the generated test inputs. Experimental results demonstrate that the proposed LLM-aided testing framework significantly accelerates the testing workflow while achieving higher testbench simulation pass rates compared with the traditional method and the direct use of LLMs on the same HLS programs.
中文: HLSTester是一种基于大语言模型的测试框架，通过生成兼容的测试平台和优化测试输入，有效检测高层次综合中的行为差异，显著加速测试流程并提高仿真通过率。
English: HLSTester is an LLM-aided testing framework that efficiently detects behavioral discrepancies in high-level synthesis by generating compatible testbenches and optimizing test input generation, significantly accelerating the testing workflow with higher simulation pass rates.

Authors:Akash Harapanahalli, Samuel Coogan
Title: Parametric Reachable Sets Via Controlled Dynamical Embeddings
Abstract:
In this work, we propose a new framework for reachable set computation through continuous evolution of a set of parameters and offsets which define a parametope, through the intersection of constraints. This results in a dynamical approach towards nonlinear reachability analysis: a single trajectory of an embedding system provides a parametope reachable set for the original system, and uncertainties are accounted for through continuous parameter evolution. This is dual to most existing computational strategies, which define sets through some combination of generator vectors, and usually discretize the system dynamics. We show how, under some regularity assumptions of the dynamics and the set considered, any desired parameter evolution can be accommodated as long as the offset dynamics are set accordingly, providing a virtual "control input" for reachable set computation. In a special case of the theory, we demonstrate how closing the loop for the parameter dynamics using the adjoint of the linearization results in a desirable first-order cancellation of the original system dynamics. Using interval arithmetic in JAX, we demonstrate the efficiency and utility of reachable parametope computation through two numerical examples.

Authors:Julian Nubert, Turcan Tuna, Jonas Frey, Cesar Cadena, Katherine J. Kuchenbecker, Shehryar Khattak, Marco Hutter
Title: Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs
Abstract:
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation (e.g., dynamic maneuvers) and accurate global localization (e.g., wayfinding). While most existing sensor-fusion approaches are designed for specific scenarios, this work introduces a flexible open-source solution for task- and setup-agnostic multimodal sensor fusion that is distinguished by its generality and usability. Holistic Fusion formulates sensor fusion as a combined estimation problem of i) the local and global robot state and ii) a (theoretically unlimited) number of dynamic context variables, including automatic alignment of reference frames; this formulation fits countless real-world applications without any conceptual modifications. The proposed factor-graph solution enables the direct fusion of an arbitrary number of absolute, local, and landmark measurements expressed with respect to different reference frames by explicitly including them as states in the optimization and modeling their evolution as random walks. Moreover, local smoothness and consistency receive particular attention to prevent jumps in the robot state belief. HF enables low-latency and smooth online state estimation on typical robot hardware while simultaneously providing low-drift global localization at the IMU measurement rate. The efficacy of this released framework is demonstrated in five real-world scenarios on three robotic platforms, each with distinct task requirements.
中文摘要：本研究提出Holistic Fusion这一灵活的开源多模态传感器融合框架，能够在无需概念修改的情况下实现低延迟局部运动估计和精确全局定位，适用于各种机器人应用场景。
English Summary: This work introduces Holistic Fusion, a flexible open-source framework for multimodal sensor fusion that enables seamless low-latency local motion estimation and accurate global localization across diverse robotic applications without requiring conceptual modifications.

Authors:Lukas Brunke, Siqi Zhou, Francesco D'Orazio, Angela P. Schoellig
Title: Addressing Relative Degree Issues in Control Barrier Function Synthesis with Physics-Informed Neural Networks
Abstract:
In robotics, control barrier function (CBF)-based safety filters are commonly used to enforce state constraints. A critical challenge arises when the relative degree of the CBF varies across the state space. This variability can create regions within the safe set where the control input becomes unconstrained. When implemented as a safety filter, this may result in chattering near the safety boundary and ultimately compromise system safety. To address this issue, we propose a novel approach for CBF synthesis by formulating it as solving a set of boundary value problems. The solutions to the boundary value problems are determined using physics-informed neural networks (PINNs). Our approach ensures that the synthesized CBFs maintain a constant relative degree across the set of admissible states, thereby preventing unconstrained control scenarios. We illustrate the approach in simulation and further verify it through real-world quadrotor experiments, demonstrating its effectiveness in preserving desired system safety properties.

Authors:Elif Beray Sariisik, Melih Bastopcu, Nail Akar, Sennur Ulukus
Title: How to Maximize Efficiency in Systems with Exhausted Workers
Abstract:
We consider the problem of assigning tasks efficiently to a set of workers that can exhaust themselves as a result of processing tasks. If a worker is exhausted, it will take a longer time to recover. To model efficiency of workers with exhaustion, we use a continuous-time Markov chain (CTMC). By taking samples from the internal states of the workers, the source assigns tasks to the workers when they are found to be in their efficient states. We consider two different settings where (i) the source can assign tasks to the workers only when they are in their most efficient state, and (ii) it can assign tasks to workers when they are also moderately efficient in spite of a potentially reduced success probability. In the former case, we find the optimal policy to be a threshold-based sampling policy where the thresholds depend on the workers' recovery and exhaustion rates. In the latter case, we solve a non-convex sum-of-ratios problem using a branch-and-bound approach which performs well compared with the globally optimal solution.
中文摘要：该研究利用连续时间马尔可夫链模拟工人疲劳状态，提出任务分配策略，包括基于阈值的采样策略和通过分支定界法处理中等效率状态下的任务分配优化问题。
English Summary: This study models worker exhaustion using a continuous-time Markov chain and proposes task assignment strategies, including a threshold-based policy for optimal efficiency and a branch-and-bound method for handling reduced success probabilities in moderately efficient states.

Authors:Yuhan Liu, Máté Kiss, Roland Tóth, Maarten Schoukens
Title: On Space-Filling Input Design for Nonlinear Dynamic Model Learning: A Gaussian Process Approach
Abstract:
While optimal input design for linear systems has been well-established, no systematic approach exists for nonlinear systems where robustness to extrapolation/interpolation errors is prioritized over minimizing estimated parameter variance. To address this issue, we develop a novel space-filling input design strategy for nonlinear system identification that ensures data coverage of a given region of interest. By placing a Gaussian Process (GP) prior on the joint input-state space, the proposed strategy leverages the GP posterior variance to construct a cost function that promotes space-filling input design. Consequently, this enables maximization of the coverage in the region of interest, thereby facilitating the generation of informative datasets. Furthermore, we theoretically prove that minimization of the cost function implies the space-filling property of the obtained data. Effectiveness of the proposed strategy is demonstrated on both an academic and a mass-spring-damper example, highlighting its potential practical impact on efficient exploration of the dynamics of nonlinear systems.
中文: 本研究提出了一种新颖的非线性系统辨识空间填充输入设计策略，利用高斯过程先验最大化感兴趣区域的数据覆盖，确保鲁棒性并生成信息丰富的数据集，以高效探索系统动态特性。
English: This study introduces a novel space-filling input design strategy for nonlinear system identification that utilizes Gaussian Process priors to maximize data coverage in regions of interest, ensuring robustness and generating informative datasets for efficient exploration of system dynamics.

Authors:Thomas Debelle, Fahad Sohrab, Pekka Abrahamsson, Moncef Gabbouj
Title: Anomaly Detection in Smart Power Grids with Graph-Regularized MS-SVDD: a Multimodal Subspace Learning Approach
Abstract:
In this paper, we address an anomaly detection problem in smart power grids using Multimodal Subspace Support Vector Data Description (MS-SVDD). This approach aims to leverage better feature relations by considering the data as coming from different modalities. These data are projected into a shared lower-dimensionality subspace which aims to preserve their inner characteristics. To supplement the previous work on this subject, we introduce novel multimodal graph-embedded regularizers that leverage graph information for every modality to enhance the training process, and we consider an improved training equation that allows us to maximize or minimize each modality according to the specified criteria. We apply this regularized graph-embedded model on a 3-modalities dataset after having generalized MS-SVDD algorithms to any number of modalities. To set up our application, we propose a whole preprocessing procedure to extract One-Class Classification training instances from time-bounded event time series that are used to evaluate both the reliability and earliness of our model for Event Detection.
中文: 本文提出一种新型多模态图嵌入正则化方法，通过将多模态数据映射至共享子空间来改进智能电网异常检测，并采用事件检测的可靠性与及时性指标评估模型性能。
English: This paper introduces a novel multimodal graph-embedded regularizer to enhance anomaly detection in smart power grids using MS-SVDD, projecting multimodal data into a shared subspace and evaluating model performance through event detection reliability and earliness metrics.

Authors:Hanzhi Yu, Yuchen Liu, Zhaohui Yang, Haijian Sun, Mingzhe Chen
Title: Optimizing Wireless Resource Management and Synchronization in Digital Twin Networks
Abstract:
In this paper, we investigate an accurate synchronization between a physical network and its digital network twin (DNT), which serves as a virtual representation of the physical network. The considered network includes a set of base stations (BSs) that must allocate its limited spectrum resources to serve a set of users while also transmitting its partially observed physical network information to a cloud server to generate the DNT. Since the DNT can predict the physical network status based on its historical status, the BSs may not need to send their physical network information at each time slot, allowing them to conserve spectrum resources to serve the users. However, if the DNT does not receive the physical network information of the BSs over a large time period, the DNT's accuracy in representing the physical network may degrade. To this end, each BS must decide when to send the physical network information to the cloud server to update the DNT, while also determining the spectrum resource allocation policy for both DNT synchronization and serving the users. We formulate this resource allocation task as an optimization problem, aiming to maximize the total data rate of all users while minimizing the asynchronization between the physical network and the DNT. To address this problem, we propose a method based on the GRUs and the value decomposition network (VDN). Simulation results show that our GRU and VDN based algorithm improves the weighted sum of data rates and the similarity between the status of the DNT and the physical network by up to 28.96%, compared to a baseline method combining GRU with the independent Q learning.
Chinese: 本研究通过基站策略性地传输网络数据以更新数字孪生网络，同时分配频谱资源以最大化用户数据速率并最小化异步，采用基于GRU和VDN的方法，将性能提升高达28.96%。
English: This study optimizes the synchronization between a physical network and its digital twin by enabling base stations to strategically transmit network data for updates while allocating spectrum resources to maximize user data rates and minimize asynchrony, using a GRU and VDN-based method that improves performance by up to 28.96%.

Authors:Felix Brändle, David Meister, Marc Seidel, Robin Strässer, Frank Allgöwer
Title: On the effects of angular acceleration in orientation estimation using inertial measurement units
Abstract:
In this paper, we analyze the orientation estimation problem using inertial measurement units. Many estimation algorithms suffer degraded performance when accelerations other than gravity affect the accelerometer. We show that linear accelerations resulting from rotational accelerations cannot be treated as external disturbance to be attenuated, rather, they change the dynamic behavior of the filter itself. In particular, this results in the introduction of additional zeros in the linearized transfer functions. These zeros lead to nonminimum phase behavior, which is known to be challenging for control. We validate these findings experimentally. Further, we demonstrate that Mahony and Madgwick filters can attenuate the acceleration at the expense of reduced bandwidth. In addition, we show that validation schemes based on precollected data fail to capture these closed-loop effects accurately.

Authors:Shubham Aggarwal, Muhammad Aneeq uz Zaman, Melih Bastopcu, Sennur Ulukus, Tamer Başar
Title: Distributed Offloading in Multi-Access Edge Computing Systems: A Mean-Field Perspective
Abstract:
Multi-access edge computing (MEC) technology is a promising solution to assist power-constrained IoT devices by providing additional computing resources for time-sensitive tasks. In this paper, we consider the problem of optimal task offloading in MEC systems with due consideration of the timeliness and scalability issues under two scenarios of equitable and priority access to the edge server (ES). In the first scenario, we consider a MEC system consisting of $N$ devices assisted by one ES, where the devices can split task execution between a local processor and the ES, with equitable access to the ES. In the second scenario, we consider a MEC system consisting of one primary user, $N$ secondary users and one ES. The primary user has priority access to the ES while the secondary users have equitable access to the ES amongst themselves. In both scenarios, due to the power consumption associated with utilizing the local resource and task offloading, the devices must optimize their actions. Additionally, since the ES is a shared resource, other users' offloading activity serves to increase latency incurred by each user. We thus model both scenarios using a non-cooperative game framework. However, the presence of a large number of users makes it nearly impossible to compute the equilibrium offloading policies for each user, which would require a significant information exchange overhead between users. Thus, to alleviate such scalability issues, we invoke the paradigm of mean-field games to compute approximate Nash equilibrium policies for each user using their local information, and further study the trade-offs between increasing information freshness and reducing power consumption for each user. Using numerical evaluations, we show that our approach can recover the offloading trends displayed under centralized solutions, and provide additional insights into the results obtained.
中文: 本文通过平均场博弈理论为多接入边缘计算系统开发了可扩展的任务卸载框架，在公平访问和优先级访问两种场景下优化了延迟与功耗的平衡关系。
English: This paper develops a scalable task offloading framework for multi-access edge computing systems using mean-field game theory to optimize latency-power tradeoffs under both equitable and priority server access scenarios.

Authors:Ismail Cosandal, Sennur Ulukus, Nail Akar
Title: Which Sensor to Observe? Timely Tracking of a Joint Markov Source with Model Predictive Control
Abstract:
In this paper, we investigate the problem of remote estimation of a discrete-time joint Markov process using multiple sensors. Each sensor observes a different component of the joint Markov process, and in each time slot, the monitor obtains a partial state value by sending a pull request to one of the sensors. The monitor chooses the sequence of sensors to observe with the goal of minimizing the mean of age of incorrect information (MAoII) by using the partial state observations obtained, which have different freshness levels. For instance, a monitor may be interested in tracking the location of an object by obtaining observations from two sensors, which observe the $x$ and $y$ coordinates of the object separately, in different time slots. The monitor, then, needs to decide which coordinate to observe in the next time slot given the history. In addition to this partial observability of the state of Markov process, there is an erasure channel with a fixed one-slot delay between each sensor and the monitor. First, we obtain a sufficient statistic, namely the \emph{belief}, representing the joint distribution of the age of incorrect information (AoII) and the current state of the observed process by using the history of all pull requests and observations. Then, we formulate the problem with a continuous state-space Markov decision problem (MDP), namely belief MDP. To solve the problem, we propose two model predictive control (MPC) methods, namely MPC without terminal costs (MPC-WTC) and reinforcement learning MPC (RL-MPC), that have different advantages in implementation.
本研究通过多传感器远程估计联合马尔可夫过程，在部分可观测和通信延迟条件下，采用模型预测控制方法优化传感器选择策略以最小化信息不准确度。
This study explores remote estimation of a joint Markov process using multiple sensors, developing model predictive control methods to minimize information inaccuracy by strategically selecting sensors under partial observability and communication delays.

Authors:Sizhen Bian, Vitor Fortes Rey, Siyu Yuan, Paul Lukowicz
Title: Collaborative Human Activity Recognition with Passive Inter-Body Electrostatic Field
Abstract:
The passive body-area electrostatic field has recently been aspiringly explored for wearable motion sensing, harnessing its two thrilling characteristics: full-body motion sensitivity and environmental sensitivity, which potentially empowers human activity recognition both independently and jointly from a single sensing front-end and theoretically brings significant competition against traditional inertial sensor that is incapable in environmental variations sensing. While most works focus on exploring the electrostatic field of a single body as the target, this work, for the first time, quantitatively evaluates the mutual effect of inter-body electrostatic fields and its contribution to collaborative activity recognition. A wearable electrostatic field sensing front-end and wrist-worn prototypes are built, and a sixteen-hour, manually annotated dataset is collected, involving an experiment of manipulating objects both independently and collaboratively. A regression model is finally used to recognize the collaborative activities among users. Despite the theoretical advantages of the body electrostatic field, the recognition of both single and collaborative activities shows unanticipated less-competitive recognition performance compared with the accelerometer. However, It is worth mentioning that this novel sensing modality improves the recognition F-score of user collaboration by 16\% in the fusion result of the two wearable motion sensing modalities, demonstrating the potential of bringing body electrostatic field as a complementary power-efficient signal for collaborative activity tracking using wearables.
中文: 本研究评估了体域静电场的协作活动识别潜力，发现尽管其单独性能不及传统加速度计，但与加速度计融合后可将协作识别F值提升16%，展现了其作为补充性低功耗传感方式的优势。
English: This study explores the potential of body-area electrostatic fields for collaborative activity recognition, revealing that while it underperforms traditional accelerometers alone, it enhances collaborative recognition by 16% when fused with accelerometer data, highlighting its value as a complementary sensing modality.

Authors:Bendegúz M. Györök, Jan H. Hoekstra, Johan Kon, Tamás Péni, Maarten Schoukens, Roland Tóth
Title: Orthogonal projection-based regularization for efficient model augmentation
Abstract:
Deep-learning-based nonlinear system identification has shown the ability to produce reliable and highly accurate models in practice. However, these black-box models lack physical interpretability, and a considerable part of the learning effort is often spent on capturing already expected/known behavior of the system, that can be accurately described by first-principles laws of physics. A potential solution is to directly integrate such prior physical knowledge into the model structure, combining the strengths of physics-based modeling and deep-learning-based identification. The most common approach is to use an additive model augmentation structure, where the physics-based and the machine-learning (ML) components are connected in parallel, i.e., additively. However, such models are overparametrized, training them is challenging, potentially causing the physics-based part to lose interpretability. To overcome this challenge, this paper proposes an orthogonal projection-based regularization technique to enhance parameter learning and even model accuracy in learning-based augmentation of nonlinear baseline models.
Chinese: 本文提出了一种基于正交投影的正则化技术，用于改进非线性系统深度学习辨识中的参数学习和模型精度，解决了物理与机器学习并行叠加模型中的过参数化及可解释性丧失问题。
English: This paper introduces an orthogonal projection-based regularization technique to improve parameter learning and model accuracy in deep-learning-based nonlinear system identification, addressing the overparametrization and interpretability loss in additive physics-ML models.

Authors:Shubham Aggarwal, Melih Bastopcu, Muhammad Aneeq uz Zaman, Tamer Başar, Sennur Ulukus, Nail Akar
Title: Fully Decentralized Computation Offloading in Priority-Driven Edge Computing Systems
Abstract:
We develop a novel framework for fully decentralized offloading policy design in multi-access edge computing (MEC) systems. The system comprises $N$ power-constrained user equipments (UEs) assisted by an edge server (ES) to process incoming tasks. Tasks are labeled with urgency flags, and in this paper, we classify them under three urgency levels, namely, high, moderate, and low urgency. We formulate the problem of designing computation decisions for the UEs within a large population noncooperative game framework, where each UE selfishly decides on how to split task execution between its local onboard processor and the ES. We employ the weighted average age of information (AoI) metric to quantify information freshness at the UEs. Increased onboard processing consumes more local power, while increased offloading may potentially incur a higher average AoI due to other UEs' packets being offloaded to the same ES. Thus, we use the mean-field game (MFG) formulation to compute approximate decentralized Nash equilibrium offloading and local computation policies for the UEs to balance between the information freshness and local power consumption. Finally, we provide a projected gradient descent-based algorithm to numerically assess the merits of our approach.
中文摘要：我们提出了一种多接入边缘计算系统的去中心化卸载框架，利用平均场博弈理论优化用户设备与边缘服务器间的任务处理，通过基于梯度的算法实现信息新鲜度与本地功耗的平衡。
English Summary: We propose a decentralized offloading framework for MEC systems using mean-field game theory to optimize task processing between user devices and edge servers, balancing information freshness and power consumption through a gradient-based algorithm.

Authors:Zhen Tian, Zhihao Lin, Dezong Zhao, Wenjing Zhao, David Flynn, Shuja Ansari, Chongfeng Wei
Title: Evaluating Scenario-based Decision-making for Interactive Autonomous Driving Using Rational Criteria: A Survey
Abstract:
Autonomous vehicles (AVs) can significantly promote the advances in road transport mobility in terms of safety, reliability, and decarbonization. However, ensuring safety and efficiency in interactive during within dynamic and diverse environments is still a primary barrier to large-scale AV adoption. In recent years, deep reinforcement learning (DRL) has emerged as an advanced AI-based approach, enabling AVs to learn decision-making strategies adaptively from data and interactions. DRL strategies are better suited than traditional rule-based methods for handling complex, dynamic, and unpredictable driving environments due to their adaptivity. However, varying driving scenarios present distinct challenges, such as avoiding obstacles on highways and reaching specific exits at intersections, requiring different scenario-specific decision-making algorithms. Many DRL algorithms have been proposed in interactive decision-making. However, a rationale review of these DRL algorithms across various scenarios is lacking. Therefore, a comprehensive evaluation is essential to assess these algorithms from multiple perspectives, including those of vehicle users and vehicle manufacturers. This survey reviews the application of DRL algorithms in autonomous driving across typical scenarios, summarizing road features and recent advancements. The scenarios include highways, on-ramp merging, roundabouts, and unsignalized intersections. Furthermore, DRL-based algorithms are evaluated based on five rationale criteria: driving safety, driving efficiency, training efficiency, unselfishness, and interpretability (DDTUI). Each criterion of DDTUI is specifically analyzed in relation to the reviewed algorithms. Finally, the challenges for future DRL-based decision-making algorithms are summarized.

Authors:Yu-Zheng Lin, Qinxuan Shi, Zhanglong Yang, Banafsheh Saber Latibari, Shalaka Satam, Sicong Shao, Soheil Salehi, Pratik Satam
Title: DDD-GenDT: Dynamic Data-driven Generative Digital Twin Framework
Abstract:
Digital twin (DT) technology enables real-time simulation, prediction, and optimization of physical systems, but practical deployment faces challenges from high data requirements, proprietary data constraints, and limited adaptability to evolving conditions. This work introduces DDD-GenDT, a dynamic data-driven generative digital twin framework grounded in the Dynamic Data-Driven Application Systems (DDDAS) paradigm. The architecture comprises the Physical Twin Observation Graph (PTOG) to represent operational states, an Observation Window Extraction process to capture temporal sequences, a Data Preprocessing Pipeline for sensor structuring and filtering, and an LLM ensemble for zero-shot predictive inference. By leveraging generative AI, DDD-GenDT reduces reliance on extensive historical datasets, enabling DT construction in data-scarce settings while maintaining industrial data privacy. The DDDAS feedback mechanism allows the DT to autonomically adapt predictions to physical twin (PT) wear and degradation, supporting DT-aging, which ensures progressive synchronization of DT with PT evolution. The framework is validated using the NASA CNC milling dataset, with spindle current as the monitored variable. In a zero-shot setting, the GPT-4-based DT achieves an average RMSE of 0.479 A (4.79% of the 10 A spindle current), accurately modeling nonlinear process dynamics and PT aging without retraining. These results show that DDD-GenDT provides a generalizable, data-efficient, and adaptive DT modeling approach, bridging generative AI with the performance and reliability requirements of industrial DT applications.

Authors:Hongchao Zhang, Manan Tayal, Jackson Cox, Pushpak Jagtap, Shishir Kolathaya, Andrew Clark
Title: Stochastic Neural Control Barrier Functions
Abstract:
Control Barrier Functions (CBFs) are utilized to ensure the safety of control systems. CBFs act as safety filters in order to provide safety guarantees without compromising system performance. These safety guarantees rely on the construction of valid CBFs. Due to their complexity, CBFs can be represented by neural networks, known as neural CBFs (NCBFs). Existing works on the verification of the NCBF focus on the synthesis and verification of NCBFs in deterministic settings, leaving the stochastic NCBFs (SNCBFs) less studied. In this work, we propose a verifiably safe synthesis for SNCBFs. We consider the cases of smooth SNCBFs with twice-differentiable activation functions and SNCBFs that utilize the Rectified Linear Unit or ReLU activation function. We propose a verification-free synthesis framework for smooth SNCBFs and a verification-in-the-loop synthesis framework for both smooth and ReLU SNCBFs. and we validate our frameworks in three cases, namely, the inverted pendulum, Darboux, and the unicycle model.
Chinese: 本研究提出了针对随机神经控制屏障函数（SNCBF）的可验证安全合成框架，涵盖平滑和ReLU激活函数两种情况，并在三个控制系统中进行了验证。
English: This work introduces a verifiably safe synthesis framework for stochastic neural control barrier functions (SNCBFs), addressing both smooth and ReLU activation functions, and validates it on three control systems.

Authors:Fangzhi Li, Zhichu Ren, Cunhua Pan, Hong Ren, Jing Jin, Qixing Wang, Jiangzhou Wang
Title: Cooperative Sensing and Communication Beamforming Design for Low-Altitude Economy
Abstract:
To empower the low-altitude economy with high-accuracy sensing and high-rate communication, this paper proposes a cooperative integrated sensing and communication (ISAC) framework for aerial-ground networks. In the proposed system, the ground base stations (BSs) cooperatively serve the unmanned aerial vehicles (UAVs), which are equipped for either joint communication and sensing or sensing-only operations. The BSs employ coordinated beamforming to simultaneously transmit communication and sensing signals, while the UAVs execute their missions. To maximize the weighted sum rate under the sensing signal-to-interference-plus-noise ratio (SINR) constraints, we jointly optimize the transmit beamforming, receive filtering, and UAV trajectory. The resulting non-convex problem is solved using an alternating optimization framework incorporating semidefinite relaxation (SDR) and successive convex approximation (SCA). Simulation results demonstrate that the proposed joint design achieves higher communication throughput while ensuring required sensing robustness. Additionally, the sensing SINR threshold and the UAV altitude have a significant impact on the trajectory design, highlighting the necessity of adaptive deployment strategies in practical applications.
中文摘要：本文提出一种空地网络协同通感融合框架，通过联合优化波束成形、接收滤波和无人机轨迹，在满足感知性能要求的同时最大化通信吞吐量。
English Summary: This paper introduces a cooperative integrated sensing and communication framework for aerial-ground networks that jointly optimizes beamforming, filtering, and UAV trajectories to maximize communication rates while meeting sensing requirements.

Authors:Yixiao Ge, Pieter van Goor, Robert Mahony
Title: The Geometry of Extended Kalman Filters on Manifolds with Affine Connection
Abstract:
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The classical formulation of the EKF is posed for nonlinear systems defined on global Euclidean spaces. The design methodology is regularly applied to systems on smooth manifolds by choosing local coordinates, however, it is well known that this approach is not intrinsic to the manifold and performance depends heavily on choosing 'good' coordinates. In this paper, we propose an extended Kalman filter that is adapted to the specific geometry of the manifold in question. We show that an affine connection and the concepts of parallel transport, torsion, and curvature are the key geometric structures that allow the formulation of a suitable family of intrinsic Gaussian-like distributions and provide the tools to understand how to propagate state estimates and fuse measurements. This leads us to propose novel geometric modifications to the propagation and update steps of the EKF and revisit recent work on the geometry of the reset step. The relative performance of the proposed geometric modifications are benchmarked against classical EKF and iterated EKF algorithms on a simplified inertial navigation system with direct pose measurements and no bias.
扩展卡尔曼滤波器通过几何改进，能够内在地处理光滑流形上的非线性系统，在惯性导航应用中性能优于传统方法。
The extended Kalman filter is enhanced with geometric modifications to intrinsically handle nonlinear systems on smooth manifolds, outperforming classical methods in inertial navigation applications.

Authors:Maurizio Clemente, Prapti Maharjan, Mauro Salazar, Theo Hofman
Title: Meta-analysis of Life Cycle Assessments for Li-Ion Batteries Production Emissions
Abstract:
This paper investigates the environmental impact of Li-Ion batteries by quantifying manufacturing-related emissions and analyzing how electricity mix and production scale affect emission intensity. To this end, we conduct a meta-analysis of life cycle assessments on lithium-ion batteries published over the past two decades, categorizing them by year, battery chemistry, functional unit, system boundaries, and electricity mix. We then carry out a cradle-to-gate assessment for a nickel manganese cobalt 811 battery with a silicon-coated graphite anode, analyzing how variations in the carbon intensity of the electricity mix affect emissions, with case studies for China, South Korea, and Sweden. Finally, we develop a set of regression models that link annual battery production and the carbon intensity of China's electricity mix to the average mass-specific emissions observed each year. The meta-analysis shows a median global warming potential of 17.63 kg CO2-eq./kg of battery, with a standard deviation of 7.34. Differences in electricity mix mainly influence emissions from the energy-intensive cell production, particularly from cathode material processing. We found that a multivariate linear regression using production volume and the carbon intensity of the Chinese electricity mix as predictors explains emissions with moderate accuracy. The environmental impact of battery manufacturing can be reduced by using clean energy sources in production processes. However, achieving substantial reductions requires clean energy throughout the entire supply chain, as importing materials from regions with carbon-intensive electricity mixes can undermine these efforts. Our findings also highlight the emission-reducing effect of learning associated with increased production scale, supporting the integration of learning effects in future life cycle assessment models.
中文: 本研究量化了锂离子电池制造的环境影响，发现排放主要受电力结构和生产规模影响，使用清洁能源及优化供应链是降低碳足迹的关键。
English: This study quantifies the environmental impact of lithium-ion battery manufacturing, revealing that emissions are primarily influenced by the electricity mix and production scale, with clean energy use and supply chain optimization being key to reducing carbon footprint.

Authors:Juan Pablo Bertucci, Sudarshan Raghuraman, Mauro Salazar, Theo Hofman
Title: Optimal Co-Design of a Hybrid Energy Storage System for Truck Charging
Abstract:
The major challenges to battery electric truck adoption are their high cost and grid congestion.In this context, stationary energy storage systems can help mitigate both issues. Since their design and operation are strongly coupled, to make the best out of them, they should be jointly optimized. This paper presents a co-design framework for hybrid energy storage systems where their technology and sizing are optimized jointly with their operational strategies. Specifically, we consider a microgrid supporting truck chargers that consists of utility grid, solar panels, and energy storage systems including batteries, supercapacitors and flywheels. We frame the co-design problem as a mixed-integer linear program that can be solved with global optimality guarantees. We showcase our framework in a case-study of a distribution center in the Netherlands. Our results show that although the battery-only configuration is already competitive, adding supercapacitors or flywheel storage decrease total cost and increase energy sold back to the grid. Overall, the fully hybrid solution (Battery+Supercapacitors+Flywheel) offers the best outcomes, achieving the lowest overall cost (1.96\% lower compared to battery-only) and reduced grid dependency, but at a higher (2.6\%) initial investment.
中文摘要：本文提出混合储能系统的协同设计框架，通过联合优化技术选型、容量配置与运行策略来降低电动卡车充电微电网的成本和电网依赖，其中完全混合方案虽需更高初始投资但综合表现最佳。
English Summary: This paper introduces a co-design framework for hybrid energy storage systems that jointly optimizes technology selection, sizing, and operational strategies to reduce costs and grid dependency for electric truck charging microgrids, with the fully hybrid solution showing the best overall performance despite higher initial investment.

Authors:Fuhai Wang, Zhe Li, Rujing Xiong, Tiebin Mi, Robert Caiming Qiu
Title: WiCAL: Accurate Wi-Fi-Based 3D Localization Enabled by Collaborative Antenna Arrays
Abstract:
Accurate 3D localization is essential for realizing advanced sensing functionalities in next-generation Wi-Fi communication systems. This study investigates the potential of multistatic localization in Wi-Fi networks through the deployment of multiple cooperative antenna arrays. The collaborative gain offered by these arrays is twofold: (i) intra-array coherent gain at the wavelength scale among antenna elements, and (ii) inter-array cooperative gain across arrays. To evaluate the feasibility and performance of this approach, we develop WiCAL (Wi-Fi Collaborative Antenna Localization), a system built upon commercial Wi-Fi infrastructure equipped with uniform rectangular arrays. These arrays are driven by multiplexing embedded radio frequency chains available in standard access points or user devices, thereby eliminating the need for sophisticated, costly, and power-hungry multi-transceiver modules typically required in multiple-input and multiple-output systems. To address phase offsets introduced by RF chain multiplexing, we propose a three-stage, fine-grained phase alignment scheme to synchronize signals across antenna elements within each array. A bidirectional spatial smoothing MUSIC algorithm is employed to estimate angles of arrival (AoAs) and mitigate performance degradation caused by correlated interference. To further exploit inter-array cooperative gain, we elaborate on the synchronization mechanism among distributed URAs, which enables direct position determination by bypassing intermediate angle estimation. Once synchronized, the distributed URAs effectively form a virtual large-scale array, significantly enhancing spatial resolution and localization accuracy.
中文: 本研究提出WiCAL系统，利用商用Wi-Fi的多天线阵列，通过阵列内相干增益和阵列间协同增益实现精确3D定位，同时解决相位同步和干扰问题以提升定位精度。
English: This study introduces WiCAL, a system leveraging commercial Wi-Fi with multiple antenna arrays to achieve precise 3D localization through intra-array coherent gain and inter-array cooperative gain, while addressing phase synchronization and interference issues for enhanced accuracy.

Authors:Pieter van Goor, Robert Mahony
Title: Synchronous Models and Fundamental Systems in Observer Design
Abstract:
This paper introduces the concept of a synchronous model as an extension of the internal model concept used in observer design for dynamical systems. A system is said to contain a synchronous model of another if there is a suitable error function between the two systems that remains stationary for all of the trajectories of the two systems. A system is said to admit a synchronous lift if a second system containing a synchronous model exists. We provide necessary and sufficient conditions that a system admits a synchronous lift and provide a method to construct a (there may be many) lifted system should one exist. We characterise the class of all systems that admit a synchronous lift by showing that they consist of fundamental vector fields induced by a Lie group action, a class of system we term fundamental systems. For fundamental systems we propose a simple synchronous observer design methodology, for which we show how correction terms can be discretised and combined easily, facilitating global characterisation of convergence and performance. Finally, we provide three examples to demonstrate the key concepts of synchrony, symmetry construction, and observer design for a fundamental system.
中文摘要：本文将内模概念扩展为动力系统观测器设计中的同步模型，建立了系统允许同步提升的充要条件，并将其特征化为由李群作用诱导的基本系统。
English Summary: This paper extends the internal model concept to synchronous models for observer design in dynamical systems, establishing necessary and sufficient conditions for systems to admit synchronous lifts and characterizing them as fundamental systems induced by Lie group actions.

Authors:Davide Gorbani, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
Title: Unified Multi-Rate Model Predictive Control for a Jet-Powered Humanoid Robot
Abstract:
We propose a novel Model Predictive Control (MPC) framework for a jet-powered flying humanoid robot. The controller is based on a linearised centroidal momentum model to represent the flight dynamics, augmented with a second-order nonlinear model to explicitly account for the slow and nonlinear dynamics of jet propulsion. A key contribution is the introduction of a multi-rate MPC formulation that handles the different actuation rates of the robot's joints and jet engines while embedding the jet dynamics directly into the predictive model. We validated the framework using the jet-powered humanoid robot iRonCub, performing simulations in Mujoco; the simulation results demonstrate the robot's ability to recover from external disturbances and perform stable, non-abrupt flight manoeuvres, validating the effectiveness of the proposed approach.

Authors:Kiwan Wong, Maximilian Stölzle, Wei Xiao, Cosimo Della Santina, Daniela Rus, Gioele Zardini
Title: Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
Abstract:
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee safety and cultivate user trust. Continuum soft manipulators promise safety through material compliance, but as designs evolve for greater precision, payload capacity, and speed, and increasingly incorporate rigid elements, their injury risk resurfaces. In this letter, we introduce a comprehensive High-Order Control Barrier Function (HOCBF) + High-Order Control Lyapunov Function (HOCLF) framework that enforces strict contact force limits across the entire soft-robot body during environmental interactions. Our approach combines a differentiable Piecewise Cosserat-Segment (PCS) dynamics model with a convex-polygon distance approximation metric, named Differentiable Conservative Separating Axis Theorem (DCSAT), based on the soft robot geometry to enable real-time, whole-body collision detection, resolution, and enforcement of the safety constraints. By embedding HOCBFs into our optimization routine, we guarantee safety, allowing, for instance, safe navigation in operational space under HOCLF-driven motion objectives. Extensive planar simulations demonstrate that our method maintains safety-bounded contacts while achieving precise shape and task-space regulation. This work thus lays a foundation for the deployment of soft robots in human-centric environments with provable safety and performance.

Authors:Carlos Santos, Sebastian Frey, Andrea Cossettini, Luca Benini, Victor Kartsch
Title: Real-Time, Single-Ear, Wearable ECG Reconstruction, R-Peak Detection, and HR/HRV Monitoring
Abstract:
Biosignal monitoring, in particular heart activity through heart rate (HR) and heart rate variability (HRV) tracking, is vital in enabling continuous, non-invasive tracking of physiological and cognitive states. Recent studies have explored compact, head-worn devices for HR and HRV monitoring to improve usability and reduce stigma. However, this approach is challenged by the current reliance on wet electrodes, which limits usability, the weakness of ear-derived signals, making HR/HRV extraction more complex, and the incompatibility of current algorithms for embedded deployment. This work introduces a single-ear wearable system for real-time ECG (Electrocardiogram) parameter estimation, which directly runs on BioGAP, an energy-efficient device for biosignal acquisition and processing. By combining SoA in-ear electrode technology, an optimized DeepMF algorithm, and BioGAP, our proposed subject-independent approach allows for robust extraction of HR/HRV parameters directly on the device with just 36.7 uJ/inference at comparable performance with respect to the current state-of-the-art architecture, achieving 0.49 bpm and 25.82 ms for HR/HRV mean errors, respectively and an estimated battery life of 36h with a total system power consumption of 7.6 mW. Clinical relevance: The ability to reconstruct ECG signals and extract HR and HRV paves the way for continuous, unobtrusive cardiovascular monitoring with head-worn devices. In particular, the integration of cardiovascular measurements in everyday-use devices (such as earbuds) has potential in continuous at-home monitoring to enable early detection of cardiovascular irregularities.

Authors:Shreenabh Agrawal, Manan Tayal, Aditya Singh, Shishir Kolathaya
Title: Neural Control Barrier Functions from Physics Informed Neural Networks
Abstract:
As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaranteeing safety; however, manually designing them for specific applications remains a significant challenge. With the advent of deep learning techniques, recent research has explored synthesizing CBFs using neural networks-commonly referred to as neural CBFs. This paper introduces a novel class of neural CBFs that leverages a physics-inspired neural network framework by incorporating Zubov's Partial Differential Equation (PDE) within the context of safety. This approach provides a scalable methodology for synthesizing neural CBFs applicable to high-dimensional systems. Furthermore, by utilizing reciprocal CBFs instead of zeroing CBFs, the proposed framework allows for the specification of flexible, user-defined safe regions. To validate the effectiveness of the approach, we present case studies on three different systems: an inverted pendulum, autonomous ground navigation, and aerial navigation in obstacle-laden environments.
中文: 本文提出了一种新型神经控制屏障函数框架，通过将祖博夫偏微分方程与物理启发神经网络相结合，为高维自主系统提供可扩展的安全保障方法，并利用互反控制屏障函数实现用户自定义的灵活安全区域。
English: This paper introduces a novel neural Control Barrier Function (CBF) framework that integrates Zubov's Partial Differential Equation with physics-inspired neural networks, enabling scalable safety synthesis for high-dimensional autonomous systems while supporting flexible user-defined safe regions through reciprocal CBFs.

Authors:Diego Fernández-Zapico, Theo Hofman, Mauro Salazar
Title: Stochastic Model Predictive Control of Charging Energy Hubs with Conformal Prediction
Abstract:
This paper presents an online energy management system for an energy hub where electric vehicles are charged combining on-site photovoltaic generation and battery energy storage with the power grid, with the objective to decide on the battery (dis)charging to minimize the costs of operation. To this end, we devise a scenario-based stochastic model predictive control (MPC) scheme that leverages probabilistic 24-hour-ahead forecasts of charging load, solar generation and day-ahead electricity prices to achieve a cost-optimal operation of the energy hub. The probabilistic forecasts leverage conformal prediction providing calibrated distribution-free confidence intervals starting from a machine learning model that generates no uncertainty quantification. We showcase our controller by running it over a 280-day evaluation in a closed-loop simulated environment to compare the observed cost of two scenario-based MPCs with two deterministic alternatives: a version with point forecast and a version with perfect forecast. Our results indicate that, compared to the perfect forecast implementation, our proposed scenario-based MPCs are 13% more expensive, and 1% better than their deterministic point-forecast counterpart

Authors:Chayan Banerjee, Kien Nguyen, Clinton Fookes
Title: Mining-Gym: A Configurable RL Benchmarking Environment for Truck Dispatch Scheduling
Abstract:
Mining process optimization particularly truck dispatch scheduling is a critical factor in enhancing the efficiency of open pit mining operations However the dynamic and stochastic nature of mining environments characterized by uncertainties such as equipment failures truck maintenance and variable haul cycle times poses significant challenges for traditional optimization methods While Reinforcement Learning RL has shown promise in adaptive decision making for mining logistics its practical deployment requires rigorous evaluation in realistic and customizable simulation environments The lack of standardized benchmarking environments limits fair algorithm comparisons reproducibility and the real world applicability of RL based approaches in open pit mining settings To address this challenge we introduce Mining Gym a configurable open source benchmarking environment designed for training testing and comparing RL algorithms in mining process optimization Built on Discrete Event Simulation DES and seamlessly integrated with the OpenAI Gym interface Mining Gym provides a structured testbed that enables the direct application of advanced RL algorithms from Stable Baselines The framework models key mining specific uncertainties such as equipment failures queue congestion and the stochasticity of mining processes ensuring a realistic and adaptive learning environment Additionally Mining Gym features a graphical user interface GUI for intuitive mine site configuration a comprehensive data logging system a built in KPI dashboard and real time visual representation of the mine site These capabilities facilitate standardized reproducible evaluations across multiple RL strategies and baseline heuristics
中文摘要：针对露天矿卡车调度优化中传统方法难以应对动态不确定性的问题，本文提出可配置开源基准环境Mining Gym，通过离散事件仿真和实时可视化工具，为强化学习算法提供包含设备故障、队列拥堵等真实矿场不确定性的标准化测试平台。
English Summary: Mining Gym is introduced as a configurable open-source benchmarking environment that enables standardized training and evaluation of reinforcement learning algorithms for optimizing truck dispatch in open-pit mining, addressing challenges posed by dynamic mining conditions through realistic simulation and integrated analytical tools.

Authors:Manan Tayal, Aditya Singh, Pushpak Jagtap, Shishir Kolathaya
Title: CP-NCBF: A Conformal Prediction-based Approach to Synthesize Verified Neural Control Barrier Functions
Abstract:
Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a challenge. Recent efforts have explored learning-based methods, such as neural CBFs (NCBFs), to address this issue. However, ensuring the validity of NCBFs is difficult due to potential learning errors. In this letter, we propose a novel framework that leverages split-conformal prediction to generate formally verified neural CBFs with probabilistic guarantees based on a user-defined error rate, referred to as CP-NCBF. Unlike existing methods that impose Lipschitz constraints on neural CBF-leading to scalability limitations and overly conservative safe sets--our approach is sample-efficient, scalable, and results in less restrictive safety regions. We validate our framework through case studies on obstacle avoidance in autonomous driving and geo-fencing of aerial vehicles, demonstrating its ability to generate larger and less conservative safe sets compared to conventional techniques.
Chinese: 本文提出CP-NCBF框架，利用分裂共形预测生成具有概率保证的形式验证神经控制屏障函数，相比传统方法具有更好的可扩展性并能产生更宽松的安全区域。
English: This letter introduces CP-NCBF, a novel framework that uses split-conformal prediction to create formally verified neural control barrier functions with probabilistic safety guarantees, offering a scalable and less conservative alternative to existing methods.

Authors:Yixiao Ge, Arthur Pearce, Pieter van Goor, Robert Mahony
Title: Equivariant Filter Design for Range-only SLAM
Abstract:
Range-only Simultaneous Localisation and Mapping (RO-SLAM) is of interest due to its practical applications in ultra-wideband (UWB) and Bluetooth Low Energy (BLE) localisation in terrestrial and aerial applications and acoustic beacon localisation in submarine applications. In this work, we consider a mobile robot equipped with an inertial measurement unit (IMU) and a range sensor that measures distances to a collection of fixed landmarks. We derive an equivariant filter (EqF) for the RO-SLAM problem based on a symmetry Lie group that is compatible with the range measurements. The proposed filter does not require bootstrapping or initialisation of landmark positions, and demonstrates robustness to the no-prior situation. The filter is demonstrated on a real-world dataset, and it is shown to significantly outperform a state-of-the-art EKF alternative in terms of both accuracy and robustness.
中文摘要：本文提出的距离同步定位与建图等变滤波器无需地标初始化，在实际应用中展现出比先进扩展卡尔曼滤波器更优的精度与鲁棒性。
English summary: The proposed equivariant filter for range-only SLAM eliminates the need for landmark initialization and demonstrates superior accuracy and robustness over advanced EKF methods in real-world applications.

Authors:Manan Tayal, Aditya Singh, Shishir Kolathaya, Somil Bansal
Title: A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems
Abstract:
As autonomous systems become more ubiquitous in daily life, ensuring high performance with guaranteed safety is crucial. However, safety and performance could be competing objectives, which makes their co-optimization difficult. Learning-based methods, such as Constrained Reinforcement Learning (CRL), achieve strong performance but lack formal safety guarantees due to safety being enforced as soft constraints, limiting their use in safety-critical settings. Conversely, formal methods such as Hamilton-Jacobi (HJ) Reachability Analysis and Control Barrier Functions (CBFs) provide rigorous safety assurances but often neglect performance, resulting in overly conservative controllers. To bridge this gap, we formulate the co-optimization of safety and performance as a state-constrained optimal control problem, where performance objectives are encoded via a cost function and safety requirements are imposed as state constraints. We demonstrate that the resultant value function satisfies a Hamilton-Jacobi-Bellman (HJB) equation, which we approximate efficiently using a novel physics-informed machine learning framework. In addition, we introduce a conformal prediction-based verification strategy to quantify the learning errors, recovering a high-confidence safety value function, along with a probabilistic error bound on performance degradation. Through several case studies, we demonstrate the efficacy of the proposed framework in enabling scalable learning of safe and performant controllers for complex, high-dimensional autonomous systems.
Chinese: 本研究提出了一种基于物理信息的机器学习框架，通过求解状态约束的最优控制问题，弥合了自主系统中安全性与性能之间的鸿沟，实现了具有形式化安全保证且性能损失最小的控制器可扩展学习。
English: This study introduces a physics-informed machine learning framework that bridges the gap between safety and performance in autonomous systems by solving a state-constrained optimal control problem, enabling scalable learning of controllers with formal safety guarantees and minimal performance degradation.

Authors:Yu Chen, Yuda Li, Shaoyuan Li, Xiang Yin
Title: Distributionally Robust Control Synthesis for Stochastic Systems with Safety and Reach-Avoid Specifications
Abstract:
We investigate the problem of synthesizing distributionally robust control policies for stochastic systems under safety and reach-avoid specifications. Using a game-theoretical framework, we consider the setting where the probability distribution of the disturbance at each time step is selected from an ambiguity set defined by the Wasserstein distance. The goal is to synthesize a distributionally robust control policy that ensures the satisfaction probability exceeds a specified threshold under any distribution within the ambiguity set. First, for both safety and reach-avoid specifications, we establish the existence of optimal policies by leveraging the dynamic programming principles. Then we demonstrate how the associated optimization problem can be efficiently solved using the dual representation of Wasserstein distributionally robust optimization. Furthermore, for safety specifications in particular, we introduce a novel concept of distributionally robust control barrier certificates and show how these enable the efficient synthesis of controllers through sum-of-squares programming techniques. Finally, our experimental results reveal that incorporating distributional robustness during the synthesis phase significantly improves the satisfaction probability during online execution, even with limited statistical knowledge of the disturbance distribution.

Authors:Matteo Rufolo, Dario Piga, Marco Forgione
Title: Distributionally robust minimization in meta-learning for system identification
Abstract:
Meta learning aims at learning how to solve tasks, and thus it allows to estimate models that can be quickly adapted to new scenarios. This work explores distributionally robust minimization in meta learning for system identification. Standard meta learning approaches optimize the expected loss, overlooking task variability. We use an alternative approach, adopting a distributionally robust optimization paradigm that prioritizes high-loss tasks, enhancing performance in worst-case scenarios. Evaluated on a meta model trained on a class of synthetic dynamical systems and tested in both in-distribution and out-of-distribution settings, the proposed approach allows to reduce failures in safety-critical applications.
中文: 本研究在元学习的系统辨识中采用分布式鲁棒优化方法，通过关注最坏情况下的任务来提升性能，并减少安全关键应用中的故障风险。
English: This study introduces a distributionally robust optimization method in meta learning for system identification, focusing on worst-case scenarios to improve performance and reduce failures in safety-critical applications.

Authors:Telema Harry, Martin Guay, Shimin Wang, Richard D. Braatz
Title: Data-Driven Nonlinear Regulation: Gaussian Process Learning
Abstract:
This article addresses the output regulation problem for a class of nonlinear systems using a data-driven approach. An output feedback controller is proposed that integrates a traditional control component with a data-driven learning algorithm based on Gaussian Process (GP) regression to learn the nonlinear internal model. Specifically, a data-driven technique is employed to directly approximate the unknown internal model steady-state map from observed input-output data online. Our method does not rely on model-based observers utilized in previous studies, making it robust and suitable for systems with modelling errors and model uncertainties. Finally, we demonstrate through numerical examples and detailed stability analysis that, under suitable conditions, the closed-loop system remains bounded and converges to a compact set, with the size of this set decreasing as the accuracy of the data-driven model improves over time.
本文提出一种结合传统控制与高斯过程回归的数据驱动输出反馈控制器，通过在线学习非线性内模实现无模型观测器的鲁棒输出调节，并证明闭环系统能在模型精度提升中渐近收敛。
This article introduces a data-driven output feedback controller combining traditional control with Gaussian Process regression to solve nonlinear system regulation, achieving robust performance without model-based observers through online learning and ensuring bounded closed-loop convergence.

Authors:Guiyang Luo, Jinglin Li, Qixun Zhang, Zhiyong Feng, Quan Yuan, Yijing Lin, Hui Zhang, Nan Cheng, Ping Zhang
Title: Toward Low-Altitude Airspace Management and UAV Operations: Requirements, Architecture and Enabling Technologies
Abstract:
The low-altitude economy (LAE) is rapidly advancing toward intelligence, connectivity, and coordination, bringing new challenges in dynamic airspace management, unmanned aerial vehicle (UAV) operation, and security management. Existing systems remain fragmented and lack effective coordination. To bridge these gaps, we propose UTICN (Ubiquitous and Trusted Intelligent Cellular-native Network) for LAE, a unified cellular-native architecture that integrates multi-domain sensing, high-precision positioning, intelligent aircraft-to-everything communication, dynamic airspace management, and UAV operational services. UTICN introduces key technologies such as integrated sensing and communication (ISAC), passive and active positioning, intelligent machine communication, swarm coordination, and control-data decoupled management frameworks. We demonstrate UTICN's feasibility through two use cases, i.e., a city-level LAE management platform and a multi-frequency collaborative ISAC system. This work provides a fundamental reference for building a unified operational foundation and airspace management architecture for the LAE.
中文摘要：低空经济面临空域管理和无人机运行等挑战，为此提出UTICN这一统一蜂窝原生网络，通过集成感知、定位与通信技术，为构建低空经济统一运营基础提供重要参考。
English Summary: The low-altitude economy faces challenges in airspace management and UAV operations, leading to the proposal of UTICN, a unified cellular-native network integrating sensing, positioning, and communication technologies to establish a foundational operational framework.

Authors:Michael Klamkin, Mathieu Tanneau, Pascal Van Hentenryck
Title: PGLearn -- An Open-Source Learning Toolkit for Optimal Power Flow
Abstract:
Machine Learning (ML) techniques for Optimal Power Flow (OPF) problems have recently garnered significant attention, reflecting a broader trend of leveraging ML to approximate and/or accelerate the resolution of complex optimization problems. These developments are necessitated by the increased volatility and scale in energy production for modern and future grids. However, progress in ML for OPF is hindered by the lack of standardized datasets and evaluation metrics, from generating and solving OPF instances, to training and benchmarking machine learning models. To address this challenge, this paper introduces PGLearn, a comprehensive suite of standardized datasets and evaluation tools for ML and OPF. PGLearn provides datasets that are representative of real-life operating conditions, by explicitly capturing both global and local variability in the data generation, and by, for the first time, including time series data for several large-scale systems. In addition, it supports multiple OPF formulations, including AC, DC, and second-order cone formulations. Standardized datasets are made publicly available to democratize access to this field, reduce the burden of data generation, and enable the fair comparison of various methodologies. PGLearn also includes a robust toolkit for training, evaluating, and benchmarking machine learning models for OPF, with the goal of standardizing performance evaluation across the field. By promoting open, standardized datasets and evaluation metrics, PGLearn aims at democratizing and accelerating research and innovation in machine learning applications for optimal power flow problems. Datasets are available for download at https://www.huggingface.co/PGLearn.

Authors:Maobin Lu, Martin Guay, Telema Harry, Shimin Wang, Jordan Cooper
Title: Nonadaptive Output Regulation of Second-Order Nonlinear Uncertain Systems
Abstract:
This paper investigates the robust output regulation problem of second-order nonlinear uncertain systems with an unknown exosystem. Instead of the adaptive control approach, this paper resorts to a robust control methodology to solve the problem and thus avoid the bursting phenomenon. In particular, this paper constructs generic internal models for the steady-state state and input variables of the system. By introducing a coordinate transformation, this paper converts the robust output regulation problem into a nonadaptive stabilization problem of an augmented system composed of the second-order nonlinear uncertain system and the generic internal models. Then, we design the stabilization control law and construct a strict Lyapunov function that guarantees the robustness with respect to unmodeled disturbances. The analysis shows that the output zeroing manifold of the augmented system can be made attractive by the proposed nonadaptive control law, which solves the robust output regulation problem. Finally, we demonstrate the effectiveness of the proposed nonadaptive internal model approach by its application to the control of the Duffing system.

Authors:Can Chen, Yunping Huang, Hongwei Zhang, Shimin Wang, Martin Guay, Shu-Chien Hsu, Renxin Zhong
Title: Learning-Based Tracking Perimeter Control for Two-region Macroscopic Traffic Dynamics
Abstract:
Leveraging the concept of the macroscopic fundamental diagram (MFD), perimeter control can alleviate network-level congestion by identifying critical intersections and regulating them effectively. Considering the time-varying nature of travel demand and the equilibrium of accumulation state, we extend the conventional set-point perimeter control (SPC) problem for the two-region MFD system as an optimal tracking perimeter control problem (OTPCP). Unlike the SPC schemes that stabilize the traffic dynamics to the desired equilibrium point, the proposed tracking perimeter control (TPC) scheme regulates the traffic dynamics to a desired trajectory in a differential framework. Due to the inherent network uncertainties, such as heterogeneity of traffic dynamics and demand disturbance, the system dynamics could be uncertain or even unknown. To address these issues, we propose an adaptive dynamic programming (ADP) approach to solving the OTPCP without utilizing the well-calibrated system dynamics. Numerical experiments demonstrate the effectiveness of the proposed ADP-based TPC. Compared with the SPC scheme, the proposed TPC scheme achieves a 20.01% reduction in total travel time and a 3.15% improvement in cumulative trip completion. Moreover, the proposed adaptive TPC approach can regulate the accumulation state under network uncertainties and demand disturbances to the desired time-varying equilibrium trajectory that aims to maximize the trip completion under a nominal demand pattern. These results validate the robustness of the adaptive TPC approach.

Authors:Ratnangshu Das, Subhodeep Choudhury, Pushpak Jagtap
Title: Approximation-free Control for Signal Temporal Logic Specifications using Spatiotemporal Tubes
Abstract:
This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and recast it as a scenario optimization program (SOP) to construct STTs with formal correctness guarantees. We also propose a closed-form control law that operates independently of the system dynamics, and ensures the system trajectory evolves within the STTs, thereby satisfying the STL specifications. The proposed approach is validated through case studies and comparisons with state-of-the-art methods, demonstrating superior computational efficiency, trajectory quality, and applicability to complex STL tasks.

Authors:Riccardo Busetto, Manas Mejari, Marco Forgione, Alberto Bemporad, Dario Piga
Title: Learning Low-Dimensional Embeddings for Black-Box Optimization
Abstract:
When gradient-based methods are impractical, black-box optimization (BBO) provides a valuable alternative. However, BBO often struggles with high-dimensional problems and limited trial budgets. In this work, we propose a novel approach based on meta-learning to pre-compute a reduced-dimensional manifold where optimal points lie for a specific class of optimization problems. When optimizing a new problem instance sampled from the class, black-box optimization is carried out in the reduced-dimensional space, effectively reducing the effort required for finding near-optimal solutions.

Authors:Marco Forgione, Ankush Chakrabarty, Dario Piga, Matteo Rufolo, Alberto Bemporad
Title: Manifold meta-learning for reduced-complexity neural system identification
Abstract:
System identification has greatly benefited from deep learning techniques, particularly for modeling complex, nonlinear dynamical systems with partially unknown physics where traditional approaches may not be feasible. However, deep learning models often require large datasets and significant computational resources at training and inference due to their high-dimensional parameterizations. To address this challenge, we propose a meta-learning framework that discovers a low-dimensional manifold within the parameter space of an over-parameterized neural network architecture. This manifold is learned from a meta-dataset of input-output sequences generated by a class of related dynamical systems, enabling efficient model training while preserving the network's expressive power for the considered system class. Unlike bilevel meta-learning approaches, our method employs an auxiliary neural network to map datasets directly onto the learned manifold, eliminating the need for costly second-order gradient computations during meta-training and reducing the number of first-order updates required in inference, which could be expensive for large models. We validate our approach on a family of Bouc-Wen oscillators, which is a well-studied nonlinear system identification benchmark. We demonstrate that we are able to learn accurate models even in small-data scenarios.

Authors:Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
Title: Provably Safe Control for Constrained Nonlinear Systems with Bounded Input
Abstract:
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect these physical limitations, leading to potential instability, degraded performance, or even system failure when deployed on real-world systems. This paper addresses the control design problem for a class of nonlinear systems under both actuator saturation and output constraints. First, a smooth asymmetric saturation model (a more generic representative of practical scenarios) is proposed to model actuator saturation, which ensures that the control inputs always remain confined within a predefined set to ensure safety. Based on the proposed model, we develop a nonlinear control framework that guarantees output tracking while ensuring that system output remains confined to the predefined set. Later, we integrate this design with the constrained output tracking control problem, wherein we show that the system output tracks its desired trajectory by simultaneously satisfying input and output constraints. The global stabilization of the tracking error is achieved in the presence of input constraints, while semi-global stabilization is achieved in the presence of both input and output constraints. Additionally, we rigorously establish the boundedness of all closed-loop signals under the proposed design. Simulation results demonstrate the effectiveness of the proposed methods in handling asymmetric constraints while achieving desirable tracking performance.

Authors:Xinyang Wang, Martin Guay, Shimin Wang, Hongwei Zhang
Title: Strategic learning for disturbance rejection in multi-agent systems: Nash and Minmax in graphical games
Abstract:
This article investigates the optimal control problem with disturbance rejection for discrete-time multi-agent systems under cooperative and non-cooperative graphical games frameworks. Given the practical challenges of obtaining accurate models, Q-function-based policy iteration methods are proposed to seek the Nash equilibrium solution for the cooperative graphical game and the distributed minmax solution for the non-cooperative graphical game. To implement these methods online, two reinforcement learning frameworks are developed, an actor-disturber-critic structure for the cooperative graphical game and an actor-adversary-disturber-critic structure for the non-cooperative graphical game. The stability of the proposed methods is rigorously analyzed, and simulation results are provided to illustrate the effectiveness of the proposed methods.

Authors:Oliver Schumann, Michael Buchholz, Klaus Dietmayer
Title: Dynamic Objective MPC for Motion Planning of Seamless Docking Maneuvers
Abstract:
Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two steps: path following and rough positioning followed by a high-precision motion planning algorithm. This can generate suboptimal trajectories caused by bad positioning in the first phase and, therefore, prolong the time it takes to reach the goal. In this work, we propose a unified approach, which is based on a Model Predictive Control (MPC) that unifies the advantages of Model Predictive Contouring Control (MPCC) with a Cartesian MPC to reach a specific goal pose. The paper's main contributions are the adaption of the dynamic weight allocation method to reach path ends and goal poses inside driving corridors, and the development of the so-called dynamic objective MPC. The latter is an improvement of the dynamic weight allocation method, which can inherently switch state-dependent from an MPCC to a Cartesian MPC to solve the path-following problem and the high-precision positioning tasks independently of the location of the goal pose seamlessly by one algorithm. This leads to foresighted, feasible, and safe motion plans, which can decrease the mission time and result in smoother trajectories.
中文: 本文提出了一种统一模型预测控制方法，将路径跟踪与高精度定位无缝结合，为自动化车辆生成更平滑的轨迹并缩短任务时间。
English: This paper introduces a unified Model Predictive Control approach that seamlessly integrates path following and high-precision positioning for automated vehicles, resulting in smoother trajectories and reduced mission times.

Authors:Ian Xul Belaustegui, Alessio Franci, Naomi Ehrich Leonard
Title: Tunable Thresholds and Frequency Encoding in a Spiking NOD Controller
Abstract:
Spiking Nonlinear Opinion Dynamics (S-NOD) is an excitable decision-making model inspired by the spiking dynamics of neurons. S-NOD enables the design of agile decision-making that can rapidly switch between decision options in response to a changing environment. In S-NOD, decisions are represented by discrete opinion spikes that evolve in continuous time. Here, we extend previous analysis of S-NOD and explore its potential as a nonlinear controller with a tunable balance between robustness and responsiveness to input. We identify and provide necessary conditions for the bifurcation that determines the onset of periodic opinion spiking. We leverage this analysis to characterize the tunability of the input-output threshold for opinion spiking as a function of the model basal sensitivity and the tunable dependence of opinion spiking frequency on input magnitude above the threshold. We conclude with a discussion of S-NOD as a new neuromorphic control block and its extension to distributed spiking controllers.

Authors:Alessandro Colombo, Riccardo Busetto, Valentina Breschi, Marco Forgione, Dario Piga, Simone Formentin
Title: In-Context Learning for Zero-Shot Speed Estimation of BLDC motors
Abstract:
Accurate speed estimation in sensorless brushless DC motors is essential for high-performance control and monitoring, yet conventional model-based approaches struggle with system nonlinearities and parameter uncertainties. In this work, we propose an in-context learning framework leveraging transformer-based models to perform zero-shot speed estimation using only electrical measurements. By training the filter offline on simulated motor trajectories, we enable real-time inference on unseen real motors without retraining, eliminating the need for explicit system identification while retaining adaptability to varying operating conditions. Experimental results demonstrate that our method outperforms traditional Kalman filter-based estimators, especially in low-speed regimes that are crucial during motor startup.

Authors:Mojtaba Esfandiari, Pengyuan Du, Haochen Wei, Peter Gehlbach, Adnan Munawar, Peter Kazanzides, Iulian Iordachita
Title: Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter
Abstract:
Modeling and controlling cable-driven snake robots is a challenging problem due to nonlinear mechanical properties such as hysteresis, variable stiffness, and unknown friction between the actuation cables and the robot body. This challenge is more significant for snake robots in ophthalmic surgery applications, such as the Improved Integrated Robotic Intraocular Snake (I$^2$RIS), given its small size and lack of embedded sensory feedback. Data-driven models take advantage of global function approximations, reducing complicated analytical models' challenge and computational costs. However, their performance might deteriorate in case of new data unseen in the training phase. Therefore, adding an adaptation mechanism might improve these models' performance during snake robots' interactions with unknown environments. In this work, we applied a model predictive path integral (MPPI) controller on a data-driven model of the I$^2$RIS based on the Gaussian mixture model (GMM) and Gaussian mixture regression (GMR). To analyze the performance of the MPPI in unseen robot-tissue interaction situations, unknown external disturbances and environmental loads are simulated and added to the GMM-GMR model. These uncertainties of the robot model are then identified online using a radial basis function (RBF) whose weights are updated using an extended Kalman filter (EKF). Simulation results demonstrated the robustness of the optimal control solutions of the MPPI algorithm and its computational superiority over a conventional model predictive control (MPC) algorithm.
中文: 本研究通过将数据驱动的GMM-GMR模型与MPPI控制器相结合，并采用EKF更新的RBF网络实现在线自适应，提升了眼科手术中缆驱蛇形机器人的控制性能，在处理不确定性方面展现出比传统MPC更优的鲁棒性和计算效率。
English: This study enhances the control of cable-driven snake robots for ophthalmic surgery by combining a data-driven GMM-GMR model with an MPPI controller and online adaptation using an RBF network updated via EKF, demonstrating superior robustness and computational efficiency over traditional MPC in handling uncertainties.

Authors:Tongxuan Tian, Haoyang Li, Bo Ai, Xiaodi Yuan, Zhiao Huang, Hao Su
Title: Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation
Abstract:
Cloth manipulation is challenging due to its highly complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate both state estimation and dynamics modeling. Inspired by recent advances in generative models, we hypothesize that these expressive models can effectively capture intricate cloth configurations and deformation patterns from data. Therefore, we propose a diffusion-based generative approach for both perception and dynamics modeling. Specifically, we formulate state estimation as reconstructing full cloth states from partial observations and dynamics modeling as predicting future states given the current state and robot actions. Leveraging a transformer-based diffusion model, our method achieves accurate state reconstruction and reduces long-horizon dynamics prediction errors by an order of magnitude compared to prior approaches. We integrate our dynamics models with model predictive control and show that our framework enables effective cloth folding on real robotic systems, demonstrating the potential of generative models for deformable object manipulation under partial observability and complex dynamics.

Authors:Mohd. Faizuddin Faruqui, Ratnangshu Das, Ravi Kumar L, Pushpak Jagtap
Title: Reach-Avoid-Stay-Collision-Avoidance Negotiation Framework for Multi-Agent Systems via Spatiotemporal Tubes
Abstract:
This study presents a multi-agent negotiation-based framework to obtain collision-free paths while performing prescribed-time reach-avoid-stay (RAS) tasks for agents with unknown dynamics and bounded disturbance. By employing spatiotemporal tubes to generate time-varying state constraints, we ensure that all agents adhere to RAS specifications using synthesized controllers. To prevent inter-agent collisions, a negotiation mechanism is proposed where successful negotiations result in spatiotemporal tubes for each agent fulfilling desired tasks. This approach results in a completely distributed, approximation-free control law for each agent. The effectiveness of this mechanism was validated through simulations of multi-agent robot navigation and drone navigation tasks involving prescribed-time RAS specifications and collision avoidance.

Authors:Ratnangshu Das, Aiman Aatif Bayezeed, Pushpak Jagtap
Title: Spatiotemporal Tubes based Controller Synthesis against Omega-Regular Specifications for Unknown Systems
Abstract:
This paper provides a discretization-free solution to the synthesis of approx-imation-free closed-form controllers for unknown nonlinear systems to enforce complex properties expressed by $ω$-regular languages, as recognized by Non-deterministic Büchi Automata (NBA). In order to solve this problem, we first decompose NBA into a sequence of reach-avoid problems, which are solved using the Spatiotemporal Tubes (STT) approach. Controllers for each reach-avoid task are then integrated into a hybrid policy that ensures the fulfillment of the desired $ω$-regular properties. We validate our method through omnidirectional robot navigation and manipulator control case studies.

Authors:Ratnangshu Das, Pranav Bakshi, Pushpak Jagtap
Title: Control Barrier Functions for Prescribed-time Reach-Avoid-Stay Tasks using Spatiotemporal Tubes
Abstract:
Prescribed-time reach-avoid-stay (PT-RAS) specifications are crucial in applications requiring precise timing, state constraints, and safety guarantees. While control carrier functions (CBFs) have emerged as a promising approach, providing formal guarantees of safety, constructing CBFs that satisfy PT-RAS specifications remains challenging. In this paper, we present a novel approach using a spatiotemporal tubes (STTs) framework to construct CBFs for PT-RAS tasks. The STT framework allows for the systematic design of CBFs that dynamically manage both spatial and temporal constraints, ensuring the system remains within a safe operational envelope while achieving the desired temporal objectives. The proposed method is validated with two case studies: temporal motion planning of an omnidirectional robot and temporal waypoint navigation of a drone with obstacles, using higher-order CBFs.

Authors:Kedi Xie, Martin Guay, Shimin Wang, Fang Deng, Maobin Lu
Title: Optimal Output Feedback Learning Control for Discrete-Time Linear Quadratic Regulation
Abstract:
This paper studies the linear quadratic regulation (LQR) problem of unknown discrete-time systems via dynamic output feedback learning control. In contrast to the state feedback, the optimality of the dynamic output feedback control for solving the LQR problem requires an implicit condition on the convergence of the state observer. Moreover, due to unknown system matrices and the existence of observer error, it is difficult to analyze the convergence and stability of most existing output feedback learning-based control methods. To tackle these issues, we propose a generalized dynamic output feedback learning control approach with guaranteed convergence, stability, and optimality performance for solving the LQR problem of unknown discrete-time linear systems. In particular, a dynamic output feedback controller is designed to be equivalent to a state feedback controller. This equivalence relationship is an inherent property without requiring convergence of the estimated state by the state observer, which plays a key role in establishing the off-policy learning control approaches. By value iteration and policy iteration schemes, the adaptive dynamic programming based learning control approaches are developed to estimate the optimal feedback control gain. In addition, a model-free stability criterion is provided by finding a nonsingular parameterization matrix, which contributes to establishing a switched iteration scheme. Furthermore, the convergence, stability, and optimality analyses of the proposed output feedback learning control approaches are given. Finally, the theoretical results are validated by two numerical examples.
中文: 本文针对未知离散时间系统的线性二次调节问题，提出了一种广义动态输出反馈学习控制方法，通过将控制器等效设计为状态反馈形式，无需状态观测器收敛即可保证系统的收敛性、稳定性和最优性。
English: This paper introduces a dynamic output feedback learning control method for solving the linear quadratic regulation problem in unknown discrete-time systems, ensuring convergence, stability, and optimality without requiring observer convergence by equivalently designing the controller to function like state feedback.

Authors:Ganghui Cao, Shimin Wang, Martin Guay, Jinzhi Wang, Zhisheng Duan, Marios M. Polycarpou
Title: Deficient Excitation in Parameter Learning
Abstract:
This paper investigates parameter learning problems under deficient excitation (DE). The DE condition is a rank-deficient, and therefore, a more general evolution of the well-known persistent excitation condition. Under the DE condition, a proposed online algorithm is able to calculate the identifiable and non-identifiable subspaces, and finally give an optimal parameter estimate in the sense of least squares. In particular, the learning error within the identifiable subspace exponentially converges to zero in the noise-free case, even without persistent excitation. The DE condition also provides a new perspective for solving distributed parameter learning problems, where the challenge is posed by local regressors that are often insufficiently excited. To improve knowledge of the unknown parameters, a cooperative learning protocol is proposed for a group of estimators that collect measured information under complementary DE conditions. This protocol allows each local estimator to operate locally in its identifiable subspace, and reach a consensus with neighbours in its non-identifiable subspace. As a result, the task of estimating unknown parameters can be achieved in a distributed way using cooperative local estimators. Application examples in system identification are given to demonstrate the effectiveness of the theoretical results developed in this paper.
中文: 本文提出了一种在不足激励条件下的参数学习在线算法，能够识别并分离可辨识与不可辨识子空间以获得最优最小二乘估计，在无噪声情况下实现指数收敛，并应用于分布式协同学习。
English: This paper introduces an online algorithm for parameter learning under deficient excitation, which identifies and separates identifiable and non-identifiable subspaces to achieve optimal least squares estimates, with exponential convergence in noise-free cases and applications in distributed cooperative learning.

Authors:Petar Bevanda, Max Beier, Armin Lederer, Alexandre Capone, Stefan Sosnowski, Sandra Hirche
Title: Koopman-Equivariant Gaussian Processes
Abstract:
Credible forecasting and representation learning of dynamical systems are of ever-increasing importance for reliable decision-making. To that end, we propose a family of Gaussian processes (GP) for dynamical systems with linear time-invariant responses, which are nonlinear only in initial conditions. This linearity allows us to tractably quantify forecasting and representational uncertainty, simultaneously alleviating the challenge of computing the distribution of trajectories from a GP-based dynamical system and enabling a new probabilistic treatment of learning Koopman operator representations. Using a trajectory-based equivariance -- which we refer to as \textit{Koopman equivariance} -- we obtain a GP model with enhanced generalization capabilities. To allow for large-scale regression, we equip our framework with variational inference based on suitable inducing points. Experiments demonstrate on-par and often better forecasting performance compared to kernel-based methods for learning dynamical systems.

Authors:Jose D. Hoyos, Tianyu Zhou, Zehui Lu, Shaoshuai Mou
Title: Reward-Based Collision-Free Algorithm for Trajectory Planning of Autonomous Robots
Abstract:
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission time, and distance constraints. The formulation extends the prize-collecting traveling salesman problem. A tailored genetic algorithm evolves candidate solutions using a fitness function, crossover, and mutation, with constraint enforcement via a penalty method. Differential flatness and clothoid curves are employed to penalize infeasible trajectories efficiently, while the Euler spiral method ensures curvature-continuous trajectories with bounded curvature, enhancing dynamic feasibility and mitigating oscillations typical of minimum-jerk and snap parameterizations. Due to the discrete variable length optimization space, crossover is performed using a dynamic time-warping-based method and extended convex combination with projection. The algorithm's performance is validated through simulations and experiments with a ground vehicle, quadrotor, and quadruped, supported by benchmarking and time-complexity analysis.

Authors:Bokeng Zheng, Bo Rao, Tianxiang Zhu, Chee Wei Tan, Jingpu Duan, Zhi Zhou, Xu Chen, Xiaoxi Zhang
Title: Online Location Planning for AI-Defined Vehicles: Optimizing Joint Tasks of Order Serving and Spatio-Temporal Heterogeneous Model Fine-Tuning
Abstract:
Advances in artificial intelligence (AI) including foundation models (FMs), are increasingly transforming human society, with smart city driving the evolution of urban living.Meanwhile, vehicle crowdsensing (VCS) has emerged as a key enabler, leveraging vehicles' mobility and sensor-equipped capabilities. In particular, ride-hailing vehicles can effectively facilitate flexible data collection and contribute towards urban intelligence, despite resource limitations. Therefore, this work explores a promising scenario, where edge-assisted vehicles perform joint tasks of order serving and the emerging foundation model fine-tuning using various urban data. However, integrating the VCS AI task with the conventional order serving task is challenging, due to their inconsistent spatio-temporal characteristics: (i) The distributions of ride orders and data point-of-interests (PoIs) may not coincide in geography, both following a priori unknown patterns; (ii) they have distinct forms of temporal effects, i.e., prolonged waiting makes orders become instantly invalid while data with increased staleness gradually reduces its utility for model fine-tuning.To overcome these obstacles, we propose an online framework based on multi-agent reinforcement learning (MARL) with careful augmentation. A new quality-of-service (QoS) metric is designed to characterize and balance the utility of the two joint tasks, under the effects of varying data volumes and staleness. We also integrate graph neural networks (GNNs) with MARL to enhance state representations, capturing graph-structured, time-varying dependencies among vehicles and across locations. Extensive experiments on our testbed simulator, utilizing various real-world foundation model fine-tuning tasks and the New York City Taxi ride order dataset, demonstrate the advantage of our proposed method.

Authors:Xinyang Wang, Hongwei Zhang, Shimin Wang, Wei Xiao, Martin Guay
Title: Learning-Enhanced Safeguard Control for High-Relative-Degree Systems: Robust Optimization under Disturbances and Faults
Abstract:
Merely pursuing performance may adversely affect the safety, while a conservative policy for safe exploration will degrade the performance. How to balance the safety and performance in learning-based control problems is an interesting yet challenging issue. This paper aims to enhance system performance with safety guarantee in solving the reinforcement learning (RL)-based optimal control problems of nonlinear systems subject to high-relative-degree state constraints and unknown time-varying disturbance/actuator faults. First, to combine control barrier functions (CBFs) with RL, a new type of CBFs, termed high-order reciprocal control barrier function (HO-RCBF) is proposed to deal with high-relative-degree constraints during the learning process. Then, the concept of gradient similarity is proposed to quantify the relationship between the gradient of safety and the gradient of performance. Finally, gradient manipulation and adaptive mechanisms are introduced in the safe RL framework to enhance the performance with a safety guarantee. Two simulation examples illustrate that the proposed safe RL framework can address high-relative-degree constraint, enhance safety robustness and improve system performance.

Authors:Tianqi Zhang, Puzhen Yuan, Guojian Zhan, Ziyu Lin, Yao Lyu, Zhenzhi Qin, Jingliang Duan, Liping Zhang, Shengbo Eben Li
Title: Predictive Lagrangian Optimization for Constrained Reinforcement Learning
Abstract:
Constrained optimization is popularly seen in reinforcement learning for addressing complex control tasks. From the perspective of dynamic system, iteratively solving a constrained optimization problem can be framed as the temporal evolution of a feedback control system. Classical constrained optimization methods, such as penalty and Lagrangian approaches, inherently use proportional and integral feedback controllers. In this paper, we propose a more generic equivalence framework to build the connection between constrained optimization and feedback control system, for the purpose of developing more effective constrained RL algorithms. Firstly, we define that each step of the system evolution determines the Lagrange multiplier by solving a multiplier feedback optimal control problem (MFOCP). In this problem, the control input is multiplier, the state is policy parameters, the dynamics is described by policy gradient descent, and the objective is to minimize constraint violations. Then, we introduce a multiplier guided policy learning (MGPL) module to perform policy parameters updating. And we prove that the resulting optimal policy, achieved through alternating MFOCP and MGPL, aligns with the solution of the primal constrained RL problem, thereby establishing our equivalence framework. Furthermore, we point out that the existing PID Lagrangian is merely one special case within our framework that utilizes a PID controller. We also accommodate the integration of other various feedback controllers, thereby facilitating the development of new algorithms. As a representative, we employ model predictive control (MPC) as the feedback controller and consequently propose a new algorithm called predictive Lagrangian optimization (PLO). Numerical experiments demonstrate its superiority over the PID Lagrangian method, achieving a larger feasible region up to 7.2% and a comparable average reward.

Authors:Jinrae Kim, John L. Bullock, Sheng Cheng, Naira Hovakimyan
Title: Smooth Reference Command Generation and Control for Transition Flight of VTOL Aircraft Using Time-Varying Optimization
Abstract:
Vertical take-off and landing (VTOL) aircraft pose a challenge in generating reference commands during transition flight. While sparsity between hover and cruise flight modes can be promoted for effective transitions by formulating $\ell_{1}$-norm minimization problems, solving these problems offline pointwise in time can lead to non-smooth reference commands, resulting in abrupt transitions. This study addresses this limitation by proposing a time-varying optimization method that explicitly considers time dependence. By leveraging a prediction-correction interior-point time-varying optimization framework, the proposed method solves an ordinary differential equation to update reference commands continuously over time, enabling smooth reference command generation in real time. Numerical simulations with a two-dimensional Lift+Cruise vehicle validate the effectiveness of the proposed method, demonstrating its ability to generate smooth reference commands online.

Authors:Robin Inho Kee, Taehyeun Kim, Anouck Girard, Ilya Kolmanovsky
Title: Time Shift Governor-Guided MPC with Collision Cone CBFs for Safe Adaptive Cruise Control in Dynamic Environments
Abstract:
This paper introduces a Time Shift Governor (TSG)-guided Model Predictive Controller with Control Barrier Functions (CBFs)-based constraints for adaptive cruise control (ACC). This MPC-CBF approach is defined for obstacle-free curved road tracking, while following distance and obstacle avoidance constraints are handled using standard CBFs and relaxed Collision Cone CBFs. In order to address scenarios involving rapidly moving obstacles or rapidly changing leading vehicle's behavior, the TSG augmentation is employed which alters the target reference to enforce constraints. Simulation results demonstrate the effectiveness of the TSG-guided MPC-CBF approach.
中文: 本文提出了一种基于时间偏移引导器的模型预测控制方法，结合控制屏障函数实现自适应巡航控制，通过动态调整参考目标有效处理道路跟踪与障碍物避让问题。
English: This paper presents a Time Shift Governor-enhanced Model Predictive Controller with Control Barrier Functions for adaptive cruise control, effectively handling road tracking and obstacle avoidance while adapting to dynamic scenarios through reference adjustment.

Authors:Runze Lin, Junghui Chen, Biao Huang, Lei Xie, Hongye Su
Title: Multi-Mode Process Control Using Multi-Task Inverse Reinforcement Learning
Abstract:
In the era of Industry 4.0 and smart manufacturing, process systems engineering must adapt to digital transformation. While reinforcement learning offers a model-free approach to process control, its applications are limited by the dependence on accurate digital twins and well-designed reward functions. To address these limitations, this paper introduces a novel framework that integrates inverse reinforcement learning (IRL) with multi-task learning for data-driven, multi-mode control design. Using historical closed-loop data as expert demonstrations, IRL extracts optimal reward functions and control policies. A latent-context variable is incorporated to distinguish modes, enabling the training of mode-specific controllers. Case studies on a continuous stirred tank reactor and a fed-batch bioreactor validate the effectiveness of this framework in handling multi-mode data and training adaptable controllers.

Authors:Mohammad Shahmoradi, Korkut Kaan Tokgöz, Eduard Alarcón, Sergi Abadal
Title: Frequency-Dependent Power Consumption Modeling of CMOS Transmitters for WNoC Architectures
Abstract:
Wireless Network-on-Chip (WNoC) systems, which wirelessly interconnect the chips of a computing system, have been proposed as a complement to existing chip-to-chip wired links. However, their feasibility depends on the availability of custom-designed high-speed, tiny, ultra-efficient transceivers. This represents a challenge due to the tradeoffs between bandwidth, area, and energy efficiency that are found as frequency increases, which suggests that there is an optimal frequency region. To aid in the search for such an optimal design point, this paper presents a behavioral model that quantifies the expected power consumption of oscillators, mixers, and power amplifiers as a function of frequency. The model is built on extensive surveys of the respective sub-blocks, all based on experimental data. By putting together the models of the three sub-blocks, a comprehensive power model is obtained, which will aid in selecting the optimal operating frequency for WNoC systems.

Authors:Caio Fabio Oliveira da Silva, Xiaoyu Liu, Azita Dabiri, Bart De Schutter
Title: A state reduction approach for learning-based model predictive control for train rescheduling
Abstract:
This paper proposes a state reduction method for learning-based model predictive control (MPC) for train rescheduling in urban rail transit systems. The state reduction integrates into a control framework where the discrete decision variables are determined by a learning-based classifier and the continuous decision variables are computed by MPC. Herein, the state representation is designed separately for each component of the control framework. While a reduced state is employed for learning, a full state is used in MPC. Simulations on a large-scale train network highlight the effectiveness of the state reduction mechanism in improving the performance and reducing the memory usage.

Authors:Xiaoyu Liu, Dimos V. Dimarogonas, Changxin Liu, Azita Dabiri, Bart De Schutter
Title: Distributed model predictive control without terminal cost under inexact distributed optimization
Abstract:
This paper presents a novel distributed model predictive control (MPC) formulation without terminal cost and a corresponding distributed synthesis approach for distributed linear discrete-time systems with coupled constraints. The proposed control scheme introduces an explicit stability condition as an additional constraint based on relaxed dynamic programming. As a result, contrary to other related approaches, system stability with the developed controller does not rely on designing a terminal cost. A distributed synthesis approach is then introduced to handle the stability constraint locally within each local agent. To solve the underlying optimization problem for distributed MPC, a violation-free distributed optimization approach is developed, using constraint tightening to ensure feasibility throughout iterations. A numerical example demonstrates that the proposed distributed MPC approach ensures closed-loop stability for each feasible control sequence, with each agent computing its control input in parallel.

Authors:Zhouchang Li, Runze Lin, Hongye Su, Lei Xie
Title: Reinforcement Learning-Driven Plant-Wide Refinery Planning Using Model Decomposition
Abstract:
In the era of smart manufacturing and Industry 4.0, the refining industry is evolving towards large-scale integration and flexible production systems. In response to these new demands, this paper presents a novel optimization framework for plant-wide refinery planning, integrating model decomposition with deep reinforcement learning. The approach decomposes the complex large scale refinery optimization problem into manageable submodels, improving computational efficiency while preserving accuracy. A reinforcement learning-based pricing mechanism is introduced to generate pricing strategies for intermediate products, facilitating better coordination between submodels and enabling rapid responses to market changes. Three industrial case studies, covering both single-period and multi-period planning, demonstrate significant improvements in computational efficiency while ensuring refinery profitability.

Authors:Subhradip Chakraborty, Shay Snyder, Md Abdullah-Al Kaiser, Maryam Parsa, Gregory Schwartz, Akhilesh R. Jaiswal
Title: A Retina-Inspired Pathway to Real-Time Motion Prediction inside Image Sensors for Extreme-Edge Intelligence
Abstract:
The ability to predict motion in real time is fundamental to many maneuvering activities in animals, particularly those critical for survival, such as attack and escape responses. Given its significance, it is no surprise that motion prediction in animals begins in the retina. Similarly, autonomous systems utilizing computer vision could greatly benefit from the capability to predict motion in real time. Therefore, for computer vision applications, motion prediction should be integrated directly at the camera pixel level. Towards that end, we present a retina-inspired neuromorphic framework capable of performing real-time, energy-efficient MP directly within camera pixels. Our hardware-algorithm framework, implemented using GlobalFoundries 22nm FDSOI technology, integrates key retinal MP compute blocks, including a biphasic filter, spike adder, nonlinear circuit, and a 2D array for multi-directional motion prediction. Additionally, integrating the sensor and MP compute die using a 3D Cu-Cu hybrid bonding approach improves design compactness by minimizing area usage and simplifying routing complexity. Validated on real-world object stimuli, the model delivers efficient, low-latency MP for decision-making scenarios reliant on predictive visual computation, while consuming only 18.56 pJ/MP in our mixed-signal hardware implementation.

Authors:Filippo Airaldi, Bart De Schutter, Azita Dabiri
Title: Probabilistically safe and efficient model-based reinforcement learning
Abstract:
This paper proposes tackling safety-critical stochastic Reinforcement Learning (RL) tasks with a sample-based, model-based approach. At the core of the method lies a Model Predictive Control (MPC) scheme that acts as function approximation, providing a model-based predictive control policy. To ensure safety, a probabilistic Control Barrier Function (CBF) is integrated into the MPC controller. To approximate the effects of stochasticies in the optimal control formulation and to fulfil the probabilistic CBF condition, a sample-based approach with guarantees is employed. Furthermore, to counterbalance the additional computational burden due to sampling, a learnable terminal cost formulation is included in the MPC objective. An RL algorithm is deployed to learn both the terminal cost and the CBF constraint. Results from a numerical experiment on a constrained LTI problem corroborate the effectiveness of the proposed methodology in reducing computation time while preserving control performance and safety.

Authors:Kehao Zhuang, Huanhai Xin, Verena Häberle, Xiuqiang He, Linbin Huang, Florian Dörfler
Title: Quantifying Grid-Forming Behavior: Bridging Device-level Dynamics and System-Level Stability
Abstract:
Grid-Forming (GFM) technology is considered a promising solution to build power electronics-dominated power systems. However, the impact of GFM converters on the system stability is still unquantified, creating a gap between the system- and device-level perspectives. To fill this gap, at the device-level, we propose a Forming Index to quantify a converter's response to grid voltage variations, providing a characterization of its GFM behavior. At the system-level, a quantitative notion of System Strength is introduced to capture the fundamental requirements for power system formation. Finally, we establish the alignment between device- and system-level metrics by demonstrating that GFM converters provably enhance system strength.

Authors:Mingjia He, Yannik Werner, Andrea Censi, Emilio Frazzoli, Gioele Zardini
Title: Iterative VCG-based Mechanism Fosters Cooperation in Multi-Regional Network Design
Abstract:
Transportation network design often involves multiple stakeholders with diverse priorities. We consider a system with a hierarchical multi-agent structure, featuring self-optimized subnetwork operators at the lower level and a central organization at the upper level. Independent regional planning can lead to inefficiencies due to the lack of coordination, hindering interregional travel and cross-border infrastructure development, while centralized methods may struggle to align local interests and can be impractical to implement. To support decision making for such a system, we introduce an iterative VCG-based mechanism for multi-regional network design that fosters cooperation among subnetwork operators. By leveraging the Vickery-Clarke-Groves (VCG) mechanism, the framework determines collective investment decisions and the necessary payments from both operators and the central organization to achieve efficient outcomes. A case study on the European Railway System validates the effectiveness of the proposed method, demonstrating significant improvements in overall network performance through enhanced cross-region cooperation.

Authors:Giovanni Franzese, Max Spahn, Jens Kober, Cosimo Della Santina
Title: MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices
Abstract:
To increase the reliability of collaborative robots in performing daily tasks, we require them to be accurate and not only repeatable. However, having a calibrated kinematics model is regrettably a luxury, as available calibration tools are usually more expensive than the robots themselves. With this work, we aim to contribute to the democratization of cobots calibration by providing an inexpensive yet highly effective alternative to existing tools. The proposed minimalist calibration routine relies on a 3D-printable tool as the only physical aid to the calibration process. This two-socket spherical-joint tool kinematically constrains the robot at the end effector while collecting the training set. An optimization routine updates the nominal model to ensure a consistent prediction for each socket and the undistorted mean distance between them. We validated the algorithm on three robotic platforms: Franka, Kuka, and Kinova Cobots. The calibrated models reduce the mean absolute error from the order of 10 mm to 0.2 mm for both Franka and Kuka robots. We provide two additional experimental campaigns with the Franka Robot to render the improvements more tangible. First, we implement Cartesian control with and without the calibrated model and use it to perform a standard peg-in-the-hole task with a tolerance of 0.4 mm between the peg and the hole. Second, we perform a repeated drawing task combining Cartesian control with learning from demonstration. Both tasks consistently failed when the model was not calibrated, while they consistently succeeded after calibration.

Authors:Dejan Milojevic, Gioele Zardini, Miriam Elser, Andrea Censi, Emilio Frazzoli
Title: CODEI: Resource-Efficient Task-Driven Co-Design of Perception and Decision Making for Mobile Robots Applied to Autonomous Vehicles
Abstract:
This paper discusses the integration challenges and strategies for designing mobile robots, by focusing on the task-driven, optimal selection of hardware and software to balance safety, efficiency, and minimal usage of resources such as costs, energy, computational requirements, and weight. We emphasize the interplay between perception and motion planning in decision-making by introducing the concept of occupancy queries to quantify the perception requirements for sampling-based motion planners. Sensor and algorithm performance are evaluated using False Negative Rates (FPR) and False Positive Rates (FPR) across various factors such as geometric relationships, object properties, sensor resolution, and environmental conditions. By integrating perception requirements with perception performance, an Integer Linear Programming (ILP) approach is proposed for efficient sensor and algorithm selection and placement. This forms the basis for a co-design optimization that includes the robot body, motion planner, perception pipeline, and computing unit. We refer to this framework for solving the co-design problem of mobile robots as CODEI, short for Co-design of Embodied Intelligence. A case study on developing an Autonomous Vehicle (AV) for urban scenarios provides actionable information for designers, and shows that complex tasks escalate resource demands, with task performance affecting choices of the autonomy stack. The study demonstrates that resource prioritization influences sensor choice: cameras are preferred for cost-effective and lightweight designs, while lidar sensors are chosen for better energy and computational efficiency.

Authors:Verena Häberle, Xiuqiang He, Linbin Huang, Florian Dörfler, Steven Low
Title: Decentralized Parametric Stability Certificates for Grid-Forming Converter Control
Abstract:
We propose a decentralized framework for guaranteeing the small-signal stability of future power systems with grid-forming converters. Our approach leverages dynamic loop-shifting techniques to compensate for the lack of passivity in the network dynamics and establishes decentralized parametric stability certificates, depending on the local device-level controls and incorporating the effects of the network dynamics. By following practical tuning rules, we are able to ensure plug-and-play operation without centralized coordination. Unlike prior works, our approach accommodates coupled frequency and voltage dynamics, incorporates network dynamics, and does not rely on specific network configurations or operating points, offering a general and scalable solution for the integration of power-electronics-based devices into future power systems. We validate our theoretical stability results through numerical case studies in a high-fidelity simulation model.

Authors:Xiaoyu Liu, Caio Fabio Oliveira da Silva, Azita Dabiri, Yihui Wang, Bart De Schutter
Title: Learning-based model predictive control for passenger-oriented train rescheduling with flexible train composition
Abstract:
This paper focuses on passenger-oriented real-time train rescheduling, considering flexible train composition and rolling stock circulation, by integrating learning-based and optimization-based approaches. A learning-based model predictive control (MPC) approach is developed for real-time train rescheduling with flexible train composition and rolling stock circulation to address time-varying passenger demands. In the proposed approach, the values of the integer variables are obtained by pre-trained long short-term memory (LSTM) networks, while the continuous variables are determined through nonlinear constrained optimization. The learning-based MPC approach enables us to jointly consider efficiency and constraint satisfaction by combining learning-based and optimization-based approaches. In order to reduce the number of integer variables, four presolve techniques are developed to prune a subset of integer decision variables. Numerical simulations based on real-life data from the Beijing urban rail transit system are conducted to illustrate the effectiveness of the developed learning-based MPC approach.

Authors:Jean-Baptiste Bouvier, Kanghyun Ryu, Kartik Nagpal, Qiayuan Liao, Koushil Sreenath, Negar Mehr
Title: DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories
Abstract:
Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot motion. However, the stochastic nature of diffusion models is fundamentally at odds with the precise dynamical equations describing the feasible motion of robots. Hence, generating dynamically admissible robot trajectories is a challenge for diffusion models. To alleviate this issue, we introduce DDAT: Diffusion policies for Dynamically Admissible Trajectories to generate provably admissible trajectories of black-box robotic systems using diffusion models. A sequence of states is a dynamically admissible trajectory if each state of the sequence belongs to the reachable set of its predecessor by the robot's equations of motion. To generate such trajectories, our diffusion policies project their predictions onto a dynamically admissible manifold during both training and inference to align the objective of the denoiser neural network with the dynamical admissibility constraint. The auto-regressive nature of these projections along with the black-box nature of robot dynamics render these projections immensely challenging. We thus enforce admissibility by iteratively sampling a polytopic under-approximation of the reachable set of a state onto which we project its predicted successor, before iterating this process with the projected successor. By producing accurate trajectories, this projection eliminates the need for diffusion models to continually replan, enabling one-shot long-horizon trajectory planning. We demonstrate that our framework generates higher quality dynamically admissible robot trajectories through extensive simulations on a quadcopter and various MuJoCo environments, along with real-world experiments on a Unitree GO1 and GO2.

Authors:Marino Kühne, Panagiotis D. Grontas, Giulia De Pasquale, Giuseppe Belgioioso, Florian Dörfler, John Lygeros
Title: Optimizing Social Network Interventions via Hypergradient-Based Recommender System Design
Abstract:
Although social networks have expanded the range of ideas and information accessible to users, they are also criticized for amplifying the polarization of user opinions. Given the inherent complexity of these phenomena, existing approaches to counteract these effects typically rely on handcrafted algorithms and heuristics. We propose an elegant solution: we act on the network weights that model user interactions on social networks (e.g., frequency of communication), to optimize a performance metric (e.g., polarization reduction), while users' opinions follow the classical Friedkin-Johnsen model. Our formulation gives rise to a challenging large-scale optimization problem with non-convex constraints, for which we develop a gradient-based algorithm. Our scheme is simple, scalable, and versatile, as it can readily integrate different, potentially non-convex, objectives. We demonstrate its merit by: (i) rapidly solving complex social network intervention problems with 3 million variables based on the Reddit and DBLP datasets; (ii) significantly outperforming competing approaches in terms of both computation time and disagreement reduction.

Authors:Azita Dabiri, Giray Önür, Sebastien Gros, Bart De Schutter
Title: Optimization-based Coordination of Traffic Lights and Automated Vehicles at Intersections
Abstract:
This paper tackles the challenge of coordinating traffic lights and automated vehicles at signalized intersections, formulated as a constrained finite-horizon optimal control problem. The problem falls into the category of mixed-integer nonlinear programming, posing challenges for solving large instances. To address this, we introduce a decomposition approach consisting of an upper-level problem for traffic light timing allocation and a set of lower-level problems that generate appropriate commands for automated vehicles in each intersection movement. By leveraging solutions from the lower-level problems and employing parametric optimization techniques, we solve the upper-level problem using a standard sequential quadratic programming approach. The paper concludes by presenting an illustrative numerical example that highlights the effectiveness of our algorithm compared to scenarios where no coordination between traffic lights and vehicles exists.

Authors:Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbab, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica Hodgins, Linxi "Jim" Fan, Yuke Zhu, Changliu Liu, Guanya Shi
Title: ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
Abstract:
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between simulation and the real world. Existing approaches, such as system identification (SysID) and domain randomization (DR) methods, often rely on labor-intensive parameter tuning or result in overly conservative policies that sacrifice agility. In this paper, we present ASAP (Aligning Simulation and Real-World Physics), a two-stage framework designed to tackle the dynamics mismatch and enable agile humanoid whole-body skills. In the first stage, we pre-train motion tracking policies in simulation using retargeted human motion data. In the second stage, we deploy the policies in the real world and collect real-world data to train a delta (residual) action model that compensates for the dynamics mismatch. Then, ASAP fine-tunes pre-trained policies with the delta action model integrated into the simulator to align effectively with real-world dynamics. We evaluate ASAP across three transfer scenarios: IsaacGym to IsaacSim, IsaacGym to Genesis, and IsaacGym to the real-world Unitree G1 humanoid robot. Our approach significantly improves agility and whole-body coordination across various dynamic motions, reducing tracking error compared to SysID, DR, and delta dynamics learning baselines. ASAP enables highly agile motions that were previously difficult to achieve, demonstrating the potential of delta action learning in bridging simulation and real-world dynamics. These results suggest a promising sim-to-real direction for developing more expressive and agile humanoids.

Authors:Taehyeun Kim, Tae-Geun Kim, Anouck Girard, Ilya Kolmanovsky
Title: Learning Hamiltonian Dynamics with Bayesian Data Assimilation
Abstract:
In this paper, we develop a neural network-based approach for time-series prediction in unknown Hamiltonian dynamical systems. Our approach leverages a surrogate model and learns the system dynamics using generalized coordinates (positions) and their conjugate momenta while preserving a constant Hamiltonian. To further enhance long-term prediction accuracy, we introduce an Autoregressive Hamiltonian Neural Network, which incorporates autoregressive prediction errors into the training objective. Additionally, we employ Bayesian data assimilation to refine predictions in real-time using online measurement data. Numerical experiments on a spring-mass system and highly elliptic orbits under gravitational perturbations demonstrate the effectiveness of the proposed method, highlighting its potential for accurate and robust long-term predictions.

Authors:Xiaoxiao Li, Zhirui Sun, Hongpeng Wang, Shuai Li, Jiankun Wang
Title: A Predictive Cooperative Collision Avoidance for Multi-Robot Systems Using Control Barrier Function
Abstract:
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related derivatives myopically focus on present safety at each time step, a reasoning over a look-ahead horizon is exactly missing. In this paper, a predictive safety matrix is constructed. We then consolidate the safety condition based on the smallest eigenvalue of the proposed safety matrix. A predefined deconfliction strategy of motion paths is embedded into the trajectory tracking module to manage deadlock conflicts, which computes the deadlock escape velocity with the minimum attitude angle. Comparison results show that the introduction of the predictive term is robust for measurement uncertainty and is immune to oscillations. The proposed deadlock avoidance method avoids a large detour, without obvious stagnation.

Authors:Yupeng Zhou, Can Cui, Juntong Peng, Zichong Yang, Juanwu Lu, Jitesh H Panchal, Bin Yao, Ziran Wang
Title: A Hierarchical Test Platform for Vision Language Model (VLM)-Integrated Real-World Autonomous Driving
Abstract:
Vision-Language Models (VLMs) have demonstrated notable promise in autonomous driving by offering the potential for multimodal reasoning through pretraining on extensive image-text pairs. However, adapting these models from broad web-scale data to the safety-critical context of driving presents a significant challenge, commonly referred to as domain shift. Existing simulation-based and dataset-driven evaluation methods, although valuable, often fail to capture the full complexity of real-world scenarios and cannot easily accommodate repeatable closed-loop testing with flexible scenario manipulation. In this paper, we introduce a hierarchical real-world test platform specifically designed to evaluate VLM-integrated autonomous driving systems. Our approach includes a modular, low-latency on-vehicle middleware that allows seamless incorporation of various VLMs, a clearly separated perception-planning-control architecture that can accommodate both VLM-based and conventional modules, and a configurable suite of real-world testing scenarios on a closed track that facilitates controlled yet authentic evaluations. We demonstrate the effectiveness of the proposed platform`s testing and evaluation ability with a case study involving a VLM-enabled autonomous vehicle, highlighting how our test framework supports robust experimentation under diverse conditions.

Authors:Guido Carnevale, Filippo Fabiani, Filiberto Fele, Kostas Margellos, Giuseppe Notarstefano
Title: Distributed equilibrium seeking in aggregative games: linear convergence under singular perturbations lens
Abstract:
We present a fully-distributed algorithm for Nash equilibrium seeking in aggregative games over networks. The proposed scheme endows each agent with a gradient-based scheme equipped with a tracking mechanism to locally reconstruct the aggregative variable, which is not available to the agents. We show that our method falls into the framework of singularly perturbed systems, as it involves the interconnection between a fast subsystem - the global information reconstruction dynamics - with a slow one concerning the optimization of the local strategies. This perspective plays a key role in analyzing the scheme with a constant stepsize, and in proving its linear convergence to the Nash equilibrium in strongly monotone games with local constraints. By exploiting the flexibility of our aggregative variable definition (not necessarily the arithmetic average of the agents' strategy), we show the efficacy of our algorithm on a realistic voltage support case study for the smart grid.

Authors:Hao Wang, Licheng Pan, Zhichao Chen, Xu Chen, Qingyang Dai, Lei Wang, Haoxuan Li, Zhouchen Lin
Title: TransDF: Time-Series Forecasting Needs Transformed Label Alignment
Abstract:
Training time-series forecasting models presents unique challenges in designing effective learning objectives. Existing methods predominantly utilize the temporal mean squared error, which faces two critical challenges: (1) label autocorrelation, which leads to bias from the label sequence likelihood; (2) excessive amount of tasks, which increases with the forecast horizon and complicates optimization. To address these challenges, we propose Transform-enhanced Direct Forecast (TransDF), which transforms the label sequence into decorrelated components with discriminated significance. Models are trained to align the most significant components, thereby effectively mitigating label autocorrelation and reducing task amount. Extensive experiments demonstrate that TransDF achieves state-of-the-art performance and is compatible with various forecasting models. Code is available at https://anonymous.4open.science/r/TransDF-88CF.
中文：提出的Time-o1方法通过将标签序列转换为去相关的分量来缓解标签自相关并降低任务复杂度，在时间序列预测中实现了最先进的性能。
English: The proposed Time-o1 method transforms label sequences into decorrelated components to mitigate label autocorrelation and reduce task complexity, achieving state-of-the-art performance in time-series forecasting.

Authors:Xiao Tan, Junior Sundar, Renzo Bruzzone, Pio Ong, Willian T. Lunardi, Martin Andreoni, Paulo Tabuada, Aaron D. Ames
Title: Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks
Abstract:
Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which extends the well-established control barrier function (CBF)-based safety filter to account for, and mitigate, sensor attacks. This module consists of a secure state reconstructor (which generates plausible states) and a safety filter (which computes the safe control input that is closest to the nominal one). Differing from existing work focusing on linear, noise-free systems, the proposed secure safety filter handles bounded measurement noise and, by leveraging reduced-order model techniques, is applicable to the nonlinear dynamics of drones. Software-in-the-loop simulations and drone hardware experiments demonstrate the effectiveness of the secure safety filter in rendering the system safe in the presence of sensor attacks.

Authors:Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames
Title: Secure Safety Filter Design for Sampled-data Nonlinear Systems under Sensor Spoofing Attacks
Abstract:
This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their applications in real-world scenarios. In this work, we extend these results to nonlinear systems in a principled way. We introduce exact observability maps that abstract specific state estimation algorithms and extend them to a secure version capable of handling sensor attacks. Our generalization also applies to the relaxed observability case, with slightly relaxed guarantees. More importantly, we propose a secure safety filter design in both exact and relaxed cases, which incorporates secure state estimation and a control barrier function-enabled safety filter. The proposed approach provides theoretical safety guarantees for nonlinear systems in the presence of sensor attacks. We numerically validate our analysis on a unicycle vehicle equipped with redundant yet partly compromised sensors.

Authors:Jianpeng Qi, Chao Liu, Chengxiang Xu, Rui Wang, Junyu Dong, Yanwei Yu
Title: Efficient Information Updates in Compute-First Networking via Reinforcement Learning with Joint AoI and VoI
Abstract:
Timely and efficient dissemination of service information is critical in compute-first networking systems, where user requests arrive dynamically and computing resources are constrained. In such systems, the access point (AP) plays a key role in forwarding user requests to a server based on its latest received service information. This paper considers a single-source, single-destination system and introduces an Age-and-Value-Aware (AVA) metric that jointly captures both the timeliness and the task relevance of service information. Unlike traditional freshness-based metrics, AVA explicitly incorporates variations in server-side service capacity and AP forwarding decisions, allowing more context-aware update evaluation. Building upon AVA, we propose a reinforcement learning-based update policy that learns to selectively transmit service information updates to the AP. It aims to maximize overall task success while minimizing unnecessary communications. Extensive simulations under diverse user request patterns and varying service capacities demonstrate that AVA reduces the update frequency by over 90% on average compared to baselines, with reductions reaching 98% in certain configurations. Crucially, this reduction is achieved without compromising the accuracy of task execution or the quality of decision making.

Authors:Negar Erfaniantaghvayi, Zhongyuan Zhao, Kevin Chan, Ananthram Swami, Santiago Segarra
Title: SeLR: Sparsity-enhanced Lagrangian Relaxation for Computation Offloading at the Edge
Abstract:
This paper introduces a novel computational approach for offloading sensor data processing tasks to servers in edge networks for better accuracy and makespan. A task is assigned with one of several offloading options, each comprises a server, a route for uploading data to the server, and a service profile that specifies the performance and resource consumption at the server and in the network. This offline offloading and routing problem is formulated as mixed integer programming (MIP), which is non-convex and HP-hard due to the discrete decision variables associated to the offloading options. The novelty of our approach is to transform this non-convex problem into iterative convex optimization by relaxing integer decision variables into continuous space, combining primal-dual optimization for penalizing constraint violations and reweighted $L_1$-minimization for promoting solution sparsity, which achieves better convergence through a smoother path in a continuous search space. Compared to existing greedy heuristics, our approach can achieve a better Pareto frontier in accuracy and latency, scales better to larger problem instances, and can achieve a 7.72--9.17$\times$ reduction in computational overhead of scheduling compared to the optimal solver in hierarchically organized edge networks with 300 nodes and 50--100 tasks.

Authors:Zhongyuan Zhao, Yujun Ming, Ananthram Swami, Kevin Chan, Fikadu Dagefu, Santiago Segarra
Title: Generalizing Biased Backpressure Routing and Scheduling to Wireless Multi-hop Networks with Advanced Air-interfaces
Abstract:
Backpressure (BP) routing and scheduling is a well-established resource allocation method for wireless multi-hop networks, known for its fully distributed operations and proven maximum queue stability. Recent advances in shortest path-biased BP routing (SP-BP) mitigate shortcomings such as slow startup and random walk, but exclusive link-level commodity selection still suffers from the last-packet problem and bandwidth underutilization. Moreover, classic BP routing implicitly assumes single-input-single-output (SISO) transceivers, which can lead to the same packets being scheduled on multiple outgoing links for multiple-input-multiple-output (MIMO) transceivers, causing detouring and looping in MIMO networks. In this paper, we revisit the foundational Lyapunov drift theory underlying BP routing and demonstrate that exclusive commodity selection is unnecessary, and instead propose a Max-Utility link-sharing method. Additionally, we generalize MaxWeight scheduling to MIMO networks by introducing attributed capacity hypergraphs (ACH), an extension of traditional conflict graphs for SISO networks, and by incorporating backlog reassignment into scheduling iterations to prevent redundant packet routing. Numerical evaluations show that our approach substantially mitigates the last-packet problem in state-of-the-art (SOTA) SP-BP under lightweight traffic, and slightly expands the network capacity region for heavier traffic.

Authors:Huajie Wu, Wenyi Liu, Yunfan Ren, Zheng Liu, Hairuo Wei, Fangcheng Zhu, Haotian Li, Fu Zhang
Title: Flying through cluttered and dynamic environments with LiDAR
Abstract:
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based system designed to enable UAVs to avoid various moving obstacles in complex environments. Benefiting the high computational efficiency of perception and planning, the system can operate in real time using onboard computing resources with low latency. For dynamic environment perception, we have integrated our previous work, M-detector, into the system. M-detector ensures that moving objects of different sizes, colors, and types are reliably detected. For dynamic environment planning, we incorporate dynamic object predictions into the integrated planning and control (IPC) framework, namely DynIPC. This integration allows the UAV to utilize predictions about dynamic obstacles to effectively evade them. We validate our proposed system through both simulations and real-world experiments. In simulation tests, our system outperforms state-of-the-art baselines across several metrics, including success rate, time consumption, average flight time, and maximum velocity. In real-world trials, our system successfully navigates through forests, avoiding moving obstacles along its path.

Authors:Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute, George Nikolakopoulos
Title: Collision-free landing of multiple UAVs on moving ground vehicles using time-varying control barrier functions
Abstract:
In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework employs two kinds of CBFs to impose safety constraints on the UAVs' motion. The first class of CBFs (LCBF) is a three-dimensional exponentially decaying function centered above the landing platform, designed to safely and precisely land UAVs on the UGVs. The second set is a spherical CBF (SCBF), defined between every pair of UAVs, which avoids collisions between them. The LCBF is time-varying and adapts to the motions of the UGVs. In the proposed CBF approach, the control input from the UAV's nominal tracking controller designed to reach the landing platform is filtered to choose a minimally-deviating control input that ensures safety (as defined by the CBFs). As the control inputs of every UAV are shared in establishing multiple CBF constraints, we prove that the control inputs are shared without conflict in rendering the safe sets forward invariant. The performance of the control framework is validated through a simulated scenario involving three UAVs landing on three moving targets.

Authors:Riccardo Brumali, Guido Carnevale, Giuseppe Notarstefano
Title: Data-Driven Distributed Optimization via Aggregative Tracking and Deep-Learning
Abstract:
In this paper, we propose a novel distributed data-driven optimization scheme. In detail, we focus on the so-called aggregative framework, a scenario in which a set of agents aim to cooperatively minimize the sum of local costs, each depending on both local decision variables and an aggregation of all of them. We consider a data-driven setup where each objective function is unknown and can be sampled at a single point per iteration (thanks to, e.g., feedback from users or sensors). We address this scenario through a distributed algorithm combining three components: (i) a learning part leveraging neural networks to learn the local costs descent direction, (ii) an optimization routine steering the estimates according to the learned direction to minimize the global cost, and (iii) a tracking mechanism locally reconstructing the unavailable global quantities. Using tools from system theory, i.e., timescale separation and averaging theory, we formally prove that in strongly convex setups, the distributed scheme linearly converges to a neighborhood of the optimum, whose radius depends on the accuracy of the neural networks. Finally, numerical simulations validate the theoretical results.

Authors:Minzhe Zheng, Lei Zheng, Lei Zhu, Jun Ma
Title: Occlusion-Aware Consistent Model Predictive Control for Robot Navigation in Occluded Obstacle-Dense Environments
Abstract:
Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-aware Consistent Model Predictive Control (CMPC) strategy. To account for the occluded obstacles, it incorporates adjustable risk regions that represent their potential future locations. Subsequently, dynamic risk boundary constraints are developed online to ensure safety.The CMPC then constructs multiple locally optimal trajectory branches (each tailored to different risk regions) to strike a balance between safety and performance. A shared consensus segment is generated to ensure smooth transitions between branches without significant velocity fluctuations, further preserving motion consistency. To facilitate high computational efficiency and ensure coordination across local trajectories, we use the alternating direction method of multipliers (ADMM) to decompose the CMPC into manageable sub-problems for parallel solving. The proposed strategy is validated through simulations and real-world experiments on an Ackermann-steering robot platform. The results demonstrate the effectiveness of the proposed CMPC strategy through comparisons with baseline approaches in occluded, obstacle-dense environments.

Authors:Ioannis Mandralis, Reza Nemovi, Alireza Ramezani, Richard M. Murray, Morteza Gharib
Title: ATMO: An Aerially Transforming Morphobot for Dynamic Ground-Aerial Transition
Abstract:
Designing ground-aerial robots is challenging due to the increased actuation requirements which can lead to added weight and reduced locomotion efficiency. Morphobots mitigate this by combining actuators into multi-functional groups and leveraging ground transformation to achieve different locomotion modes. However, transforming on the ground requires dealing with the complexity of ground-vehicle interactions during morphing, limiting applicability on rough terrain. Mid-air transformation offers a solution to this issue but demands operating near or beyond actuator limits while managing complex aerodynamic forces. We address this problem by introducing the Aerially Transforming Morphobot (ATMO), a robot which transforms near the ground achieving smooth transition between aerial and ground modes. To achieve this, we leverage the near ground aerodynamics, uncovered by experimental load cell testing, and stabilize the system using a model-predictive controller that adapts to ground proximity and body shape. The system is validated through numerous experimental demonstrations. We find that ATMO can land smoothly at body postures past its actuator saturation limits by virtue of the uncovered ground-effect.

Authors:Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames
Title: Computationally Efficient Safe Control of Linear Systems under Severe Sensor Attacks
Abstract:
Cyber-physical systems are prone to sensor attacks that can compromise safety. A common approach to synthesizing controllers robust to sensor attacks is secure state reconstruction (SSR) -- but this is computationally expensive, hindering real-time control. In this paper, we take a safety-critical perspective on mitigating severe sensor attacks, leading to a computationally efficient solution. Namely, we design feedback controllers that ensure system safety by directly computing control actions from past input-output data. Instead of fully solving the SSR problem, we use conservative bounds on a control barrier function (CBF) condition, which we obtain by extending the recent eigendecomposition-based SSR approach to severe sensor attack settings. Additionally, we present an extended approach that solves a smaller-scale subproblem of the SSR problem, taking on some computational burden to mitigate the conservatism in the main approach. Numerical comparisons confirm that the traditional SSR approaches suffer from combinatorial issues, while our approach achieves safety guarantees with greater computational efficiency.

Authors:Adam Lechowicz, Rohan Shenoy, Noman Bashir, Mohammad Hajiesmaili, Adam Wierman, Christina Delimitrou
Title: Carbon- and Precedence-Aware Scheduling for Data Processing Clusters
Abstract:
As large-scale data processing workloads continue to grow, their carbon footprint raises concerns. Prior research on carbon-aware schedulers has focused on shifting computation to align with availability of low-carbon energy, but these approaches assume that each task can be executed independently. In contrast, data processing jobs have precedence constraints (i.e., outputs of one task are inputs for another) that complicate decisions, since delaying an upstream ``bottleneck'' task to a low-carbon period will also block downstream tasks, impacting the entire job's completion time. In this paper, we show that carbon-aware scheduling for data processing benefits from knowledge of both time-varying carbon and precedence constraints. Our main contribution is $\texttt{PCAPS}$, a carbon-aware scheduler that interfaces with modern ML scheduling policies to explicitly consider the precedence-driven importance of each task in addition to carbon. To illustrate the gains due to fine-grained task information, we also study $\texttt{CAP}$, a wrapper for any carbon-agnostic scheduler that adapts the key provisioning ideas of $\texttt{PCAPS}$. Our schedulers enable a configurable priority between carbon reduction and job completion time, and we give analytical results characterizing the trade-off between the two. Furthermore, our Spark prototype on a 100-node Kubernetes cluster shows that a moderate configuration of $\texttt{PCAPS}$ reduces carbon footprint by up to 32.9% without significantly impacting the cluster's total efficiency.

Authors:Soumyendu Sarkar, Avisek Naug, Antonio Guillen, Vineet Gundecha, Ricardo Luna Gutierrez, Sahand Ghorbanpour, Sajad Mousavi, Ashwin Ramesh Babu, Desik Rengarajan, Cullen Bash
Title: Hierarchical Multi-Agent Framework for Carbon-Efficient Liquid-Cooled Data Center Clusters
Abstract:
Reducing the environmental impact of cloud computing requires efficient workload distribution across geographically dispersed Data Center Clusters (DCCs) and simultaneously optimizing liquid and air (HVAC) cooling with time shift of workloads within individual data centers (DC). This paper introduces Green-DCC, which proposes a Reinforcement Learning (RL) based hierarchical controller to optimize both workload and liquid cooling dynamically in a DCC. By incorporating factors such as weather, carbon intensity, and resource availability, Green-DCC addresses realistic constraints and interdependencies. We demonstrate how the system optimizes multiple data centers synchronously, enabling the scope of digital twins, and compare the performance of various RL approaches based on carbon emissions and sustainability metrics while also offering a framework and benchmark simulation for broader ML research in sustainability.

Authors:Anirudha Majumdar, Mohit Sharma, Dmitry Kalashnikov, Sumeet Singh, Pierre Sermanet, Vikas Sindhwani
Title: Predictive Red Teaming: Breaking Policies Without Breaking Robots
Abstract:
Visuomotor policies trained via imitation learning are capable of performing challenging manipulation tasks, but are often extremely brittle to lighting, visual distractors, and object locations. These vulnerabilities can depend unpredictably on the specifics of training, and are challenging to expose without time-consuming and expensive hardware evaluations. We propose the problem of predictive red teaming: discovering vulnerabilities of a policy with respect to environmental factors, and predicting the corresponding performance degradation without hardware evaluations in off-nominal scenarios. In order to achieve this, we develop RoboART: an automated red teaming (ART) pipeline that (1) modifies nominal observations using generative image editing to vary different environmental factors, and (2) predicts performance under each variation using a policy-specific anomaly detector executed on edited observations. Experiments across 500+ hardware trials in twelve off-nominal conditions for visuomotor diffusion policies demonstrate that RoboART predicts performance degradation with high accuracy (less than 0.19 average difference between predicted and real success rates). We also demonstrate how predictive red teaming enables targeted data collection: fine-tuning with data collected under conditions predicted to be adverse boosts baseline performance by 2-7x.

Authors:Kriti Thakur, Divyanshi Dwivedi, K. Victor Sam Moses Babu, Alivelu Manga Parimi, Prasanta K. Panigrahi, Pradeep Kumar Yemula, Pratyush Chakraborty, Mayukha Pal
Title: Enhanced Rapid Detection of High-impedance Arc Faults in Medium Voltage Electrical Distribution Networks
Abstract:
High-impedance arc faults in AC power systems have the potential to lead to catastrophic accidents. However, significant challenges exist in identifying these faults because of the much weaker characteristics and variety when grounded with different surfaces. Previous research has concentrated predominantly on arc fault detection in low-voltage systems, leaving a significant gap in medium-voltage applications. In this work, a novel approach has been developed that enables rapid arc fault detection for medium-voltage distribution lines. In contrast to existing black-box feature-based approaches, the Hankel alternative view of the Koopman (HAVOK) analysis developed from nonlinear dynamics has been applied, which not only offers interpretable features but also opens up new application options in the area of arc fault detection. The method achieves a much faster detection speed in 0.45 ms, 99.36\% enhanced compared to harmonic randomness and waveform distortion method, thus making it suitable for real-time applications. It demonstrates the ability to detect arc faults across various scenarios, including different grounding surfaces and levels of system noise, boosting its practical importance for stakeholders in safety-critical industries.

Authors:Xiaole Zhang, Peiyu Zhang, Xiongye Xiao, Shixuan Li, Vasileios Tzoumas, Vijay Gupta, Paul Bogdan
Title: End-to-End Learning Framework for Solving Non-Markovian Optimal Control
Abstract:
Integer-order calculus often falls short in capturing the long-range dependencies and memory effects found in many real-world processes. Fractional calculus addresses these gaps via fractional-order integrals and derivatives, but fractional-order dynamical systems pose substantial challenges in system identification and optimal control due to the lack of standard control methodologies. In this paper, we theoretically derive the optimal control via linear quadratic regulator (LQR) for fractional-order linear time-invariant (FOLTI) systems and develop an end-to-end deep learning framework based on this theoretical foundation. Our approach establishes a rigorous mathematical model, derives analytical solutions, and incorporates deep learning to achieve data-driven optimal control of FOLTI systems. Our key contributions include: (i) proposing an innovative system identification method control strategy for FOLTI systems, (ii) developing the first end-to-end data-driven learning framework, Fractional-Order Learning for Optimal Control (FOLOC), that learns control policies from observed trajectories, and (iii) deriving a theoretical analysis of sample complexity to quantify the number of samples required for accurate optimal control in complex real-world problems. Experimental results indicate that our method accurately approximates fractional-order system behaviors without relying on Gaussian noise assumptions, pointing to promising avenues for advanced optimal control.

Authors:Marco Borghesi, Simone Baroncini, Guido Carnevale, Alessandro Bosso, Giuseppe Notarstefano
Title: On Sufficient Richness for Linear Time-Invariant Systems
Abstract:
Persistent excitation (PE) is a necessary and sufficient condition for uniform exponential parameter convergence in several adaptive, identification, and learning schemes. In this article, we consider, in the context of multi-input linear time-invariant (LTI) systems, the problem of guaranteeing PE of commonly-used regressors by applying a sufficiently rich (SR) input signal. Exploiting the analogies between time shifts and time derivatives, we state simple necessary and sufficient PE conditions for the discrete- and continuous-time frameworks. Moreover, we characterize the shape of the set of SR input signals for both single-input and multi-input systems. Finally, we show with a numerical example that the derived conditions are tight and cannot be improved without including additional knowledge of the considered LTI system.

Authors:Ioannis Dadiotis, Mayank Mittal, Nikos Tsagarakis, Marco Hutter
Title: Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning
Abstract:
Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task challenging for a mobile manipulator. In this paper, we develop a learning-based controller for a mobile manipulator to move an unknown object to a desired position and yaw orientation through a sequence of pushing actions. The proposed controller for the robotic arm and the mobile base motion is trained using a constrained Reinforcement Learning (RL) formulation. We demonstrate its capability in experiments with a quadrupedal robot equipped with an arm. The learned policy achieves a success rate of 91.35% in simulation and at least 80% on hardware in challenging scenarios. Through our extensive hardware experiments, we show that the approach demonstrates high robustness against unknown objects of different masses, materials, sizes, and shapes. It reactively discovers the pushing location and direction, thus achieving contact-rich behavior while observing only the pose of the object. Additionally, we demonstrate the adaptive behavior of the learned policy towards preventing the object from toppling.

Authors:Jianyi Yang, Pengfei Li, Tongxin Li, Adam Wierman, Shaolei Ren
Title: Learning-Augmented Online Control for Decarbonizing Water Infrastructures
Abstract:
Water infrastructures are essential for drinking water supply, irrigation, fire protection, and other critical applications. However, water pumping systems, which are key to transporting water to the point of use, consume significant amounts of energy and emit millions of tons of greenhouse gases annually. With the wide deployment of digital water meters and sensors in these infrastructures, Machine Learning (ML) has the potential to optimize water supply control and reduce greenhouse gas emissions. Nevertheless, the inherent vulnerability of ML methods in terms of worst-case performance raises safety concerns when deployed in critical water infrastructures. To address this challenge, we propose a learning-augmented online control algorithm, termed LAOC, designed to dynamically schedule the activation and/or speed of water pumps. To ensure safety, we introduce a novel design of safe action sets for online control problems. By leveraging these safe action sets, LAOC can provably guarantee safety constraints while utilizing ML predictions to reduce energy and environmental costs. Our analysis reveals the tradeoff between safety requirements and average energy/environmental cost performance. Additionally, we conduct an experimental study on a building water supply system to demonstrate the empirical performance of LAOC. The results indicate that LAOC can effectively reduce environmental and energy costs while guaranteeing safety constraints.

Authors:Yang Liu, Haiwei Dong, Abdulmotaleb El Saddik
Title: Leveraging LLMs to Create a Haptic Devices' Recommendation System
Abstract:
Haptic technology has seen significant growth, yet a lack of awareness of existing haptic device design knowledge hinders development. This paper addresses these limitations by leveraging advancements in Large Language Models (LLMs) to develop a haptic agent, focusing specifically on Grounded Force Feedback (GFF) devices recommendation. Our approach involves automating the creation of a structured haptic device database using information from research papers and product specifications. This database enables the recommendation of relevant GFF devices based on user queries. To ensure precise and contextually relevant recommendations, the system employs a dynamic retrieval method that combines both conditional and semantic searches. Benchmarking against the established UEQ and existing haptic device searching tools, the proposed haptic recommendation agent ranks in the top 10\% across all UEQ categories with mean differences favoring the agent in nearly all subscales, and maintains no significant performance bias across different user groups, showcasing superior usability and user satisfaction.

Authors:Niklas Dahlquist, Samuel Nordström, Nikolaos Stathoulopoulos, Björn Lindqvist, Akshit Saradagi, George Nikolakopoulos
Title: Deployment of an Aerial Multi-agent System for Automated Task Execution in Large-scale Underground Mining Environments
Abstract:
In this article, we present a framework for deploying an aerial multi-agent system in large-scale subterranean environments with minimal infrastructure for supporting multi-agent operations. The multi-agent objective is to optimally and reactively allocate and execute inspection tasks in a mine, which are entered by a mine operator on-the-fly. The assignment of currently available tasks to the team of agents is accomplished through an auction-based system, where the agents bid for available tasks, which are used by a central auctioneer to optimally assigns tasks to agents. A mobile Wi-Fi mesh supports inter-agent communication and bi-directional communication between the agents and the task allocator, while the task execution is performed completely infrastructure-free. Given a task to be accomplished, a reliable and modular agent behavior is synthesized by generating behavior trees from a pool of agent capabilities, using a back-chaining approach. The auction system in the proposed framework is reactive and supports addition of new operator-specified tasks on-the-go, at any point through a user-friendly operator interface. The framework has been validated in a real underground mining environment using three aerial agents, with several inspection locations spread in an environment of almost 200 meters. The proposed framework can be utilized for missions involving rapid inspection, gas detection, distributed sensing and mapping etc. in a subterranean environment. The proposed framework and its field deployment contributes towards furthering reliable automation in large-scale subterranean environments to offload both routine and dangerous tasks from human operators to autonomous aerial robots.

Authors:Praveen Kumar Donta, Qiyang Zhang, Schahram Dustdar
Title: Performance Measurements in the AI-Centric Computing Continuum Systems
Abstract:
Over the Eight decades, computing paradigms have shifted from large, centralized systems to compact, distributed architectures, leading to the rise of the Distributed Computing Continuum (DCC). In this model, multiple layers such as cloud, edge, Internet of Things (IoT), and mobile platforms work together to support a wide range of applications. Recently, the emergence of Generative AI and large language models has further intensified the demand for computational resources across this continuum. Although traditional performance metrics have provided a solid foundation, they need to be revisited and expanded to keep pace with changing computational demands and application requirements. Accurate performance measurements benefit both system designers and users by supporting improvements in efficiency and promoting alignment with system goals. In this context, we review commonly used metrics in DCC and IoT environments. We also discuss emerging performance dimensions that address evolving computing needs, such as sustainability, energy efficiency, and system observability. We also outline criteria and considerations for selecting appropriate metrics, aiming to inspire future research and development in this critical area.

Authors:Jacky Kwok, Christopher Agia, Rohan Sinha, Matt Foutter, Shulu Li, Ion Stoica, Azalia Mirhoseini, Marco Pavone
Title: RoboMonkey: Scaling Test-Time Sampling and Verification for Vision-Language-Action Models
Abstract:
Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in visuomotor control, yet ensuring their robustness in unstructured real-world environments remains a persistent challenge. In this paper, we investigate test-time scaling through the lens of sampling and verification as means to enhance the robustness and generalization of VLAs. We first demonstrate that the relationship between action error and the number of generated samples follows an exponentiated power law across a range of VLAs, indicating the existence of inference-time scaling laws. Building on these insights, we introduce RoboMonkey, a test-time scaling framework for VLAs. At deployment, RoboMonkey samples a small set of actions from a VLA, applies Gaussian perturbation and majority voting to construct an action proposal distribution, and then uses a Vision Language Model (VLM)-based verifier to select the optimal action. We propose a synthetic data generation pipeline for training such VLM-based action verifiers, and demonstrate that scaling the synthetic dataset consistently improves verification and downstream accuracy. Through extensive simulated and hardware experiments, we show that pairing existing VLAs with RoboMonkey yields significant performance gains, achieving a 25% absolute improvement on out-of-distribution tasks and 9% on in-distribution tasks. Additionally, when adapting to new robot setups, we show that fine-tuning both VLAs and action verifiers yields a 7% performance increase compared to fine-tuning VLAs alone.

Authors:Jisheng Xu, Ding Lin, Pangkit Fong, Chongrong Fang, Xiaoming Duan, Jianping He
Title: Aucamp: An Underwater Camera-Based Multi-Robot Platform with Low-Cost, Distributed, and Robust Localization
Abstract:
This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation control for localization. We utilize the clarity feature to measure the distance, present the monocular imaging model, and estimate the position of the target object. We achieve global positioning in our platform by designing a distributed update protocol. The distributed algorithm enables the perception process to simultaneously cover a broader range, and greatly improves the accuracy and robustness of the positioning. Moreover, the explicit dynamics model of the robot in our platform is obtained, based on which, we propose a robust orientation control framework. The control system ensures that the platform maintains a balanced posture for each robot, thereby ensuring the stability of the localization system. The platform can swiftly recover from an forced unstable state to a stable horizontal posture. Additionally, we conduct extensive experiments and application scenarios to evaluate the performance of our platform. The proposed new platform may provide support for extensive marine exploration by underwater sensor networks.

Authors:Pablo Moraes, Mónica Rodríguez, Sebastian Barcelona, Angel Da Silva, Santiago Fernandez, Hiago Sodre, Igor Nunes, Bruna Guterres, Ricardo Grando
Title: UruBots Autonomous Cars Challenge Pro Team Description Paper for FIRA 2025
Abstract:
This paper describes the development of an autonomous car by the UruBots team for the 2025 FIRA Autonomous Cars Challenge (Pro). The project involves constructing a compact electric vehicle, approximately the size of an RC car, capable of autonomous navigation through different tracks. The design incorporates mechanical and electronic components and machine learning algorithms that enable the vehicle to make real-time navigation decisions based on visual input from a camera. We use deep learning models to process camera images and control vehicle movements. Using a dataset of over ten thousand images, we trained a Convolutional Neural Network (CNN) to drive the vehicle effectively, through two outputs, steering and throttle. The car completed the track in under 30 seconds, achieving a pace of approximately 0.4 meters per second while avoiding obstacles.

Authors:Ferdous Pervej, Richeng Jin, Md Moin Uddin Chowdhury, Simran Singh, İsmail Güvenç, Huaiyu Dai
Title: Computation- and Communication-Efficient Online FL for Resource-Constrained Aerial Vehicles
Abstract:
Privacy-preserving distributed machine learning (ML) and aerial connected vehicle (ACV)-assisted edge computing have drawn significant attention lately. Since the onboard sensors of ACVs can capture new data as they move along their trajectories, the continual arrival of such 'newly' sensed data leads to online learning and demands carefully crafting the trajectories. Besides, as typical ACVs are inherently resource-constrained, computation- and communication-efficient ML solutions are needed. Therefore, we propose a computation- and communication-efficient online aerial federated learning (2CEOAFL) algorithm to take the benefits of continual sensed data and limited onboard resources of the ACVs. In particular, considering independently owned ACVs act as selfish data collectors, we first model their trajectories according to their respective time-varying data distributions. We then propose a 2CEOAFL algorithm that allows the flying ACVs to (a) prune the received dense ML model to make it shallow, (b) train the pruned model, and (c) probabilistically quantize and offload their trained accumulated gradients to the central server (CS). Our extensive simulation results show that the proposed 2CEOAFL algorithm delivers comparable performances to its non-pruned and nonquantized, hence, computation- and communication-inefficient counterparts.

Authors:Haoran Li, Muhao Guo, Yang Weng, Marija Ilic, Guangchun Ruan
Title: ExARNN: An Environment-Driven Adaptive RNN for Learning Non-Stationary Power Dynamics
Abstract:
Non-stationary power system dynamics, influenced by renewable energy variability, evolving demand patterns, and climate change, are becoming increasingly complex. Accurately capturing these dynamics requires a model capable of adapting to environmental factors. Traditional models, including Recurrent Neural Networks (RNNs), lack efficient mechanisms to encode external factors, such as time or environmental data, for dynamic adaptation. To address this, we propose the External Adaptive RNN (ExARNN), a novel framework that integrates external data (e.g., weather, time) to continuously adjust the parameters of a base RNN. ExARNN achieves this through a hierarchical hypernetwork design, using Neural Controlled Differential Equations (NCDE) to process external data and generate RNN parameters adaptively. This approach enables ExARNN to handle inconsistent timestamps between power and external measurements, ensuring continuous adaptation. Extensive forecasting tests demonstrate ExARNN's superiority over established baseline models.

Authors:Tjeerd Ickenroth, Max van Haren, Johan Kon, Max van Meer, Jilles van hulst, Tom Oomen
Title: Automatic Basis Function Selection in Iterative Learning Control: A Sparsity-Promoting Approach Applied to an Industrial Printer
Abstract:
Iterative learning control (ILC) techniques are capable of improving the tracking performance of control systems that repeatedly perform similar tasks by utilizing data from past iterations. The aim of this paper is to design a systematic approach for learning parameterized feedforward signals with limited complexity. The developed method involves an iterative learning control in conjunction with a data-driven sparse subset selection procedure for basis function selection. The ILC algorithm that employs sparse optimization is able to automatically select relevant basis functions and is validated on an industrial flatbed printer.

Authors:Xinzhe Zhou, Xuyang Wang, Xiaoming Duan, Yuzhu Bai, Jianping He
Title: Formation Maneuver Control Based on the Augmented Laplacian Method
Abstract:
This paper proposes a novel formation maneuver control method for both 2-D and 3-D space, which enables the formation to translate, scale, and rotate with arbitrary orientation. The core innovation is the novel design of weights in the proposed augmented Laplacian matrix. Instead of using scalars, we represent weights as matrices, which are designed based on a specified rotation axis and allow the formation to perform rotation in 3-D space. To further improve the flexibility and scalability of the formation, the rotational axis adjustment approach and dynamic agent reconfiguration method are developed, allowing formations to rotate around arbitrary axes in 3-D space and new agents to join the formation. Theoretical analysis is provided to show that the proposed approach preserves the original configuration of the formation. The proposed method maintains the advantages of the complex Laplacian-based method, including reduced neighbor requirements and no reliance on generic or convex nominal configurations, while achieving arbitrary orientation rotations via a more simplified implementation. Simulations in both 2-D and 3-D space validate the effectiveness of the proposed method.

Authors:Haejoon Lee, Panagiotis Rousseas, Dimitra Panagou
Title: Constraint Selection in Optimization-Based Controllers
Abstract:
Human-machine collaboration often involves constrained optimization problems for decision-making processes. However, when the machine is a dynamical system with a continuously evolving state, infeasibility due to multiple conflicting constraints can lead to dangerous outcomes. In this work, we propose a heuristic-based method that resolves infeasibility at every time step by selectively disregarding a subset of soft constraints based on the past values of the Lagrange multipliers. Compared to existing approaches, our method requires the solution of a smaller optimization problem to determine feasibility, resulting in significantly faster computation. Through a series of simulations, we demonstrate that our algorithm achieves performance comparable to state-of-the-art methods while offering improved computational efficiency.

Authors:Taoyuan Yu, Kui Wang, Zongdian Li, Tao Yu, Kei Sakaguchi
Title: Multi-Agent Reinforcement Learning-based Cooperative Autonomous Driving in Smart Intersections
Abstract:
Unsignalized intersections pose significant safety and efficiency challenges due to complex traffic flows. This paper proposes a novel roadside unit (RSU)-centric cooperative driving system leveraging global perception and vehicle-to-infrastructure (V2I) communication. The core of the system is an RSU-based decision-making module using a two-stage hybrid reinforcement learning (RL) framework. At first, policies are pre-trained offline using conservative Q-learning (CQL) combined with behavior cloning (BC) on collected dataset. Subsequently, these policies are fine-tuned in the simulation using multi-agent proximal policy optimization (MAPPO), aligned with a self-attention mechanism to effectively solve inter-agent dependencies. RSUs perform real-time inference based on the trained models to realize vehicle control via V2I communications. Extensive experiments in CARLA environment demonstrate high effectiveness of the proposed system, by: \textit{(i)} achieving failure rates below 0.03\% in coordinating three connected and autonomous vehicles (CAVs) through complex intersection scenarios, significantly outperforming the traditional Autoware control method, and \textit{(ii)} exhibiting strong robustness across varying numbers of controlled agents and shows promising generalization capabilities on other maps.

Authors:Tanlu Liang, Ting Bai, Andreas A. Malikopoulos
Title: A Coordinated Routing Approach for Enhancing Bus Timeliness and Travel Efficiency in Mixed-Traffic Environment
Abstract:
In this paper, we propose a coordinated routing strategy aimed at improving bus schedule adherence and enhancing travel efficiency for connected and automated vehicles (CAVs) operating within a mixed-traffic urban network. Our approach capitalizes on the existence of dedicated lanes for buses and CAVs, leveraging real-time traffic data to dynamically reroute CAVs in anticipation of congestion. By continuously monitoring traffic conditions on dedicated lanes and tracking the real-time positions of buses, we enable the system to proactively adjust CAV routes when potential interference with bus operations is detected. This coordination mitigates delays affecting transit services and reduces travel time for CAVs. We evaluate the proposed strategy through simulation studies conducted in the SUMO. The results demonstrate significant improvements in both transit reliability and CAV operational performance across a range of traffic conditions.

Authors:Ying Wang, Ting Bai, Andreas A. Malikopoulos
Title: Platoon Coordination and Leader Selection in Mixed Transportation Systems via Dynamic Programming
Abstract:
With the growing penetration of electric trucks, freight transportation is transitioning toward a mixed system comprising both fuel-powered and electric trucks. Enhancing truck platoon formation in such a heterogeneous environment presents new challenges. This paper investigates the hub-based platoon coordination problem in a mixed truck fleet, where the focus is to optimize the trucks' waiting times, charging amounts for electric trucks, and platoon leader assignments. The objective is to maximize the overall platoon revenue of the fleet while accounting for the associated waiting and charging costs. We formulate the problem as a mixed-integer linear program and present a dynamic programming approach to compute its sub-optimal solution efficiently. The proposed method operates in polynomial time, ensuring scalable computational efficiency. Simulation studies involving 1,000 trucks traveling between two hubs in Sweden demonstrate the effectiveness and scalability of the proposed approach.

Authors:Weihao Sun, Heeseung Bang, Andreas A. Malikopoulos
Title: AI Recommendation Systems for Lane-Changing Using Adherence-Aware Reinforcement Learning
Abstract:
In this paper, we present an adherence-aware reinforcement learning (RL) approach aimed at seeking optimal lane-changing recommendations within a semi-autonomous driving environment to enhance a single vehicle's travel efficiency. The problem is framed within a Markov decision process setting and is addressed through an adherence-aware deep Q network, which takes into account the partial compliance of human drivers with the recommended actions. This approach is evaluated within CARLA's driving environment under realistic scenarios.

Authors:Farhad Ghanipoor, Carlos Murguia, Giancarlo Ferrari Trecate, Nathan van de Wouw
Title: Data-Driven Sensor Fault Diagnosis with Proven Guarantees using Incrementally Stable Recurrent Neural Networks
Abstract:
Robust Recurrent Neural Networks (R-RENs) are a class of neural networks that have built-in system-theoretic robustness and incremental stability properties. In this manuscript, we leverage these properties to construct a data-driven Fault Detection and Isolation (FDI) method for sensor faults with proven performance guarantees. The underlying idea behind the scheme is to construct a bank of multiple R-RENs (acting as fault isolation filters), each with different levels of sensitivity (increased or decreased) to faults at different sensors. That is, each R-REN is designed to be specifically sensitive to faults occurring in a particular sensor and robust against faults in all the others. The latter is guaranteed using the built-in incremental stability properties of R-RENs. The proposed method is unsupervised (as it does not require labeled data from faulty sensors) and data-driven (because it exploits available fault-free input-output system trajectories and does not rely on dynamic models of the system under study). Numerical simulations on a roll-plane model of a vehicle demonstrate the effectiveness and practical applicability of the proposed methodology.

Authors:Devansh R. Agrawal, Taekyung Kim, Rajiv Govindjee, Trushant Adeshara, Jiangbo Yu, Anurekha Ravikumar, Dimitra Panagou
Title: Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
Abstract:
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose estimates, an unrealistic assumption that can lead to incorrect obstacle maps and therefore collisions. This paper introduces a framework for certifiably-correct mapping that ensures that the obstacle map correctly classifies obstacle-free regions despite the odometry drift in vision-based localization systems (VIO}/SLAM). By deflating the safe region based on the incremental odometry error at each timestep, we ensure that the map remains accurate and reliable locally around the robot, even as the overall odometry error with respect to the inertial frame grows unbounded. Our contributions include two approaches to modify popular obstacle mapping paradigms, (I) Safe Flight Corridors, and (II) Signed Distance Fields. We formally prove the correctness of both methods, and describe how they integrate with existing planning and control modules. Simulations using the Replica dataset highlight the efficacy of our methods compared to state-of-the-art techniques. Real-world experiments with a robotic rover show that, while baseline methods result in collisions with previously mapped obstacles, the proposed framework enables the rover to safely stop before potential collisions.

Authors:Apostolos I. Rikos, Wei Jiang, Themistoklis Charalambous, Karl H. Johansson
Title: Distributed Optimization with Efficient Communication, Event-Triggered Solution Enhancement, and Operation Stopping
Abstract:
In modern large-scale systems with sensor networks and IoT devices it is essential to collaboratively solve complex problems while utilizing network resources efficiently. In our paper we present three distributed optimization algorithms that exhibit efficient communication among nodes. Our first algorithm presents a simple quantized averaged gradient procedure for distributed optimization, which is shown to converge to a neighborhood of the optimal solution. Our second algorithm incorporates a novel event-triggered refinement mechanism, which refines the utilized quantization level to enhance the precision of the estimated optimal solution. It enables nodes to terminate their operation according to predefined performance guarantees. Our third algorithm is tailored to operate in environments where each message consists of only a few bits. It incorporates a novel event-triggered mechanism for adjusting the quantizer basis and quantization level, allowing nodes to collaboratively decide operation termination based on predefined performance criteria. We analyze the three algorithms and establish their linear convergence. Finally, an application on distributed sensor fusion for target localization is used to demonstrate their favorable performance compared to existing algorithms in the literature.

Authors:Adrian Wiltz, Dimos V. Dimarogonas
Title: Predictive Synthesis of Control Barrier Functions and its Application to Time-Varying Constraints
Abstract:
This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF can account for changes and time-variations in the constraints even when constructed for time-invariant constraints. This avoids recomputing the CBF when the constraint specifications change. The method provides an explicit characterization of the extended class K function α that determines the dynamic properties of the CBF, and α can even be explicitly chosen as a design parameter in the controller synthesis. The resulting CBF further accounts for input constraints, and its values can be determined at any point without having to compute the CBF over the entire domain. The synthesis method is based on a finite horizon optimal control problem inspired by Hamilton-Jacobi reachability analysis and does not rely on a nominal control law. The synthesized CBF is time-invariant if the constraints are. The method poses mild assumptions on the controllability of the dynamic system and assumes the knowledge of at least a subset of some control invariant set. The paper provides a detailed analysis of the properties of the synthesized CBF, including its application to time-varying constraints. A simulation study applies the proposed approach to various dynamic systems in the presence of time-varying constraints. The paper is accompanied by an online available parallelized implementation of the proposed synthesis method.

Authors:Hiago Sodre, Juan Deniz, Pablo Moraes, William Moraes, Igor Nunes, Vincent Sandin, Ahilen Mazondo, Santiago Fernandez, Gabriel da Silva, Monica Rodriguez, Sebastian Barcelona, Ricardo Grando
Title: UruBots RoboCup Work Team Description Paper
Abstract:
This work presents a team description paper for the RoboCup Work League. Our team, UruBots, has been developing robots and projects for research and competitions in the last three years, attending robotics competitions in Uruguay and around the world. In this instance, we aim to participate and contribute to the RoboCup Work category, hopefully making our debut in this prestigious competition. For that, we present an approach based on the Limo robot, whose main characteristic is its hybrid locomotion system with wheels and tracks, with some extras added by the team to complement the robot's functionalities. Overall, our approach allows the robot to efficiently and autonomously navigate a Work scenario, with the ability to manipulate objects, perform autonomous navigation, and engage in a simulated industrial environment.

Authors:Xiaobing Dai, Zewen Yang, Dian Yu, Shanshan Zhang, Hamid Sadeghian, Sami Haddadin, Sandra Hirche
Title: Safe Flow Matching: Robot Motion Planning with Control Barrier Functions
Abstract:
Recent advances in generative modeling have led to promising results in robot motion planning, particularly through diffusion and flow matching (FM)-based models that capture complex, multimodal trajectory distributions. However, these methods are typically trained offline and remain limited when faced with new environments with constraints, often lacking explicit mechanisms to ensure safety during deployment. In this work, we propose Safe Flow Matching (SafeFlow), a motion planning framework, for trajectory generation that integrates flow matching with safety guarantees. SafeFlow leverages our proposed flow matching barrier functions (FMBF) to ensure the planned trajectories remain within safe regions across the entire planning horizon. Crucially, our approach enables training-free, real-time safety enforcement at test time, eliminating the need for retraining. We evaluate SafeFlow on a diverse set of tasks, including planar robot navigation and 7-DoF manipulation, demonstrating superior safety and planning performance compared to state-of-the-art generative planners. Comprehensive resources are available on the project website: https://safeflowmatching.github.io

Authors:Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson, Haejoon Lee, Alia Gilbert, Hardik Parwana, Vishnu S. Chipade, William Bentz, Dimitra Panagou
Title: Enabling Safety for Aerial Robots: Planning and Control Architectures
Abstract:
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation under resource constraints, and robustness against adversarial attacks and uncertainties. In this paper, we present the authors' recent work that tackles some of these challenges and highlights key aspects that must be considered to enhance the safety and performance of autonomous aerial systems. All presented approaches are validated through hardware experiments.

Authors:Mischa Huisman, Carlos Murguia, Erjen Lefeber, Nathan van de Wouw
Title: Hybrid Control as a Proxy for Detection and Mitigation of Sensor Attacks in Cooperative Driving
Abstract:
To enhance the robustness of cooperative driving against cyberattacks, we propose a hybrid controller scheme to detect and mitigate False-Data Injection (FDI) attacks in real-time. The core of our method builds on a given Cooperative Adaptive Cruise Control (CACC) algorithm and exploits sensor redundancy to construct equivalent controllers, each driven by a distinct, non-overlapping subset of sensors (equivalent controller realizations). By construction, these controller realizations generate the same control input in the absence of an attack, allowing us to devise an algorithm that compares control signals and measurements to pinpoint anomalous behavior via a majority vote. This allows us to: 1) decide in real-time which subset of sensors is compromised; and 2) switch to a healthy subset, mitigating thus sensor FDI attacks. We model the latter logic as a hybrid dynamic controller that decides in real-time what realization to use, builds on attack-dependent flow and jump sets, and employs controller resets (to return the state of previously compromised controller realizations to a correct value after the attack stops). We demonstrate the performance of our scheme through simulation experiments.

Authors:Jonas Mair, Lukas Schwenkel, Matthias A. Müller, Frank Allgöwer
Title: The Cesàro Value Iteration
Abstract:
In this paper, we consider undiscouted infinitehorizon optimal control for deterministic systems with an uncountable state and input space. We specifically address the case when the classic value iteration does not converge. For such systems, we use the Ces`aro mean to define the infinite-horizon optimal control problem and the corresponding infinite-horizon value function. Moreover, for this value function, we introduce the Cesàro value iteration and prove its convergence for the special case of systems with periodic optimal operating behavior. For this instance, we also show that the Cesàro value function recovers the undiscounted infinite-horizon optimal cost, if the latter is well-defined.

Authors:Haejoon Lee, Dimitra Panagou
Title: Distributed Resilience-Aware Control in Multi-Robot Networks
Abstract:
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control laws to enhance or preserve resilience in multi-robot networks, they often assume a fixed topology with known resilience properties, or require global state knowledge. These assumptions may be impractical in physically-constrained environments, where safety and resilience requirements are conflicting, or when misbehaving agents share inaccurate state information. In this work, we propose a distributed control law that enables each robot to guarantee resilient consensus and safety during its navigation without fixed topologies using only locally available information. To this end, we establish a sufficient condition for resilient consensus in time-varying networks based on the degree of non-misbehaving or normal agents. Using this condition, we design a Control Barrier Function (CBF)-based controller that guarantees resilient consensus and collision avoidance without requiring estimates of global state and/or control actions of all other robots. Finally, we validate our method through simulations.

Authors:Heeseung Bang, Jung-Hoon Cho, Cathy Wu, Andreas A. Malikopoulos
Title: Route Recommendations for Traffic Management Under Learned Partial Driver Compliance
Abstract:
In this paper, we aim to mitigate congestion in traffic management systems by guiding travelers along system-optimal (SO) routes. However, we recognize that most theoretical approaches assume perfect driver compliance, which often does not reflect reality, as drivers tend to deviate from recommendations to fulfill their personal objectives. Therefore, we propose a route recommendation framework that explicitly learns partial driver compliance and optimizes traffic flow under realistic adherence. We first compute an SO edge flow through flow optimization techniques. Next, we train a compliance model based on historical driver decisions to capture individual responses to our recommendations. Finally, we formulate a stochastic optimization problem that minimizes the gap between the target SO flow and the realized flow under conditions of imperfect adherence. Our simulations conducted on a grid network reveal that our approach significantly reduces travel time compared to baseline strategies, demonstrating the practical advantage of incorporating learned compliance into traffic management.

Authors:Nishanth Venkatesh S., Heeseung Bang, Andreas A. Malikopoulos
Title: Off-Policy Evaluation for Sequential Persuasion Process with Unobserved Confounding
Abstract:
In this paper, we expand the Bayesian persuasion framework to account for unobserved confounding variables in sender-receiver interactions. While traditional models assume that belief updates follow Bayesian principles, real-world scenarios often involve hidden variables that impact the receiver's belief formation and decision-making. We conceptualize this as a sequential decision-making problem, where the sender and receiver interact over multiple rounds. In each round, the sender communicates with the receiver, who also interacts with the environment. Crucially, the receiver's belief update is affected by an unobserved confounding variable. By reformulating this scenario as a Partially Observable Markov Decision Process (POMDP), we capture the sender's incomplete information regarding both the dynamics of the receiver's beliefs and the unobserved confounder. We prove that finding an optimal observation-based policy in this POMDP is equivalent to solving for an optimal signaling strategy in the original persuasion framework. Furthermore, we demonstrate how this reformulation facilitates the application of proximal learning for off-policy evaluation in the persuasion process. This advancement enables the sender to evaluate alternative signaling strategies using only observational data from a behavioral policy, thus eliminating the necessity for costly new experiments.

Authors:Gilbert Bahati, Ryan K. Cosner, Max H. Cohen, Ryan M. Bena, Aaron D. Ames
Title: Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree
Abstract:
Control barrier functions (CBFs) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work, we provide a constructive framework for synthesizing CBFs for systems with dual relative degree -- where different inputs influence the outputs at two different orders of differentiation; this is common in systems with orientation-based actuation, such as unicycles and quadrotors. In particular, we propose dual relative degree CBFs (DRD-CBFs) and show that these DRD-CBFs can be constructively synthesized and used to guarantee system safety. Our method constructs DRD-CBFs by leveraging the dual relative degree property -- combining a CBF for an integrator chain with a Lyapunov function certifying the tracking of safe inputs generated for this linear system. We apply these results to dual relative degree systems, both in simulation and experimentally on hardware using quadruped and quadrotor robotic platforms.

Authors:Matthias Köhler, Matthias A. Müller, Frank Allgöwer
Title: Distributed Model Predictive Control for Dynamic Cooperation of Multi-Agent Systems
Abstract:
We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function minimized collectively by the agents. Each agent optimizes an artificial reference as an intermediate step towards the cooperative objective, along with a control input to track it. We establish recursive feasibility, asymptotic stability, and transient performance bounds under suitable assumptions. The solution to the cooperative task is not predetermined but emerges from the optimized interactions of the agents. We demonstrate the framework on numerical examples inspired by satellite constellation control, collision-free narrow-passage traversal, and coordinated quadrotor flight.

Authors:Lukas Schwenkel, Johannes Köhler, Matthias A. Müller, Frank Allgöwer
Title: Output-feedback model predictive control under dynamic uncertainties using integral quadratic constraints
Abstract:
In this work, we propose an output-feedback tube-based model predictive control (MPC) scheme for linear systems under dynamic uncertainties that are described via integral quadratic constraints (IQC). By leveraging IQCs, a large class of nonlinear and dynamic uncertainties can be addressed. We leverage recent IQC synthesis tools to design a dynamic controller and an estimator that are robust to these uncertainties and minimize the size of the resulting constraint tightening in the MPC. Thereby, we show that the robust estimation problem using IQCs with peak-to-peak performance can be convexified. We guarantee recursive feasibility, robust constraint satisfaction, and input-to-state stability of the resulting MPC scheme.

Authors:Anni Li, Ting Bai, Yingqing Chen, Christos G. Cassandras, Andreas A. Malikopoulos
Title: A Cooperative Compliance Control Framework for Socially Optimal Mixed Traffic Routing
Abstract:
In mixed traffic environments, where Connected and Autonomed Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs), the self-centered behavior of human drivers may compromise the efficiency, optimality, and safety of the overall traffic network. In this paper, we propose a Cooperative Compliance Control (CCC) framework for mixed traffic routing, where a Social Planner (SP) optimizes vehicle routes for system-wide optimality while a compliance controller incentivizes human drivers to align their behavior with route guidance from the SP through a "refundable toll" scheme. A key challenge arises from the heterogeneous and unknown response models of different human driver types to these tolls, making it difficult to design a proper controller and achieve desired compliance probabilities over the traffic network. To address this challenge, we employ Control Lyapunov Functions (CLFs) to adaptively correct (learn) crucial components of our compliance probability model online, construct data-driven feedback controllers, and demonstrate that we can achieve the desired compliance probability for HDVs, thereby contributing to the social optimality of the traffic network.

Authors:Lukas Schwenkel, Johannes Köhler, Matthias A. Müller, Carsten W. Scherer, Frank Allgöwer
Title: Multi-objective robust controller synthesis with integral quadratic constraints in discrete-time
Abstract:
This article presents a novel framework for the robust controller synthesis problem in discrete-time systems using dynamic Integral Quadratic Constraints (IQCs). We present an algorithm to minimize closed-loop performance measures such as the $\mathcal H_\infty$-norm, the energy-to-peak gain, the peak-to-peak gain, or a multi-objective mix thereof. While IQCs provide a powerful tool for modeling structured uncertainties and nonlinearities, existing synthesis methods are limited to the $\mathcal H_\infty$-norm, continuous-time systems, or special system structures. By minimizing the energy-to-peak and peak-to-peak gain, the proposed synthesis can be utilized to bound the peak of the output, which is crucial in many applications requiring robust constraint satisfaction, input-to-state stability, reachability analysis, or other pointwise-in-time bounds. Numerical examples demonstrate the robustness and performance of the controllers synthesized with the proposed algorithm.

Authors:Anuj Pokhrel, Aniket Datar, Xuesu Xiao
Title: Dom, cars don't fly! -- Or do they? In-Air Vehicle Maneuver for High-Speed Off-Road Navigation
Abstract:
When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks, being able to fly over challenging terrain can also save time, instead of cautiously circumventing or slowly negotiating through. However, most off-road autonomy systems operate under the assumption that the vehicles are always on the ground and therefore limit operational speed. In this paper, we present a novel approach for in-air vehicle maneuver during high-speed off-road navigation. Based on a hybrid forward kinodynamic model using both physics principles and machine learning, our fixed-horizon, sampling-based motion planner ensures accurate vehicle landing poses and their derivatives within a short airborne time window using vehicle throttle and steering commands. We test our approach in extensive in-air experiments both indoors and outdoors, compare it against an error-driven control method, and demonstrate that precise and timely in-air vehicle maneuver is possible through existing ground vehicle controls.

Authors:Mathyn van Dael, Max van Haren, Gert Witvoet, Bas Swinkels, Tom Oomen
Title: GraFIT: A toolbox for fast and accurate frequency response identification in Gravitational Wave Detectors
Abstract:
Frequency response function (FRF) measurements are widely used in Gravitational Wave (GW) detectors, e.g., for the design of controllers, calibrating signals and diagnostic problems with system dynamics. The aim of this paper is to present GraFIT: a toolbox that enables fast, inexpensive, and accurate identification of FRF measurements for GW detectors compared to the commonly used approaches, including common spectral analysis techniques. The toolbox consists of a single function to estimate the frequency response function for both open-loop and closed-loop systems and for arbitrary input and output dimensions. The toolbox is validated on two experimental case studies of the Virgo detector, illustrating more than a factor 3 reduction in standard deviation of the estimate for the same measurement times, and comparable standard deviations with up to 10 times less data for the new method with respect to the currently implemented Spectral Analysis method.

Authors:Qian Meng, Jin Peng Zhou, Kilian Q. Weinberger, Hadas Kress-Gazit
Title: INPROVF: Leveraging Large Language Models to Repair High-level Robot Controllers from Assumption Violations
Abstract:
This paper presents INPROVF, an automatic framework that combines large language models (LLMs) and formal methods to speed up the repair process of high-level robot controllers. Previous approaches based solely on formal methods are computationally expensive and cannot scale to large state spaces. In contrast, INPROVF uses LLMs to generate repair candidates, and formal methods to verify their correctness. To improve the quality of these candidates, our framework first translates the symbolic representations of the environment and controllers into natural language descriptions. If a candidate fails the verification, INPROVF provides feedback on potential unsafe behaviors or unsatisfied tasks, and iteratively prompts LLMs to generate improved solutions. We demonstrate the effectiveness of INPROVF through 12 violations with various workspaces, tasks, and state space sizes.

Authors:Ting Bai, Anni Li, Gehui Xu, Christos G. Cassandras, Andreas A. Malikopoulos
Title: Routing Guidance for Emerging Transportation Systems with Improved Dynamic Trip Equity
Abstract:
This paper presents a dynamic routing guidance system that optimizes route recommendations for individual vehicles in an emerging transportation system while enhancing travelers' trip equity. We develop a framework to quantify trip quality and equity in dynamic travel environments, providing new insights into how routing guidance influences equity in road transportation. Our approach enables real-time routing by incorporating both monitored and anticipated traffic congestion. We provide conditions that ensure perfect trip equity for all travelers in a free-flow network. Simulation studies on 1,000 vehicles traversing an urban road network in Boston demonstrate that our method improves trip equity by approximately 11.4\% compared to the shortest-route strategy. In addition, the results reveal that our approach redistributes travel costs across vehicle types through route optimization, contributing to a more equitable transportation system.

Authors:Yunke Ao, Johannes Köhler, Manish Prajapat, Yarden As, Melanie Zeilinger, Philipp Fürnstahl, Andreas Krause
Title: Stochastic Model Predictive Control for Sub-Gaussian Noise
Abstract:
We propose a stochastic Model Predictive Control (MPC) framework that ensures closed-loop chance constraint satisfaction for linear systems with general sub-Gaussian process and measurement noise. By considering sub-Gaussian noise, we can provide guarantees for a large class of distributions, including time-varying distributions. Specifically, we first provide a new characterization of sub-Gaussian random vectors using matrix variance proxies, which can more accurately represent the predicted state distribution. We then derive tail bounds under linear propagation for the new characterization, enabling tractable computation of probabilistic reachable sets of linear systems. Lastly, we utilize these probabilistic reachable sets to formulate a stochastic MPC scheme that provides closed-loop guarantees for general sub-Gaussian noise. We further demonstrate our approach in simulations, including a challenging task of surgical planning from image observations.

Authors:Roland Ilyes, Lara Brudermüller, Nick Hawes, Bruno Lacerda
Title: Ro-To-Go! Robust Reactive Control with Signal Temporal Logic
Abstract:
Signal Temporal Logic (STL) robustness is a common objective for optimal robot control, but its dependence on history limits the robot's decision-making capabilities when used in Model Predictive Control (MPC) approaches. In this work, we introduce Signal Temporal Logic robustness-to-go (Ro-To-Go), a new quantitative semantics for the logic that isolates the contributions of suffix trajectories. We prove its relationship to formula progression for Metric Temporal Logic, and show that the robustness-to-go depends only on the suffix trajectory and progressed formula. We implement robustness-to-go as the objective in an MPC algorithm and use formula progression to efficiently evaluate it online. We test the algorithm in simulation and compare it to MPC using traditional STL robustness. Our experiments show that using robustness-to-go results in a higher success rate.

Authors:Max van Haren, Lennart Blanken, Tom Oomen
Title: Performance Analysis of Multirate Systems: A Direct Frequency-Domain Identification Approach
Abstract:
Frequency-domain performance analysis of intersample behavior in sampled-data and multirate systems is challenging due to the lack of a frequency-separation principle, and systematic identification techniques are lacking. The aim of this \manuscript is to develop an efficient technique for identifying the full intersample performance in the frequency-domain for closed-loop multirate systems, in particular the Performance Frequency Gain (PFG). Through local modeling techniques, aliased frequency components are effectively disentangled when identifying the PFG, which is directly facilitated by frequency-lifting the multirate system to a multivariable time-invariant representation. The developed method accurately and directly identifies the PFG in a single identification experiment. Finally, the developed method is experimentally validated on a prototype motion system, showing accurate identification of frequency-domain representations for the multirate system, including the PFG.

Authors:Supat Roongpraiwan, Zongdian Li, Tao Yu, Kei Sakaguchi
Title: Digital Twin-Enabled Blockage-Aware Dynamic mmWave Multi-Hop V2X Communication
Abstract:
Millimeter wave (mmWave) technology in vehicle-to-everything (V2X) communication offers unprecedented data rates and low latency, but faces significant reliability challenges due to signal blockages and limited range. This paper introduces a novel system for managing dynamic multi-hop mmWave V2X communications in complex blocking environments. We present a system architecture that integrates a mobility digital twin (DT) with the multi-hop routing control plane, providing a comprehensive, real-time view of the network and its surrounding traffic environment. This integration enables the control plane to make informed routing decisions based on rich contextual data about vehicles, infrastructure, and potential signal blockages. Leveraging this DT-enhanced architecture, we propose an advanced routing algorithm that combines high-precision environmental data with trajectory prediction to achieve blockage-aware mmWave multi-hop V2X routing. Our algorithm anticipates network topology changes and adapts topology dynamically to maintain reliable connections. We evaluate our approach through proof-of-concept simulations using a mobility DT of the Nishishinjuku area. Results demonstrate that our DT-enabled routing strategy significantly outperforms conventional methods in maintaining reliable mmWave V2X connections across various traffic scenarios, including fully connected and mixed traffic environments.

Authors:Amir Farakhor, Iman Askari, Di Wu, Yebin Wang, Huazhen Fang
Title: Optimal Power Management for Large-Scale Battery Energy Storage Systems via Bayesian Inference
Abstract:
Large-scale battery energy storage systems (BESS) have found ever-increasing use across industry and society to accelerate clean energy transition and improve energy supply reliability and resilience. However, their optimal power management poses significant challenges: the underlying high-dimensional nonlinear nonconvex optimization lacks computational tractability in real-world implementation, and the uncertainty of the exogenous power demand makes exact optimization difficult. This paper presents a new solution framework to address these bottlenecks. The solution pivots on introducing power-sharing ratios to specify each cell's power quota from the output power demand. To find the optimal power-sharing ratios, we formulate a nonlinear model predictive control (NMPC) problem to achieve power-loss-minimizing BESS operation while complying with safety, cell balancing, and power supply-demand constraints. We then propose a parameterized control policy for the power-sharing ratios, which utilizes only three parameters, to reduce the computational demand in solving the NMPC problem. This policy parameterization allows us to translate the NMPC problem into a Bayesian inference problem for the sake of 1) computational tractability, and 2) overcoming the nonconvexity of the optimization problem. We leverage the ensemble Kalman inversion technique to solve the parameter estimation problem. Concurrently, a low-level control loop is developed to seamlessly integrate our proposed approach with the BESS to ensure practical implementation. This low-level controller receives the optimal power-sharing ratios, generates output power references for the cells, and maintains a balance between power supply and demand despite uncertainty in output power. We conduct extensive simulations and experiments on a 20-cell prototype to validate the proposed approach.

Authors:Max van Haren, Lennart Blanken, Koen Classens, Tom Oomen
Title: Local Rational Modeling for Identification Beyond the Nyquist Frequency: Applied to a Prototype Wafer Stage
Abstract:
Fast-rate models are essential for control design, specifically to address intersample behavior. The aim of this paper is to develop a frequency-domain non-parametric identification technique to estimate fast-rate models of systems that have relevant dynamics and allow for actuation above the Nyquist frequency of a slow-rate output. Examples of such systems include vision-in-the-loop systems. Through local rational models over multiple frequency bands, aliased components are effectively disentangled, particularly for lightly-damped systems. The developed technique accurately determines non-parametric fast-rate models of systems with slow-rate outputs, all within a single identification experiment. Finally, the effectiveness of the technique is demonstrated through experiments conducted on a prototype wafer stage used for semiconductor manufacturing.

Authors:Amir Farakhor, Di Wu, Yebin Wang, Huazhen Fang
Title: Efficient Fault Diagnosis in Lithium-Ion Battery Packs: A Structural Approach with Moving Horizon Estimation
Abstract:
Safe and reliable operation of lithium-ion battery packs depends on effective fault diagnosis. However, model-based approaches often encounter two major challenges: high computational complexity and extensive sensor requirements. To address these bottlenecks, this paper introduces a novel approach that harnesses the structural properties of battery packs, including cell uniformity and the sparsity of fault occurrences. We integrate this approach into a Moving Horizon Estimation (MHE) framework and estimate fault signals such as internal and external short circuits and faults in voltage and current sensors. To mitigate computational demands, we propose a hierarchical solution to the MHE problem. The proposed solution breaks up the pack-level MHE problem into smaller problems and solves them efficiently. Finally, we perform extensive simulations across various battery pack configurations and fault types to demonstrate the effectiveness of the proposed approach. The results highlight that the proposed approach simultaneously reduces the computational demands and sensor requirements of fault diagnosis.

Authors:Max van Haren, Lennart Blanken, Tom Oomen
Title: Parameter-Varying Feedforward Control: A Kernel-Based Learning Approach
Abstract:
The increasing demands for high accuracy in mechatronic systems necessitate the incorporation of parameter variations in feedforward control. The aim of this paper is to develop a data-driven approach for direct learning of parameter-varying feedforward control to increase tracking performance. The developed approach is based on kernel-regularized function estimation in conjunction with iterative learning to directly learn parameter-varying feedforward control from data. This approach enables high tracking performance for feedforward control of linear parameter-varying dynamics, providing flexibility to varying reference tasks. The developed framework is validated on a benchmark industrial experimental setup featuring a belt-driven carriage.

Authors:Max van Haren, Roy S. Smith, Tom Oomen
Title: System Identification Beyond the Nyquist Frequency: A Kernel-Regularized Approach
Abstract:
Models that contain intersample behavior are important for control design of systems with slow-rate outputs. The aim of this paper is to develop a system identification technique for fast-rate models of systems where only slow-rate output measurements are available, e.g., vision-in-the-loop systems. In this paper, the intersample response is estimated by identifying fast-rate models through least-squares criteria, and the limitations of these models are determined. In addition, a method is developed that surpasses these limitations and is capable of estimating unique fast-rate models of arbitrary order by regularizing the least-squares estimate. The developed method utilizes fast-rate inputs and slow-rate outputs and identifies fast-rate models accurately in a single identification experiment. Finally, both simulation and experimental validation on a prototype wafer stage demonstrate the effectiveness of the framework.

Authors:Max van Haren, Masahiro Mae, Lennart Blanken, Tom Oomen
Title: Lifted Frequency-Domain Identification of Closed-Loop Multirate Systems: Applied to Dual-Stage Actuator Hard Disk Drives
Abstract:
Frequency-domain representations are crucial for the design and performance evaluation of controllers in multirate systems, specifically to address intersample performance. The aim of this paper is to develop an effective frequency-domain system identification technique for closed-loop multirate systems using solely slow-rate output measurements. By indirect identification of multivariable time-invariant representations through lifting, in combination with local modeling techniques, the multirate system is effectively identified. The developed method is capable of accurate identification of closed-loop multirate systems within a single identification experiment, using fast-rate excitation and inputs, and slow-rate outputs. Finally, the developed framework is validated using a benchmark problem consisting of a multivariable dual-stage actuator from a hard disk drive, demonstrating its applicability and accuracy.

Authors:Shuai Li, Jiawei Wang, Kaidi Yang, Qing Xu, Jianqiang Wang, Keqiang Li
Title: Robust Nonlinear Data-Driven Predictive Control for Mixed Vehicle Platoons via Koopman Operator and Reachability Analysis
Abstract:
Mixed vehicle platoons, comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), hold significant potential for enhancing traffic performance. Most existing research assumes linear system dynamics and often ignores the impact of critical factors such as noise, disturbances, and attacks, which are inherent to real-world scenarios. To address these limitations, we propose a Robust Nonlinear Data-Driven Predictive Control (RNDDPC) framework that ensures safe and optimal control under uncertain and adverse conditions. By utilizing Koopman operator theory, we map the system's nonlinear dynamics into a higher-dimensional space, constructing a Koopman-based linear predictor that approximates the behavior of the original nonlinear system. To mitigate modeling errors associated with this predictor, we introduce a data-driven reachable set analysis technique that performs secondary learning using matrix zonotope sets, generating a reachable set predictor for over-approximation of the future states of the underlying system. Then, we formulate the RNDDPC optimization problem and solve it in a receding horizon manner for robust control inputs. Extensive simulations demonstrate that the proposed framework significantly outperforms baseline methods in tracking performance under noise, disturbances, and attacks.

Authors:Iasson Karafyllis, Epiphane Loko, Miroslav Krstic, Antoine Chaillet
Title: Global Stabilization of Chemostats with Nonzero Mortality and Substrate Dynamics
Abstract:
In "chemostat"-type population models that incorporate substrate (nutrient) dynamics, the dependence of the birth (or growth) rate on the substrate concentration introduces nonlinear coupling that creates a challenge for stabilization that is global, namely, for all positive concentrations of the biomass and nutrients. This challenge for global stabilization has been overcome in the literature using relatively simple feedback when natural mortality of the biomass is absent. However, under natural mortality, it takes fortified, more complex feedback, outside of the existing nonlinear control design toolbox, to avoid biomass extinction from nutrient-depleted initial conditions. Such fortified feedback, the associated control Laypunov function design, and Lyapunov analysis of global stability are provided in this paper. We achieve global stabilization for two different chemostat models: (i) a lumped model, with two state variables, and (ii) a three-state model derived from an age-structured infinite-dimensional model. The proposed feedback stabilizers are explicit, applicable to both the lumped and the age-structured models, and coincide with simple feedback laws proposed in the literature when the mortality rate is zero. Global stabilization means subject to constraints: all positive biomass and nutrient concentrations are within the region of attraction of the desired equilibrium, and, additionally, this is achieved with a dilution input that is guaranteed to remain positive. For the lumped case with Haldane kinetics, we show that the reproduction rate dominating the mortality (excluding the reproduction and mortality being in balance) is not only sufficient but also necessary for global stabilization. The obtained results are illustrated with simple examples.

Authors:K. Victor Sam Moses Babu, Pratyush Chakraborty, Mayukha Pal
Title: Integrated Optimization and Game Theory Framework for Fair Cost Allocation in Community Microgrids
Abstract:
Fair cost allocation in community microgrids remains a significant challenge due to the complex interactions between multiple participants with varying load profiles, distributed energy resources, and storage systems. Traditional cost allocation methods often fail to adequately address the dynamic nature of participant contributions and benefits, leading to inequitable distribution of costs and reduced participant satisfaction. This paper presents a novel framework integrating multi-objective optimization with cooperative game theory for fair and efficient microgrid operation and cost allocation. The proposed approach combines mixed-integer linear programming for optimal resource dispatch with Shapley value analysis for equitable benefit distribution, ensuring both system efficiency and participant satisfaction. The framework was validated using real-world data across six distinct operational scenarios, demonstrating significant improvements in both technical and economic performance. Results show peak demand reductions ranging from 7.8% to 62.6%, solar utilization rates reaching 114.8% through effective storage integration, and cooperative gains of up to $1,801.01 per day. The Shapley value-based allocation achieved balanced benefit-cost distributions, with net positions ranging from -16.0% to +14.2% across different load categories, ensuring sustainable participant cooperation.

Authors:K. Victor Sam Moses Babu, Pratyush Chakraborty, Mayukha Pal
Title: Demand Response Optimization MILP Framework for Microgrids with DERs
Abstract:
The integration of renewable energy sources in microgrids introduces significant operational challenges due to their intermittent nature and the mismatch between generation and demand patterns. Effective demand response (DR) strategies are crucial for maintaining system stability and economic efficiency, particularly in microgrids with high renewable penetration. This paper presents a comprehensive mixed-integer linear programming (MILP) framework for optimizing DR operations in a microgrid with solar generation and battery storage systems. The framework incorporates load classification, dynamic price thresholding, and multi-period coordination for optimal DR event scheduling. Analysis across seven distinct operational scenarios demonstrates consistent peak load reduction of 10\% while achieving energy cost savings ranging from 13.1\% to 38.0\%. The highest performance was observed in scenarios with high solar generation, where the framework achieved 38.0\% energy cost reduction through optimal coordination of renewable resources and DR actions. The results validate the framework's effectiveness in managing diverse operational challenges while maintaining system stability and economic efficiency.

Authors:Diego Deplano, Nicola Bastianello, Mauro Franceschelli, Karl H. Johansson
Title: Optimization and Learning in Open Multi-Agent Systems
Abstract:
Modern artificial intelligence relies on networks of agents that collect data, process information, and exchange it with neighbors to collaboratively solve optimization and learning problems. This article introduces a novel distributed algorithm to address a broad class of these problems in "open networks", where the number of participating agents may vary due to several factors, such as autonomous decisions, heterogeneous resource availability, or DoS attacks. Extending the current literature, the convergence analysis of the proposed algorithm is based on the newly developed "Theory of Open Operators", which characterizes an operator as open when the set of components to be updated changes over time, yielding to time-varying operators acting on sequences of points of different dimensions and compositions. The mathematical tools and convergence results developed here provide a general framework for evaluating distributed algorithms in open networks, allowing to characterize their performance in terms of the punctual distance from the optimal solution, in contrast with regret-based metrics that assess cumulative performance over a finite-time horizon. As illustrative examples, the proposed algorithm is used to solve dynamic consensus or tracking problems on different metrics of interest, such as average, median, and min/max value, as well as classification problems with logistic loss functions.

Authors:Spyridon Besias, Ilias Sertaridis, Florentia Afentaki, Konstantinos Balaskas, Georgios Zervakis
Title: Late Breaking Results: Energy-Efficient Printed Machine Learning Classifiers with Sequential SVMs
Abstract:
Printed Electronics (PE) provide a mechanically flexible and cost-effective solution for machine learning (ML) circuits, compared to silicon-based technologies. However, due to large feature sizes, printed classifiers are limited by high power, area, and energy overheads, which restricts the realization of battery-powered systems. In this work, we design sequential printed bespoke Support Vector Machine (SVM) circuits that adhere to the power constraints of existing printed batteries while minimizing energy consumption, thereby boosting battery life. Our results show 6.5x energy savings while maintaining higher accuracy compared to the state of the art.

Authors:Alexandros E. Tzikas, Mykel J. Kochenderfer
Title: An Iterative Bayesian Approach for System Identification based on Linear Gaussian Models
Abstract:
We tackle the problem of system identification, where we select inputs, observe the corresponding outputs from the true system, and optimize the parameters of our model to best fit the data. We propose a flexible and computationally tractable methodology that is compatible with any system and parametric family of models. Our approach only requires input-output data from the system and first-order information from the model with respect to the parameters. Our algorithm consists of two modules. First, we formulate the problem of system identification from a Bayesian perspective and use a linear Gaussian model approximation to iteratively optimize the model's parameters. In each iteration, we propose to use the input-output data to tune the covariance of the linear Gaussian model. This statistically calibrates the approach. Secondly, we define a Gaussian-based uncertainty measure for the model parameters, which we can then minimize with respect to the next selected input. We test our method with linear and nonlinear dynamics.

Authors:Xiaoxing Ren, Nicola Bastianello, Karl H. Johansson, Thomas Parisini
Title: Communication-Efficient Stochastic Distributed Learning
Abstract:
We address distributed learning problems, both nonconvex and convex, over undirected networks. In particular, we design a novel algorithm based on the distributed Alternating Direction Method of Multipliers (ADMM) to address the challenges of high communication costs, and large datasets. Our design tackles these challenges i) by enabling the agents to perform multiple local training steps between each round of communications; and ii) by allowing the agents to employ stochastic gradients while carrying out local computations. We show that the proposed algorithm converges to a neighborhood of a stationary point, for nonconvex problems, and of an optimal point, for convex problems. We also propose a variant of the algorithm to incorporate variance reduction thus achieving exact convergence. We show that the resulting algorithm indeed converges to a stationary (or optimal) point, and moreover that local training accelerates convergence. We thoroughly compare the proposed algorithms with the state of the art, both theoretically and through numerical results.

Authors:Yuang Chen, Hancheng Lu, Langtin Qin, Yansha Deng, Arumugam Nallanathan
Title: When xURLLC Meets NOMA: A Stochastic Network Calculus Perspective
Abstract:
The advent of next-generation ultra-reliable and low-latency communications (xURLLC) presents stringent and unprecedented requirements for key performance indicators (KPIs). As a disruptive technology, non-orthogonal multiple access (NOMA) harbors the potential to fulfill these stringent KPIs essential for xURLLC. However, the immaturity of research on the tail distributions of these KPIs significantly impedes the application of NOMA to xURLLC. Stochastic network calculus (SNC), as a potent methodology, is leveraged to provide dependable theoretical insights into tail distribution analysis and statistical QoS provisioning (SQP). In this article, we develop a NOMA-assisted uplink xURLLC network architecture that incorporates an SNC-based SQP theoretical framework (SNC-SQP) to support tail distribution analysis in terms of delay, age-of-information (AoI), and reliability. Based on SNC-SQP, an SQP-driven power optimization problem is proposed to minimize transmit power while guaranteeing xURLLC's KPIs on delay, AoI, reliability, and power consumption. Extensive simulations validate our proposed theoretical framework and demonstrate that the proposed power allocation scheme significantly reduces uplink transmit power and outperforms conventional schemes in terms of SQP performance.

Authors:Mehrdad Salimnejad, Nikolaos Pappas, Marios Kountouris
Title: So Timely, Yet So Stale: The Impact of Clock Drift in Real-Time Systems
Abstract:
In this paper, we address the problem of timely delivery of status update packets in a real-time communication system, where a transmitter sends status updates generated by a source to a receiver over an unreliable channel. The timestamps of transmitted and received packets are measured using separate clocks located at the transmitter and receiver, respectively. To account for possible clock drift between these two clocks, we consider both deterministic and probabilistic drift scenarios. We analyze the system's performance regarding the Age of Information (AoI) and derive closed-form expressions for the distribution and the average AoI under both clock drift models. Additionally, we explore the impact of key system parameters on the average AoI through analytical and numerical results.

Authors:Mohammadreza Doostmohammadian, Hamid R. Rabiee
Title: Momentum-based Accelerated Algorithm for Distributed Optimization under Sector-Bound Nonlinearity
Abstract:
Distributed optimization advances centralized machine learning methods by enabling parallel and decentralized learning processes over a network of computing nodes. This work provides an accelerated consensus-based distributed algorithm for locally non-convex optimization using the gradient-tracking technique. The proposed algorithm (i) improves the convergence rate by adding momentum towards the optimal state using the heavy-ball method, while (ii) addressing general sector-bound nonlinearities over the information-sharing network. The link nonlinearity includes any sign-preserving odd sector-bound mapping, for example, log-scale data quantization or clipping in practical applications. For admissible momentum and gradient-tracking parameters, using perturbation theory and eigen-spectrum analysis, we prove convergence even in the presence of sector-bound nonlinearity and for locally non-convex cost functions. Further, in contrast to most existing weight-stochastic algorithms, we adopt weight-balanced (WB) network design. This WB design and perturbation-based analysis allow to handle dynamic directed network of agents to address possible time-varying setups due to link failures or packet drops.

Authors:Kristoffer Christensen, Bo Nørregaard Jørgensen, Zheng Grace Ma
Title: A Visualization Framework for Exploring Multi-Agent-Based Simulations Case Study of an Electric Vehicle Home Charging Ecosystem
Abstract:
Multi-agent-based simulations (MABS) of electric vehicle (EV) home charging ecosystems generate large, complex, and stochastic time-series datasets that capture interactions between households, grid infrastructure, and energy markets. These interactions can lead to unexpected system-level events, such as transformer overloads or consumer dissatisfaction, that are difficult to detect and explain through static post-processing. This paper presents a modular, Python-based dashboard framework, built using Dash by Plotly, that enables efficient, multi-level exploration and root-cause analysis of emergent behavior in MABS outputs. The system features three coordinated views (System Overview, System Analysis, and Consumer Analysis), each offering high-resolution visualizations such as time-series plots, spatial heatmaps, and agent-specific drill-down tools. A case study simulating full EV adoption with smart charging in a Danish residential network demonstrates how the dashboard supports rapid identification and contextual explanation of anomalies, including clustered transformer overloads and time-dependent charging failures. The framework facilitates actionable insight generation for researchers and distribution system operators, and its architecture is adaptable to other distributed energy resources and complex energy systems.

Authors:Giacomo Como, Fabio Fagnani, Anton Proskurnikov
Title: Wisdom of Crowds Through Myopic Self-Confidence Adaptation
Abstract:
The wisdom of crowds is an umbrella term for phenomena suggesting that the collective judgment or decision of a large group can be more accurate than the individual judgments or decisions of the group members. A well-known example illustrating this concept is the competition at a country fair described by Galton, where the median value of the individual guesses about the weight of an ox resulted in an astonishingly accurate estimate of the actual weight. This phenomenon resembles classical results in probability theory and relies on independent decision-making. The accuracy of the group's final decision can be significantly reduced if the final agents' opinions are driven by a few influential agents. In this paper, we consider a group of agents who initially possess uncorrelated and unbiased noisy measurements of a common state of the world. Assume these agents iteratively update their estimates according to a simple non-Bayesian learning rule, commonly known in mathematical sociology as the French-DeGroot dynamics or iterative opinion pooling. As a result of this iterative distributed averaging process, each agent arrives at an asymptotic estimate of the state of the world, with the variance of this estimate determined by the matrix of weights the agents assign to each other. Every agent aims at minimizing the variance of her asymptotic estimate of the state of the world; however, such variance is also influenced by the weights allocated by other agents. To achieve the best possible estimate, the agents must then solve a game-theoretic, multi-objective optimization problem defined by the available sets of influence weights. We characterize both the Pareto frontier and the set of Nash equilibria in the resulting game. Additionally, we examine asynchronous best-response dynamics for the group of agents and prove their convergence to the set of strict Nash equilibria.

Authors:Lorenzo Zapparoli, Alfredo Oneto, María Parajeles Herrera, Blazhe Gjorgiev, Gabriela Hug, Giovanni Sansavini
Title: Future Deployment and Flexibility of Distributed Energy Resources in the Distribution Grids of Switzerland
Abstract:
The decarbonization goals worldwide drive the energy transition of power distribution grids, which operate under increasingly volatile conditions and closer to their technical limits. In this context, localized operational data with high temporal and spatial resolution is essential for their effective planning and regulation. Nevertheless, information on grid-connected distributed energy resources, such as electric vehicles, photovoltaic systems, and heat pumps, is often fragmented, inconsistent, and unavailable. This work introduces a comprehensive database of distributed energy resources and non-controllable loads allocated in Switzerland's medium- and low-voltage distribution grid models, covering over 2 million points of connection. Remarkably, this data specifies the flexibility capabilities of the controllable devices, with a set of projections aligned with national forecasts for 2030, 2040, and 2050. The database supports studies on flexibility provision of distributed energy resources, distribution grid resilience, and national energy policy, among other topics. Importantly, its modular structure allows users to extract national- and local-scale information across medium- and low-voltage systems, enabling broad applicability across locations.

Authors:Jun Chen, Lina Liu, Tianyi Zhu, Yong Liu, Guang Dai, Yunliang Jiang, Ivor W. Tsang
Title: Decentralized Optimization on Compact Submanifolds by Quantized Riemannian Gradient Tracking
Abstract:
This paper considers the problem of decentralized optimization on compact submanifolds, where a finite sum of smooth (possibly non-convex) local functions is minimized by $n$ agents forming an undirected and connected graph. However, the efficiency of distributed optimization is often hindered by communication bottlenecks. To mitigate this, we propose the Quantized Riemannian Gradient Tracking (Q-RGT) algorithm, where agents update their local variables using quantized gradients. The introduction of quantization noise allows our algorithm to bypass the constraints of the accurate Riemannian projection operator (such as retraction), further improving iterative efficiency. To the best of our knowledge, this is the first algorithm to achieve an $\mathcal{O}(1/K)$ convergence rate in the presence of quantization, matching the convergence rate of methods without quantization. Additionally, we explicitly derive lower bounds on decentralized consensus associated with a function of quantization levels. Numerical experiments demonstrate that Q-RGT performs comparably to non-quantized methods while reducing communication bottlenecks and computational overhead.

Authors:Victor Casamayor Pujol, Boris Sedlak, Tommaso Salvatori, Karl Friston, Schahram Dustdar
Title: Distributed Intelligence in the Computing Continuum with Active Inference
Abstract:
The Computing Continuum (CC) is an emerging Internet-based computing paradigm that spans from local Internet of Things sensors and constrained edge devices to large-scale cloud data centers. Its goal is to orchestrate a vast array of diverse and distributed computing resources to support the next generation of Internet-based applications. However, the distributed, heterogeneous, and dynamic nature of CC platforms demands distributed intelligence for adaptive and resilient service management. This article introduces a distributed stream processing pipeline as a CC use case, where each service is managed by an Active Inference (AIF) agent. These agents collaborate to fulfill service needs specified by SLOiDs, a term we introduce to denote Service Level Objectives that are aware of its deployed devices, meaning that non-functional requirements must consider the characteristics of the hosting device. We demonstrate how AIF agents can be modeled and deployed alongside distributed services to manage them autonomously. Our experiments show that AIF agents achieve over 90% SLOiD fulfillment when using tested transition models, and around 80% when learning the models during deployment. We compare their performance to a multi-agent reinforcement learning algorithm, finding that while both approaches yield similar results, MARL requires extensive training, whereas AIF agents can operate effectively from the start. Additionally, we evaluate the behavior of AIF agents in offloading scenarios, observing a strong capacity for adaptation. Finally, we outline key research directions to advance AIF integration in CC platforms.

Authors:Ye Yuan, Haolun Wu, Hao Zhou, Xue Liu, Hao Chen, Yan Xin, Jianzhong, Zhang
Title: Understanding 6G through Language Models: A Case Study on LLM-aided Structured Entity Extraction in Telecom Domain
Abstract:
Knowledge understanding is a foundational part of envisioned 6G networks to advance network intelligence and AI-native network architectures. In this paradigm, information extraction plays a pivotal role in transforming fragmented telecom knowledge into well-structured formats, empowering diverse AI models to better understand network terminologies. This work proposes a novel language model-based information extraction technique, aiming to extract structured entities from the telecom context. The proposed telecom structured entity extraction (TeleSEE) technique applies a token-efficient representation method to predict entity types and attribute keys, aiming to save the number of output tokens and improve prediction accuracy. Meanwhile, TeleSEE involves a hierarchical parallel decoding method, improving the standard encoder-decoder architecture by integrating additional prompting and decoding strategies into entity extraction tasks. In addition, to better evaluate the performance of the proposed technique in the telecom domain, we further designed a dataset named 6GTech, including 2390 sentences and 23747 words from more than 100 6G-related technical publications. Finally, the experiment shows that the proposed TeleSEE method achieves higher accuracy than other baseline techniques, and also presents 5 to 9 times higher sample processing speed.

Authors:Martina Vanelli, Laura Arditti, Giacomo Como, Fabio Fagnani
Title: On Signed Network Coordination Games
Abstract:
We study binary-action pairwise-separable network games that encompass both coordinating and anti-coordinating behaviors. Our model is grounded in an underlying directed signed graph, where each link is associated with a weight that describes the strenght and nature of the interaction. The utility for each agent is an aggregation of pairwise terms determined by the weights of the signed graph in addition to an individual bias term. We consider a scenario that assumes the presence of a prominent cohesive subset of players, who are either connected exclusively by positive weights, or forms a structurally balanced subset that can be bipartitioned into two adversarial subcommunities with positive intra-community and negative inter-community edges. Given the properties of the game restricted to the remaining players, our results guarantee the existence of Nash equilibria characterized by a consensus or, respectively, a polarization within the first group, as well as their stability under best response transitions. Our results can be interpreted as robustness results, building on the supermodular properties of coordination games and on a novel use of the concept of graph cohesiveness.

Authors:Dachuan Song, Li Shen, Duy Duong-Tran, Xuan Wang
Title: Reconstructing Brain Causal Dynamics for Subject and Task Fingerprints using fMRI Time-series Data
Abstract:
Purpose: Recently, there has been a revived interest in system neuroscience causation models, driven by their unique capability to unravel complex relationships in multi-scale brain networks. In this paper, we present a novel method that leverages causal dynamics to achieve effective fMRI-based subject and task fingerprinting. Methods: By applying an implicit-explicit discretization scheme, we develop a two-timescale linear state-space model. Through data-driven identification of its parameters, the model captures causal signatures, including directed interactions among brain regions from a spatial perspective, and disentangled fast and slow dynamic modes of brain activity from a temporal perspective. These causal signatures are then integrated with: (i) a modal decomposition and projection method for model-based subject identification, and (ii) a Graph Neural Network (GNN) framework for learning-based task classification. Furthermore, we introduce the concept of the brain reachability landscape as a novel visualization tool, which quantitatively characterizes the maximum possible activation levels of brain regions under various fMRI tasks. Results: We evaluate the proposed approach using the Human Connectome Project dataset and demonstrate its advantage over non-causality-based methods. The obtained causal signatures are visualized and demonstrate clear biological relevance with established understandings of brain function. Conclusion: We verified the feasibility and effectiveness of utilizing brain causal signatures for subject and task fingerprinting. Additionally, our work paves the way for further studies on causal fingerprints with potential applications in both healthy controls and neurodegenerative diseases.

Authors:Sean Kille, Jan Heinrich Robens, Philipp Dahlinger, Alejandra Rodriguez-Velasquez, Simon Rothfuß, Balint Varga, Andreas Lindenmann, Gerhard Neumann, Sven Matthiesen, Andrea Kiesel, Sören Hohmann
Title: Beyond Task Performance: Human Experience in Human-Robot Collaboration
Abstract:
Human interaction experience plays a crucial role in the effectiveness of human-machine collaboration, especially as interactions in future systems progress towards tighter physical and functional integration. While automation design has been shown to impact task performance, its influence on human experience metrics such as flow, sense of agency (SoA), and embodiment remains underexplored. This study investigates how variations in automation design affect these psychological experience measures and examines correlations between subjective experience and physiological indicators. A user study was conducted in a simulated wood workshop, where participants collaborated with a lightweight robot under four automation levels. The results of the study indicate that medium automation levels enhance flow, SoA and embodiment, striking a balance between support and user autonomy. In contrast, higher automation, despite optimizing task performance, diminishes perceived flow and agency. Furthermore, we observed that grip force might be considered as a real-time proxy of SoA, while correlations with heart rate variability were inconclusive. The findings underscore the necessity for automation strategies that integrate human- centric metrics, aiming to optimize both performance and user experience in collaborative robotic systems

Authors:Qingliang Li, Bo Chang, Weidong Mei, Zhi Chen
Title: Integrated Sensing, Computing, Communication, and Control for Time-Sequence-Based Semantic Communications
Abstract:
In the upcoming industrial internet of things (IIoT) era, a surge of task-oriented applications will rely on real-time wireless control systems (WCSs). For these systems, ultra-reliable and low-latency wireless communication will be crucial to ensure the timely transmission of control information. To achieve this purpose, we propose a novel time-sequence-based semantic communication paradigm, where an integrated sensing, computing, communication, and control (ISC3) architecture is developed to make sensible semantic inference (SI) for the control information over time sequences, enabling adaptive control of the robot. However, due to the causal correlations in the time sequence, the control information does not present the Markov property. To address this challenge, we compute the mutual information of the control information sensed at the transmitter (Tx) over different time and identify their temporal semantic correlation via a semantic feature extractor (SFE) module. By this means, highly correlated information transmission can be avoided, thus greatly reducing the communication overhead. Meanwhile, a semantic feature reconstructor (SFR) module is employed at the receiver (Rx) to reconstruct the control information based on the previously received one if the information transmission is not activated at the Tx. Furthermore, a control gain policy is also employed at the Rx to adaptively adjust the control gain for the controlled target based on several practical aspects such as the quality of the information transmission from the Tx to the Rx. We design the neural network structures of the above modules/policies and train their parameters by a novel hybrid reward multi-agent deep reinforcement learning framework. On-site experiments are conducted to evaluate the performance of our proposed method in practice, which shows significant gains over other baseline schemes.

Authors:Mehdi Heydari Shahna, Eemil Haaparanta, Pauli Mustalahti, Jouni Mattila
Title: LiDAR-Inertial SLAM-Based Navigation and Safety-Oriented AI-Driven Control System for Skid-Steer Robots
Abstract:
Integrating artificial intelligence (AI) and stochastic technologies into the mobile robot navigation and control (MRNC) framework while adhering to rigorous safety standards presents significant challenges. To address these challenges, this paper proposes a comprehensively integrated MRNC framework for skid-steer wheeled mobile robots (SSWMRs), in which all components are actively engaged in real-time execution. The framework comprises: 1) a LiDAR-inertial simultaneous localization and mapping (SLAM) algorithm for estimating the current pose of the robot within the built map; 2) an effective path-following control system for generating desired linear and angular velocity commands based on the current pose and the desired pose; 3) inverse kinematics for transferring linear and angular velocity commands into left and right side velocity commands; and 4) a robust AI-driven (RAID) control system incorporating a radial basis function network (RBFN) with a new adaptive algorithm to enforce in-wheel actuation systems to track each side motion commands. To further meet safety requirements, the proposed RAID control within the MRNC framework of the SSWMR constrains AI-generated tracking performance within predefined overshoot and steady-state error limits, while ensuring robustness and system stability by compensating for modeling errors, unknown RBF weights, and external forces. Experimental results verify the proposed MRNC framework performance for a 4,836 kg SSWMR operating on soft terrain.

Authors:Sangli Teng, Tzu-Yuan Lin, William A Clark, Ram Vasudevan, Maani Ghaffari
Title: Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
Abstract:
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. Although direct trajectory optimization is widely applied to solve this problem, inappropriate parameterizations of rigid body dynamics often result in slow convergence and violations of the intrinsic topological structure of the rotation group. This paper introduces a Riemannian optimization framework for direct trajectory optimization of rigid bodies. We first use the Lie Group Variational Integrator to formulate the discrete rigid body dynamics on matrix Lie groups. We then derive the closed-form first- and second-order Riemannian derivatives of the dynamics. Finally, this work applies a line-search Riemannian Interior Point Method (RIPM) to perform trajectory optimization with general nonlinear constraints. As the optimization is performed on matrix Lie groups, it is correct-by-construction to respect the topological structure of the rotation group and be free of singularities. The paper demonstrates that both the derivative evaluations and Newton steps required to solve the RIPM exhibit linear complexity with respect to the planning horizon and system degrees of freedom. Simulation results illustrate that the proposed method is faster than conventional methods by an order of magnitude in challenging robotics tasks.

Authors:An T. Le, Khai Nguyen, Minh Nhat Vu, João Carvalho, Jan Peters
Title: Model Tensor Planning
Abstract:
Sampling-based model predictive control (MPC) offers strong performance in nonlinear and contact-rich robotic tasks, yet often suffers from poor exploration due to locally greedy sampling schemes. We propose \emph{Model Tensor Planning} (MTP), a novel sampling-based MPC framework that introduces high-entropy control trajectory generation through structured tensor sampling. By sampling over randomized multipartite graphs and interpolating control trajectories with B-splines and Akima splines, MTP ensures smooth and globally diverse control candidates. We further propose a simple $β$-mixing strategy that blends local exploitative and global exploratory samples within the modified Cross-Entropy Method (CEM) update, balancing control refinement and exploration. Theoretically, we show that MTP achieves asymptotic path coverage and maximum entropy in the control trajectory space in the limit of infinite tensor depth and width. Our implementation is fully vectorized using JAX and compatible with MuJoCo XLA, supporting \emph{Just-in-time} (JIT) compilation and batched rollouts for real-time control with online domain randomization. Through experiments on various challenging robotic tasks, ranging from dexterous in-hand manipulation to humanoid locomotion, we demonstrate that MTP outperforms standard MPC and evolutionary strategy baselines in task success and control robustness. Design and sensitivity ablations confirm the effectiveness of MTP tensor sampling structure, spline interpolation choices, and mixing strategy. Altogether, MTP offers a scalable framework for robust exploration in model-based planning and control.

Authors:Shuqi Zhao, Ke Yang, Yuxin Chen, Chenran Li, Yichen Xie, Xiang Zhang, Changhao Wang, Masayoshi Tomizuka
Title: DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning
Abstract:
Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring these policies from simulation to real world remains a significant challenge. One important issue is the mismatch in low-level controller dynamics, where identical trajectories can lead to vastly different contact forces and behaviors when control parameters vary. Existing approaches often rely on manual tuning or controller randomization, which can be labor-intensive, task-specific, and introduce significant training difficulty. In this work, we propose a framework that jointly learns actions and controller parameters based on the historical information of both trajectory and controller. This adaptive controller adjustment mechanism allows the policy to automatically tune control parameters during execution, thereby mitigating the sim-to-real gap without extensive manual tuning or excessive randomization. Moreover, by explicitly providing controller parameters as part of the observation, our approach facilitates better reasoning over force interactions and improves robustness in real-world scenarios. Experimental results demonstrate that our method achieves improved transfer performance across a variety of dexterous tasks involving variable force conditions.

Authors:Martina Vanelli, Giacomo Como, Fabio Fagnani
Title: How competitive are pay-as-bid auction games?
Abstract:
We study the pay-as-bid auction game, a supply function model with discriminatory pricing and asymmetric firms. In this game, strategies are non-decreasing supply functions relating pric to quantity and the exact choice of the strategy space turns out to be a crucial issue: when it includes all non-decreasing continuous functions, pure-strategy Nash equilibria often fail to exist. To overcome this, we restrict the strategy space to the set of Lipschitz-continuous functions and we prove that Nash equilibria always exist (under standard concavity assumptions) and consist of functions that are affine on their own support and have slope equal to the maximum allowed Lipschitz constant. We further show that the Nash equilibrium is unique up to the market-clearing price when the demand is affine and the asymmetric marginal production costs are homogeneous in zero. For quadratic production costs, we derive a closed-form expression and we compute the limit as the allowed Lipschitz constant grows to infinity. Our results show that in the limit the pay-as-bid auction game achieves perfect competition with efficient allocation and induces a lower market-clearing price compared to supply function models based on uniform price auctions.

Authors:Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
Title: Anti-Slip AI-Driven Model-Free Control with Global Exponential Stability in Skid-Steering Robots
Abstract:
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot's heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accurate modeling of heavy-duty machinery very challenging because the application primarily involves off-road terrains, which are susceptible to uneven motion and severe slippage. As a step toward robotization in skid-steering heavy-duty robot (SSHDR), this paper aims to design an innovative robust model-free control system developed by neural networks to strongly stabilize the robot dynamics in the presence of a broad range of potential wheel slippages. Before the control design, the dynamics of the SSHDR are first investigated by mathematically incorporating slippage effects, assuming that all functional modeling terms of the system are unknown to the control system. Then, a novel tracking control framework to guarantee global exponential stability of the SSHDR is designed as follows: 1) the unknown modeling of wheel dynamics is approximated using radial basis function neural networks (RBFNNs); and 2) a new adaptive law is proposed to compensate for slippage effects and tune the weights of the RBFNNs online during execution. Simulation and experimental results verify the proposed tracking control performance of a 4,836 kg SSHDR operating on slippery terrain.

Authors:Lorenzo Zapparoli, Blazhe Gjorgiev, Giovanni Sansavini
Title: Optimal Duration of Reserve Capacity Ancillary Services for Distributed Energy Resources
Abstract:
The increasing integration of distributed energy resources (DERs) into power systems presents opportunities and challenges for ancillary services (AS) provision. Technical requirements of existing AS (i.e., duration, reliability, ramp rate, and lead time) have been designed for traditional generating units, making their provision by DER aggregates particularly challenging. This paper proposes a method to design the duration of reserve capacity AS products considering the operational constraints of DERs and the temporal dynamics of system imbalances. The optimal product duration is determined by maximizing product availability and aligning the supply profile with the system's balancing needs. We apply the methodology to a realistic Swiss low-voltage network with a diverse DER portfolio. The results reveal that (i) shorter product durations maximize average availability and (ii) long product durations improve the alignment with system balancing needs. This paper offers valuable insights for system operators to design AS products tailored for DER participation.

Authors:Anne Somalwar, Bruce D. Lee, George J. Pappas, Nikolai Matni
Title: Learning with Imperfect Models: When Multi-step Prediction Mitigates Compounding Error
Abstract:
Compounding error, where small prediction mistakes accumulate over time, presents a major challenge in learning-based control. For example, this issue often limits the performance of model-based reinforcement learning and imitation learning. One common approach to mitigate compounding error is to train multi-step predictors directly, rather than relying on autoregressive rollout of a single-step model. However, it is not well understood when the benefits of multi-step prediction outweigh the added complexity of learning a more complicated model. In this work, we provide a rigorous analysis of this trade-off in the context of linear dynamical systems. We show that when the model class is well-specified and accurately captures the system dynamics, single-step models achieve lower asymptotic prediction error. On the other hand, when the model class is misspecified due to partial observability, direct multi-step predictors can significantly reduce bias and thus outperform single-step approaches. These theoretical results are supported by numerical experiments, wherein we also (a) empirically evaluate an intermediate strategy which trains a single-step model using a multi-step loss and (b) evaluate performance of single step and multi-step predictors in a closed loop control setting.

Authors:Tesshu Fujinami, Bruce D. Lee, Nikolai Matni, George J. Pappas
Title: Policy Gradient for LQR with Domain Randomization
Abstract:
Domain randomization (DR) enables sim-to-real transfer by training controllers on a distribution of simulated environments, with the goal of achieving robust performance in the real world. Although DR is widely used in practice and is often solved using simple policy gradient (PG) methods, understanding of its theoretical guarantees remains limited. Toward addressing this gap, we provide the first convergence analysis of PG methods for domain-randomized linear quadratic regulation (LQR). We show that PG converges globally to the minimizer of a finite-sample approximation of the DR objective under suitable bounds on the heterogeneity of the sampled systems. We also quantify the sample-complexity associated with achieving a small performance gap between the sample-average and population-level objectives. Additionally, we propose and analyze a discount-factor annealing algorithm that obviates the need for an initial jointly stabilizing controller, which may be challenging to find. Empirical results support our theoretical findings and highlight promising directions for future work, including risk-sensitive DR formulations and stochastic PG algorithms.

Authors:Naqash Afzal, Basma Hasanen, Lakmal Seneviratne, Oussama Khatib, Irfan Hussain
Title: Friction-Scaled Vibrotactile Feedback for Real-Time Slip Detection in Manipulation using Robotic Sixth Finger
Abstract:
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of human hands. Human hands can detect onset of slip through tactile feedback originating from tactile receptors during the grasping process, enabling precise and automatic regulation of grip force. The frictional information is perceived by humans depending upon slip happening between finger and object. Enhancing this capability in extra-robotic limbs or fingers used by humans is challenging. To address this challenge, this paper introduces novel approach to communicate frictional information to users through encoded vibrotactile cues. These cues are conveyed on onset of incipient slip thus allowing users to perceive friction and ultimately use this information to increase force to avoid dropping of object. In a 2-alternative forced-choice protocol, participants gripped and lifted a glass under three different frictional conditions, applying a normal force of 3.5 N. After reaching this force, glass was gradually released to induce slip. During this slipping phase, vibrations scaled according to static coefficient of friction were presented to users, reflecting frictional conditions. The results suggested an accuracy of 94.53 p/m 3.05 (mean p/mSD) in perceiving frictional information upon lifting objects with varying friction. The results indicate effectiveness of using vibrotactile feedback for sensory feedback, allowing users of extra-robotic limbs or fingers to perceive frictional information. This enables them to assess surface properties and adjust grip force according to frictional conditions, enhancing their ability to grasp, manipulate objects more effectively.

Authors:Mohammadreza Doostmohammadian, Zulfiya R. Gabidullina, Hamid R. Rabiee
Title: Momentum-based Distributed Resource Scheduling Optimization Subject to Sector-Bound Nonlinearity and Latency
Abstract:
This paper proposes an accelerated consensus-based distributed iterative algorithm for resource allocation and scheduling. The proposed gradient-tracking algorithm introduces an auxiliary variable to add momentum towards the optimal state. We prove that this solution is all-time feasible, implying that the coupling constraint always holds along the algorithm iterative procedure; therefore, the algorithm can be terminated at any time. This is in contrast to the ADMM-based solutions that meet constraint feasibility asymptotically. Further, we show that the proposed algorithm can handle possible link nonlinearity due to logarithmically-quantized data transmission (or any sign-preserving odd sector-bound nonlinear mapping). We prove convergence over uniformly-connected dynamic networks (i.e., a hybrid setup) that may occur in mobile and time-varying multi-agent networks. Further, the latency issue over the network is addressed by proposing delay-tolerant solutions. To our best knowledge, accelerated momentum-based convergence, nonlinear linking, all-time feasibility, uniform network connectivity, and handling (possible) time delays are not altogether addressed in the literature. These contributions make our solution practical in many real-world applications.

Authors:Achiel Colpaert, Zhuangzhuang Cui, Sofie Pollin
Title: Evaluation of 3D Terrestrial and Aerial Spectrum Sharing with Massive MIMO Systems
Abstract:
Connecting aerial and terrestrial users with a single base station (BS) is increasingly challenging due to the rising number of aerial users like unmanned aerial vehicles (UAVs). Traditional BSs, designed with down-tilted beams, focus mainly on ground users, but massive MIMO (mMIMO) systems can significantly enhance coverage in low-altitude airspace. This paper analyzes how a mMIMO BS serves both aerial and terrestrial users in a 3D spectrum-sharing scheme. Using Semi-orthogonal User Selection (SUS) and random scheduling, we assess the spectral efficiency and performance limits of these systems. Results reveal that mMIMO effectively supports more terrestrial users, influenced by channel characteristics and user scheduling strategies, providing key insights for future 3D aerial-terrestrial networks.

Authors:Tesshu Fujinami, Bruce D. Lee, Nikolai Matni, George J. Pappas
Title: Domain Randomization is Sample Efficient for Linear Quadratic Control
Abstract:
We study the sample efficiency of domain randomization and robust control for the benchmark problem of learning the linear quadratic regulator (LQR). Domain randomization, which synthesizes controllers by minimizing average performance over a distribution of model parameters, has achieved empirical success in robotics, but its theoretical properties remain poorly understood. We establish that with an appropriately chosen sampling distribution, domain randomization achieves the optimal asymptotic rate of decay in the excess cost, matching certainty equivalence. We further demonstrate that robust control, while potentially overly conservative, exhibits superior performance in the low-data regime due to its ability to stabilize uncertain systems with coarse parameter estimates. We propose a gradient-based algorithm for domain randomization that performs well in numerical experiments, which enables us to validate the trends predicted by our analysis. These results provide insights into the use of domain randomization in learning-enabled control, and highlight several open questions about its application to broader classes of systems.

Authors:Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
Title: Fault-Tolerant Control for System Availability and Continuous Operation in Heavy-Duty Wheeled Mobile Robots
Abstract:
When the control system in a heavy-duty wheeled mobile robot (HD-WMR) malfunctions, deviations from ideal motion occur, significantly heightening the risks of off-road instability and costly damage. To meet the demands for safety, reliability, and controllability in HD-WMRs, the control system must tolerate faults to a certain extent, ensuring continuous operation. To this end, this paper introduces a model-free hierarchical control with fault accommodation (MFHCA) framework designed to address sensor and actuator faults in hydraulically powered HD-WMRs with independently controlled wheels. To begin, a novel mathematical representation of the motion dynamics of HD-WMRs, incorporating both sensor and actuator fault modes, is investigated. Subsequently, the MFHCA framework is proposed to manage all wheels under various fault modes, ensuring that each wheel tracks the reference driving velocities and steering angles, which are inverse kinematically mapped from the angular and linear velocities commanded in the HD-WMR's base frame. To do so, this framework generates appropriate power efforts in independently valve-regulated wheels to accommodate the adaptively isolated faults, thereby ensuring exponential stability. The experimental analysis of a 6,500-kg hydraulic-powered HD-WMR under various fault modes and rough terrains demonstrates the validity of the MFHCA framework.

Authors:Mehdi Heydari Shahna, Jukka-Pekka Humaloja, Jouni Mattila
Title: Model Reference-Based Control with Guaranteed Predefined Performance for Uncertain Strict-Feedback Systems
Abstract:
To address the complexities posed by time- and state-varying uncertainties and the computation of analytic derivatives in strict-feedback form (SFF) systems, this study introduces a novel model reference-based control (MRBC) framework which applies locally to each subsystem (SS), to ensure output tracking performance within the specified transient and steady-state response criteria. This framework includes 1) novel homogeneous adaptive estimators (HAEs) designed to match the uncertain nonlinear SFF system to a reference model, enabling easier analysis and control design at the level, and 2) model-based homogeneous adaptive controllers enhanced by logarithmic barrier Lyapunov functions (HAC-BLFs), intended to control the reference model provided by HAEs in each SS, while ensuring the prescribed tracking responses under control amplitude saturation. The inherently robust MRBC achieves uniformly exponential stability using a generic stability connector term, which addresses dynamic interactions between the adjacent SSs. The parameter sensitivities of HAEs and HAC-BLFs in the MRBC framework are analyzed, focusing on the system's robustness and responsiveness. The proposed MRBC framework is experimentally validated through several scenarios involving an electromechanical linear actuator system with an uncertain SFF, subjected loading disturbance forces challenging 0-95% of its capacity.

Authors:Mohammadreza Doostmohammadian, Hamid R. Rabiee
Title: Distributed Observer Design for Tracking Platoon of Connected and Autonomous Vehicles
Abstract:
Intelligent transportation systems (ITS) aim to advance innovative strategies relating to different modes of transport, traffic management, and autonomous vehicles. This paper studies the platoon of connected and autonomous vehicles (CAV) and proposes a distributed observer to track the state of the CAV dynamics. First, we model the CAV dynamics via an LTI interconnected system. Then, a consensus-based strategy is proposed to infer the state of the CAV dynamics based on local information exchange over the communication network of vehicles. A linear-matrix-inequality (LMI) technique is adopted for the block-diagonal observer gain design such that this gain is associated in a distributed way and locally to every vehicle. The distributed observer error dynamics is then shown to follow the structure of the Kronecker matrix product of the system dynamics and the adjacency matrix of the CAV network. The notions of survivable network design and redundant observer scheme are further discussed in the paper to address resilience to link and node failure. Finally, we verify our theoretical contributions via numerical simulations.

Authors:Mohammadreza Doostmohammadian, Alireza Aghasi, Hamid R. Rabiee
Title: Fully Distributed and Quantized Algorithm for MPC-based Autonomous Vehicle Platooning Optimization
Abstract:
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and optimization over vehicular networks. First, we formulate the autonomous vehicle platooning framework based on model-predictive-control (MPC) strategies and present its objective optimization as a cooperative quadratic cost function. Then, we propose a distributed algorithm to locally optimize this objective at every vehicle subject to data quantization over the communication network of vehicles. In contrast to most existing literature that assumes ideal communication channels, log-scale data quantization over the network is addressed in this work, which is more realistic and practical. In particular, we show by simulation that the proposed log-quantized algorithm reaches optimal convergence with less residual and optimality gap. This outperforms the existing literature considering uniform quantization which leads to a large optimality gap and residual.

Authors:Vasileios Lioutas, Adam Scibior, Matthew Niedoba, Berend Zwartsenberg, Frank Wood
Title: Control-ITRA: Controlling the Behavior of a Driving Model
Abstract:
Simulating realistic driving behavior is crucial for developing and testing autonomous systems in complex traffic environments. Equally important is the ability to control the behavior of simulated agents to tailor scenarios to specific research needs and safety considerations. This paper extends the general-purpose multi-agent driving behavior model ITRA (Scibior et al., 2021), by introducing a method called Control-ITRA to influence agent behavior through waypoint assignment and target speed modulation. By conditioning agents on these two aspects, we provide a mechanism for them to adhere to specific trajectories and indirectly adjust their aggressiveness. We compare different approaches for integrating these conditions during training and demonstrate that our method can generate controllable, infraction-free trajectories while preserving realism in both seen and unseen locations.

Authors:Yi Zhang, Bin Lei, Mohamadamin Rajabinezhad, Caiwen Ding, Shan Zuo
Title: Observer-Based Data-Driven Consensus Control for Nonlinear Multi-Agent Systems against DoS and FDI attacks
Abstract:
Existing data-driven control methods generally do not address False Data Injection (FDI) and Denial-of-Service (DoS) attacks simultaneously. This letter introduces a distributed data-driven attack-resilient consensus problem under both FDI and DoS attacks and proposes a data-driven consensus control framework, consisting of a group of comprehensive attack-resilient observers. The proposed group of observers is designed to estimate FDI attacks, external disturbances, and lumped disturbances, combined with a DoS attack compensation mechanism. A rigorous stability analysis of the approach is provided to ensure the boundedness of the distributed neighborhood estimation consensus error. The effectiveness of the approach is validated through numerical examples involving both leaderless consensus and leader-follower consensus, demonstrating significantly improved resilient performance compared to existing data-driven control approaches.

Authors:Giacomo Como, Fabio Fagnani, Leonardo Massai, Martina Vanelli
Title: Equilibria in Network Constrained Markets with Market Maker
Abstract:
We study a networked economic system composed of $n$ producers supplying a single homogeneous good to a number of geographically separated markets and of a centralized authority, called the market maker. Producers compete à la Cournot, by choosing the quantities of good to supply to each market they have access to in order to maximize their profit. Every market is characterized by its inverse demand functions returning the unit price of the considered good as a function of the total available quantity. Markets are interconnected by a dispatch network through which quantities of the considered good can flow within finite capacity constraints. Such flows are determined by the market maker, who aims at maximizing a designated welfare function. We model such competition as a strategic game with $n+1$ players: the producers and the market game. For this game, we first establish the existence of Nash equilibria under standard concavity assumptions. We then identify sufficient conditions for the game to be potential with an essentially unique Nash equilibrium. Next, we present a general result that connects the optimal action of the market maker with the capacity constraints imposed on the network. For the commonly used Walrasian welfare, our finding proves a connection between capacity bottlenecks in the market network and the emergence of price differences between markets separated by saturated lines. This phenomenon is frequently observed in real-world scenarios, for instance in power networks. Finally, we validate the model with data from the Italian day-ahead electricity market.

Authors:Chengjun Liu, Yijun Xu, Wei Gu, Bo Sun, Kai Wen, Shuai Lu, Lamine Mili
Title: Alleviating CoD in Renewable Energy Profile Clustering Using an Optical Quantum Computer
Abstract:
The traditional clustering problem of renewable energy profiles is typically formulated as a combinatorial optimization that suffers from the Curse of Dimensionality (CoD) on classical computers. To address this issue, this paper first proposed a kernel-based quantum clustering method. More specifically, the kernel-based similarity between profiles with minimal intra-group distance is encoded into the ground-state of the Hamiltonian in the form of an Ising model. Then, this NP-hard problem can be reformulated into a Quadratic Unconstrained Binary Optimization (QUBO), which a Coherent Ising Machine (CIM) can naturally solve with significant improvement over classical computers. The test results from a real optical quantum computer verify the validity of the proposed method. It also demonstrates its ability to address CoD in an NP-hard clustering problem.

Authors:Mehdi Bennis, Sumudu Samarakoon, Tamara Alshammari, Chathuranga Weeraddana, Zhoujun Tian, Chaouki Ben Issaid
Title: Resilient-Native and Intelligent Next-Generation Wireless Systems: Key Enablers, Foundations, and Applications
Abstract:
Just like power, water, and transportation systems, wireless networks are a crucial societal infrastructure. As natural and human-induced disruptions continue to grow, wireless networks must be resilient. This requires them to withstand and recover from unexpected adverse conditions, shocks, unmodeled disturbances and cascading failures. Unlike robustness and reliability, resilience is based on the understanding that disruptions will inevitably happen. Resilience, as elasticity, focuses on the ability to bounce back to favorable states, while resilience as plasticity involves agents and networks that can flexibly expand their states and hypotheses through real-time adaptation and reconfiguration. This situational awareness and active preparedness, adapting world models and counterfactually reasoning about potential system failures and the best responses, is a core aspect of resilience. This article will first disambiguate resilience from reliability and robustness, before delving into key mathematical foundations of resilience grounded in abstraction, compositionality and emergence. Subsequently, we focus our attention on a plethora of techniques and methodologies pertaining to the unique characteristics of resilience, as well as their applications through a comprehensive set of use cases. Ultimately, the goal of this paper is to establish a unified foundation for understanding, modeling, and engineering resilience in wireless communication systems, while laying a roadmap for the next-generation of resilient-native and intelligent wireless systems.

Authors:Alessandro Abate, Omid Akbarzadeh, Henk A. P. Blom, Sofie Haesaert, Sina Hassani, Abolfazl Lavaei, Frederik Baymler Mathiesen, Rahul Misra, Amy Nejati, Mathis Niehage, Fie Ørum, Anne Remke, Behrad Samari, Ruohan Wang, Rafal Wisniewski, Ben Wooding, Mahdieh Zaker
Title: ARCH-COMP25 Category Report: Stochastic Models
Abstract:
This report is concerned with a friendly competition for formal verification and policy synthesis of stochastic models. The main goal of the report is to introduce new benchmarks and their properties within this category and recommend next steps toward next year's edition of the competition. In particular, this report introduces three recently developed software tools, a new water distribution network benchmark, and a collection of simplified benchmarks intended to facilitate further comparisons among tools that were previously not directly comparable. This friendly competition took place as part of the workshop Applied Verification for Continuous and Hybrid Systems (ARCH) in Summer 2025.

Authors:Baxi Chong, Juntao He, Daniel Irvine, Tianyu Wang, Esteban Flores, Daniel Soto, Jianfeng Lin, Zhaochen Xu, Vincent R Nienhusser, Grigoriy Blekherman, Daniel I. Goldman
Title: Robust control for multi-legged elongate robots in noisy environments
Abstract:
Modern two and four legged robots exhibit impressive mobility on complex terrain, largely attributed to advancement in learning algorithms. However, these systems often rely on high-bandwidth sensing and onboard computation to perceive/respond to terrain uncertainties. Further, current locomotion strategies typically require extensive robot-specific training, limiting their generalizability across platforms. Building on our prior research connecting robot-environment interaction and communication theory, we develop a new paradigm to construct robust and simply controlled multi-legged elongate robots (MERs) capable of operating effectively in cluttered, unstructured environments. In this framework, each leg-ground contact is thought of as a basic active contact (bac), akin to bits in signal transmission. Reliable locomotion can be achieved in open-loop on "noisy" landscapes via sufficient redundancy in bacs. In such situations, robustness is achieved through passive mechanical responses. We term such processes as those displaying mechanical intelligence (MI) and analogize these processes to forward error correction (FEC) in signal transmission. To augment MI, we develop feedback control schemes, which we refer to as computational intelligence (CI) and such processes analogize automatic repeat request (ARQ) in signal transmission. Integration of these analogies between locomotion and communication theory allow analysis, design, and prediction of embodied intelligence control schemes (integrating MI and CI) in MERs, showing effective and reliable performance (approximately half body lengths per cycle) on complex landscapes with terrain "noise" over twice the robot's height. Our work provides a foundation for systematic development of MER control, paving the way for terrain-agnostic, agile, and resilient robotic systems capable of operating in extreme environments.

Authors:Gregorio Marchesini, Siyuan Liu, Lars Lindemann, Dimos V. Dimarogonas
Title: Sampling-Based Planning Under STL Specifications: A Forward Invariance Approach
Abstract:
We propose a variant of the Rapidly Exploring Random Tree Star (RRT$^{\star}$) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a fragment of Signal Temporal Logic (STL) for linear systems. Previous approaches for planning trajectories under STL specifications using sampling-based methods leverage either mixed-integer or non-smooth optimization techniques, with poor scalability in the horizon and complexity of the task. We adopt instead a control-theoretic perspective on the problem, based on the notion of set forward invariance. Specifically, from a given STL task defined over polyhedral predicates, we develop a novel algorithmic framework by which the task is efficiently encoded into a time-varying set via linear programming, such that trajectories evolving within the set also satisfy the task. Forward invariance properties of the resulting set with respect to the system dynamics and input limitations are then proved via non-smooth analysis. We then present a modified RRT$^{\star}$ algorithm to synthesize asymptotically optimal and dynamically feasible trajectories satisfying a given STL specification, by sampling a tree of trajectories within the previously constructed time-varying set. We showcase two use cases of our approach involving an autonomous inspection of the International Space Station and room-servicing task requiring timed revisit of a charging station.

Authors:Xiaoyi Yuan, Qiming Huang, Mingqing Guo, Huiming Ma, Ming Xu, Zeyi Liu, Xiao He
Title: Towards Next-Generation Intelligent Maintenance: Collaborative Fusion of Large and Small Models
Abstract:
With the rapid advancement of intelligent technologies, collaborative frameworks integrating large and small models have emerged as a promising approach for enhancing industrial maintenance. However, several challenges persist, including limited domain adaptability, insufficient real-time performance and reliability, high integration complexity, and difficulties in knowledge representation and fusion. To address these issues, an intelligent maintenance framework for industrial scenarios is proposed. This framework adopts a five-layer architecture and integrates the precise computational capabilities of domain-specific small models with the cognitive reasoning, knowledge integration, and interactive functionalities of large language models. The objective is to achieve more accurate, intelligent, and efficient maintenance in industrial applications. Two realistic implementations, involving the maintenance of telecommunication equipment rooms and the intelligent servicing of energy storage power stations, demonstrate that the framework significantly enhances maintenance efficiency.

Authors:Yuliang Gu, Hongpeng Cao, Marco Caccamo, Naira Hovakimyan
Title: Bregman Centroid Guided Cross-Entropy Method
Abstract:
The Cross-Entropy Method (CEM) is a widely adopted trajectory optimizer in model-based reinforcement learning (MBRL), but its unimodal sampling strategy often leads to premature convergence in multimodal landscapes. In this work, we propose Bregman Centroid Guided CEM ($\mathcal{BC}$-EvoCEM), a lightweight enhancement to ensemble CEM that leverages $\textit{Bregman centroids}$ for principled information aggregation and diversity control. $\textbf{$\mathcal{BC}$-EvoCEM}$ computes a performance-weighted Bregman centroid across CEM workers and updates the least contributing ones by sampling within a trust region around the centroid. Leveraging the duality between Bregman divergences and exponential family distributions, we show that $\textbf{$\mathcal{BC}$-EvoCEM}$ integrates seamlessly into standard CEM pipelines with negligible overhead. Empirical results on synthetic benchmarks, a cluttered navigation task, and full MBRL pipelines demonstrate that $\textbf{$\mathcal{BC}$-EvoCEM}$ enhances both convergence and solution quality, providing a simple yet effective upgrade for CEM.

Authors:Botong Zhang, Shuo Li, Ignacio Hounie, Osbert Bastani, Dongsheng Ding, Alejandro Ribeiro
Title: Alignment of large language models with constrained learning
Abstract:
We study the problem of computing an optimal large language model (LLM) policy for a constrained alignment problem, where the goal is to maximize a primary reward objective while satisfying constraints on secondary utilities. Despite the popularity of Lagrangian-based LLM policy search in constrained alignment, iterative primal-dual methods often fail to converge, and non-iterative dual-based methods do not achieve optimality in the LLM parameter space. To address these challenges, we employ Lagrangian duality to develop an iterative dual-based alignment method that alternates between updating the LLM policy via Lagrangian maximization and updating the dual variable via dual descent. In theory, we characterize the primal-dual gap between the primal value in the distribution space and the dual value in the LLM parameter space. We further quantify the optimality gap of the learned LLM policies at near-optimal dual variables with respect to both the objective and the constraint functions. These results prove that dual-based alignment methods can find an optimal constrained LLM policy, up to an LLM parametrization gap. We demonstrate the effectiveness and merits of our approach through extensive experiments conducted on the PKU-SafeRLHF dataset.

Authors:Seyed Soroush Karimi Madahi, Kenneth Bruninx, Bert Claessens, Chris Develder
Title: Gaming Strategies in European Imbalance Settlement Mechanisms
Abstract:
Transmission System Operators (TSOs) rely on balancing energy provided by Balancing Service Providers (BSPs) to maintain the supply-demand balance in real time. Balance Responsible Parties (BRPs) can simultaneously deviate from their day-ahead schedules in response to imbalance prices, e.g., by controlling flexible assets such as batteries. According to the European Electricity Balancing Guideline, these imbalance prices should incentivize BRPs performing such implicit or passive balancing to aid the TSO in restoring the energy balance. In this paper, we demonstrate that BRPs are unintentionally offered the opportunity to exploit gaming strategies in European imbalance settlement mechanisms. This is enabled by a disconnect between sub-quarter-hourly dynamics that determine the imbalance prices and the financial settlement on a quarter-hourly basis. We illustrate this behavior in a case study of the imbalance settlement mechanisms in Belgium and the Netherlands. Our results reveal that, in both countries, BRPs can, in theory, exploit the imbalance mechanism by increasing the instantaneous system imbalance during minutes within the quarter-hour that determine the imbalance price while still contributing to restoring the system balance for the rest of the quarter-hour.

Authors:Rebecca G. Hart, Omkar Sudhir Patil, Zachary I. Bell, Warren E. Dixon
Title: System Identification and Control Using Lyapunov-Based Deep Neural Networks without Persistent Excitation: A Concurrent Learning Approach
Abstract:
Deep Neural Networks (DNNs) are increasingly used in control applications due to their powerful function approximation capabilities. However, many existing formulations focus primarily on tracking error convergence, often neglecting the challenge of identifying the system dynamics using the DNN. This paper presents the first result on simultaneous trajectory tracking and online system identification using a DNN-based controller, without requiring persistent excitation. Two new concurrent learning adaptation laws are constructed for the weights of all the layers of the DNN, achieving convergence of the DNN's parameter estimates to a neighborhood of their ideal values, provided the DNN's Jacobian satisfies a finite-time excitation condition. A Lyapunov-based stability analysis is conducted to ensure convergence of the tracking error, weight estimation errors, and observer errors to a neighborhood of the origin. Simulations performed on a range of systems and trajectories, with the same initial and operating conditions, demonstrated 40.5% to 73.6% improvement in function approximation performance compared to the baseline, while maintaining a similar tracking error and control effort. Simulations evaluating function approximation capabilities on data points outside of the trajectory resulted in 58.88% and 74.75% improvement in function approximation compared to the baseline.

Authors:André Artelt, Stelios G. Vrachimis, Demetrios G. Eliades, Ulrike Kuhl, Barbara Hammer, Marios M. Polycarpou
Title: Interpretable Event Diagnosis in Water Distribution Networks
Abstract:
The increasing penetration of information and communication technologies in the design, monitoring, and control of water systems enables the use of algorithms for detecting and identifying unanticipated events (such as leakages or water contamination) using sensor measurements. However, data-driven methodologies do not always give accurate results and are often not trusted by operators, who may prefer to use their engineering judgment and experience to deal with such events. In this work, we propose a framework for interpretable event diagnosis -- an approach that assists the operators in associating the results of algorithmic event diagnosis methodologies with their own intuition and experience. This is achieved by providing contrasting (i.e., counterfactual) explanations of the results provided by fault diagnosis algorithms; their aim is to improve the understanding of the algorithm's inner workings by the operators, thus enabling them to take a more informed decision by combining the results with their personal experiences. Specifically, we propose counterfactual event fingerprints, a representation of the difference between the current event diagnosis and the closest alternative explanation, which can be presented in a graphical way. The proposed methodology is applied and evaluated on a realistic use case using the L-Town benchmark.

Authors:Shuai Lu, Zeyin Hou, Wei Gu, Yijun Xu
Title: Integrating Building Thermal Flexibility Into Distribution System: A Privacy-Preserved Dispatch Approach
Abstract:
The inherent thermal storage capacity of buildings brings considerable thermal flexibility to the heating/cooling loads, which are promising demand response resources for power systems. It is widely believed that integrating the thermal flexibility of buildings into the distribution system can improve the operating economy and reliability of the system. However, the private information of the buildings needs to be transferred to the distribution system operator (DSO) to achieve a coordinated optimization, bringing serious privacy concerns to users. Given this issue, we propose a novel privacy-preserved optimal dispatch approach for the distribution system incorporating buildings. Using it, the DSO can exploit the thermal flexibility of buildings without accessing their private information, such as model parameters and indoor temperature profiles. Specifically, we first develop an optimal dispatch model for the distribution system integrating buildings, which can be extended to other storage-like flexibility resources. Second, we reveal that the privacy-preserved integration of buildings is a joint privacy preservation problem for both parameters and state variables and then design a privacy-preserved algorithm based on transformation-based encryption, constraint relaxation, and constraint extension techniques. Besides, we implement a detailed privacy analysis for the proposed method, considering both semi-honest adversaries and external eavesdroppers. Case studies demonstrate the accuracy, privacy-preserved performance, and computational efficiency of the proposed method.

Authors:Oscar de Groot, Alberto Bertipaglia, Hidde Boekema, Vishrut Jain, Marcell Kegl, Varun Kotian, Ted Lentsch, Yancong Lin, Chrysovalanto Messiou, Emma Schippers, Farzam Tajdari, Shiming Wang, Zimin Xia, Mubariz Zaffar, Ronald Ensing, Mario Garzon, Javier Alonso-Mora, Holger Caesar, Laura Ferranti, Riender Happee, Julian F. P. Kooij, Georgios Papaioannou, Barys Shyrokau, Dariu M. Gavrila
Title: A Vehicle System for Navigating Among Vulnerable Road Users Including Remote Operation
Abstract:
We present a vehicle system capable of navigating safely and efficiently around Vulnerable Road Users (VRUs), such as pedestrians and cyclists. The system comprises key modules for environment perception, localization and mapping, motion planning, and control, integrated into a prototype vehicle. A key innovation is a motion planner based on Topology-driven Model Predictive Control (T-MPC). The guidance layer generates multiple trajectories in parallel, each representing a distinct strategy for obstacle avoidance or non-passing. The underlying trajectory optimization constrains the joint probability of collision with VRUs under generic uncertainties. To address extraordinary situations ("edge cases") that go beyond the autonomous capabilities - such as construction zones or encounters with emergency responders - the system includes an option for remote human operation, supported by visual and haptic guidance. In simulation, our motion planner outperforms three baseline approaches in terms of safety and efficiency. We also demonstrate the full system in prototype vehicle tests on a closed track, both in autonomous and remotely operated modes.

Authors:Marvin Loba, Nayel Fabian Salem, Marcus Nolte, Andreas Dotzler, Dieter Ludwig, Markus Maurer
Title: Toward a Harmonized Approach -- Requirement-based Structuring of a Safety Assurance Argumentation for Automated Vehicles
Abstract:
Despite the increasing testing operations of automated vehicles on public roads, media reports on incidents show that safety issues caused by automated driving systems persist to this day. Manufacturers face high development uncertainty when aiming to deploy these systems in an open context. In particular, one challenge is establishing a valid argument at design time that the vehicles will exhibit reasonable residual risk when operating in its intended operational design domain. While there is extensive literature on assurance cases for safety-critical systems in general, the domain of automated driving lacks explicit requirements regarding the creation of safety assurance argumentations for automated vehicles. In this paper, we aim to narrow this gap by elaborating a requirement-based approach. We identify structural requirements for an argumentation based on published literature and supplement these with structural requirements derived from stakeholder concerns. We apply these requirements to obtain a proposal for a generic argumentation structure. The resulting "safety arguments" address the developed product (product argument), the underlying process (process argument) including its conformance/compliance to standards/laws (conformance/compliance argument), as well as an argumentation's context (context argument) and soundness (soundness argument). Finally, we outline argumentation principles in accordance with domain-specific needs and concepts.

Authors:Guangjin Pan, Zhixing Li, Ayça Özçelikkale, Christian Häger, Musa Furkan Keskin, Henk Wymeersch
Title: Rate-Limited Closed-Loop Distributed ISAC Systems: An Autoencoder Approach
Abstract:
In closed-loop distributed multi-sensor integrated sensing and communication (ISAC) systems, performance often hinges on transmitting high-dimensional sensor observations over rate-limited networks. In this paper, we first present a general framework for rate-limited closed-loop distributed ISAC systems, and then propose an autoencoder-based observation compression method to overcome the constraints imposed by limited transmission capacity. Building on this framework, we conduct a case study using a closed-loop linear quadratic regulator (LQR) system to analyze how the interplay among observation, compression, and state dimensions affects reconstruction accuracy, state estimation error, and control performance. In multi-sensor scenarios, our results further show that optimal resource allocation initially prioritizes low-noise sensors until the compression becomes lossless, after which resources are reallocated to high-noise sensors.

Authors:Yuexin Bian, Yuanyuan Shi
Title: Data-driven operator learning for energy-efficient building control
Abstract:
Energy-efficient ventilation control plays a vital role in reducing building energy consumption while ensuring occupant health and comfort. While Computational Fluid Dynamics (CFD) simulations offer high-fidelity modeling of airflow for building HVAC design, their high computational cost makes them impractical for practical adoption in real-time building management system. In this work, we present a data-driven framework that combines the physical accuracy of CFD with the computational efficiency of machine learning to enable energy-efficient building ventilation control. Our method jointly optimizes airflow supply rates and vent angles to reduce energy use and adhere to air quality constraints. We train a neural operator transformer to learn the mapping from building control actions to airflow field distributions using high-resolution CFD data. This learned operator enables a gradient-based control framework capable of optimal decision-making. Experimental results demonstrate that our approach achieves substantial energy savings compared to maximum airflow rate control, rule-based control, and data-driven control based on regional average CO2 predictions, while consistently maintaining safe indoor air quality. These results highlight the practicality and scalability of our method for enabling safe and energy-efficient building management.

Authors:Jintao Liang, Pablo G. Madoery, Chung-Horng Lung, Halim Yanikomeroglu, Gunes Karabulut Kurt
Title: Green Satellite Networks Using Segment Routing and Software-Defined Networking
Abstract:
This paper presents a comprehensive evaluation of network performance in software defined networking (SDN)-based low Earth orbit (LEO) satellite networks, focusing on the Telesat Lightspeed constellation. We propose a green traffic engineering (TE) approach leveraging segment routing IPv6 (SRv6) to enhance energy efficiency. Through simulations, we analyze the impact of SRv6, multi-protocol label switching (MPLS), IPv4, and IPv6 with open shortest path first (OSPF) on key network performance metrics, including peak and average CPU usage, memory consumption, packet delivery rate (PDR), and packet overhead under varying traffic loads. Results show that the proposed green TE approach using SRv6 achieves notable energy efficiency, maintaining lower CPU usage and high PDR compared to traditional protocols. While SRv6 and MPLS introduce slightly higher memory usage and overhead due to their advanced configurations, these trade-offs remain manageable. Our findings highlight SRv6 with green TE as a promising solution for optimizing energy efficiency in LEO satellite networks, contributing to the development of more sustainable and efficient satellite communications.

Authors:Aristide Emanuele Casucci, Federico Nesti, Mauro Marinoni, Giorgio Buttazzo
Title: Feelbert: A Feedback Linearization-based Embedded Real-Time Quadrupedal Locomotion Framework
Abstract:
Quadruped robots have become quite popular for their ability to adapt their locomotion to generic uneven terrains. For this reason, over time, several frameworks for quadrupedal locomotion have been proposed, but with little attention to ensuring a predictable timing behavior of the controller. To address this issue, this work presents Feelbert, a modular control framework for quadrupedal locomotion suitable for execution on an embedded system under hard real-time execution constraints. It leverages the feedback linearization control technique to obtain a closed-form control law for the body, valid for all configurations of the robot. The control law was derived after defining an appropriate rigid body model that uses the accelerations of the feet as control variables, instead of the estimated contact forces. This work also provides a novel algorithm to compute footholds and gait temporal parameters using the concept of imaginary wheels, and a heuristic algorithm to select the best gait schedule for the current velocity commands. The proposed framework is developed entirely in C++, with no dependencies on third-party libraries and no dynamic memory allocation, to ensure predictability and real-time performance. Its implementation allows Feelbert to be both compiled and executed on an embedded system for critical applications, as well as integrated into larger systems such as Robot Operating System 2 (ROS 2). For this reason, Feelbert has been tested in both scenarios, demonstrating satisfactory results both in terms of reference tracking and temporal predictability, whether integrated into ROS 2 or compiled as a standalone application on a Raspberry Pi 5.

Authors:Luis F. Recalde, Mrunal Sarvaiya, Giuseppe Loianno, Guanrui Li
Title: ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
Abstract:
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However, their hybrid and underactuated dynamics pose significant control and perception challenges. Traditional approaches often assume a taut cable condition, limiting their effectiveness in real-world applications where slack-to-taut transitions occur due to disturbances. We introduce ES-HPC-MPC, a model predictive control framework that enforces exponential stability and perception-constrained control under hybrid dynamics. Our method leverages Exponentially Stabilizing Control Lyapunov Functions (ES-CLFs) to enforce stability during the tasks and Control Barrier Functions (CBFs) to maintain the payload within the onboard camera's field of view (FoV). We validate our method through both simulation and real-world experiments, demonstrating stable trajectory tracking and reliable payload perception. We validate that our method maintains stability and satisfies perception constraints while tracking dynamically infeasible trajectories and when the system is subjected to hybrid mode transitions caused by unexpected disturbances.

Authors:Sicheng Liu, Hongchang Huang, Bo Yang, Mingxuan Cai, Xu Yang, Xinping Guan
Title: A Graph-Enhanced DeepONet Approach for Real-Time Estimating Hydrogen-Enriched Natural Gas Flow under Variable Operations
Abstract:
Blending green hydrogen into natural gas presents a promising approach for renewable energy integration and fuel decarbonization. Accurate estimation of hydrogen fraction in hydrogen-enriched natural gas (HENG) pipeline networks is crucial for operational safety and efficiency, yet it remains challenging due to complex dynamics. While existing data-driven approaches adopt end-to-end architectures for HENG flow state estimation, their limited adaptability to varying operational conditions hinders practical applications. To this end, this study proposes a graph-enhanced DeepONet framework for the real-time estimation of HENG flow, especially hydrogen fractions. First, a dual-network architecture, called branch network and trunk network, is employed to characterize operational conditions and sparse sensor measurements to estimate the HENG state at targeted locations and time points. Second, a graph-enhance branch network is proposed to incorporate pipeline topology, improving the estimation accuracy in large-scale pipeline networks. Experimental results demonstrate that the proposed method achieves superior estimation accuracy for HCNG flow under varying operational conditions compared to conventional approaches.

Authors:Yibo Shi, Braghadeesh Lakshminarayanan, Cristian R. Rojas
Title: A Metropolis-Adjusted Langevin Algorithm for Sampling Jeffreys Prior
Abstract:
Inference and estimation are fundamental in statistics, system identification, and machine learning. When prior knowledge about the system is available, Bayesian analysis provides a natural framework for encoding it through a prior distribution. In practice, such knowledge is often too vague to specify a full prior distribution, motivating the use of default 'uninformative' priors that minimize subjective bias. Jeffreys prior is an appealing uninformative prior because: (i) it is invariant under any re-parameterization of the model, (ii) it encodes the intrinsic geometric structure of the parameter space through the Fisher information matrix, which in turn enhances the diversity of parameter samples. Despite these benefits, drawing samples from Jeffreys prior is challenging. In this paper, we develop a general sampling scheme using the Metropolis-Adjusted Langevin Algorithm that enables sampling of parameter values from Jeffreys prior; the method extends naturally to nonlinear state-space models. The resulting samples can be directly used in sampling-based system identification methods and Bayesian experiment design, providing an objective, information-geometric description of parameter uncertainty. Several numerical examples demonstrate the efficiency and accuracy of the proposed scheme.

Authors:Eleftherios E. Vlahakis, Lars Lindemann, Dimos V. Dimarogonas
Title: Conformal Data-driven Control of Stochastic Multi-Agent Systems under Collaborative Signal Temporal Logic Specifications
Abstract:
We address control synthesis of stochastic discrete-time linear multi-agent systems under jointly chance-constrained collaborative signal temporal logic specifications in a distribution-free manner using available disturbance samples, which are partitioned into training and calibration sets. Leveraging linearity, we decompose each agent's system into deterministic nominal and stochastic error parts, and design disturbance feedback controllers to bound the stochastic errors by solving a tractable optimization problem over the training data. We then quantify prediction regions (PRs) for the aggregate error trajectories corresponding to agent cliques, involved in collaborative tasks, using conformal prediction and calibration data. This enables us to address the specified joint chance constraint via Lipschitz tightening and the computed PRs, and relax the centralized stochastic optimal control problem to a deterministic one, whose solution provides the feedforward inputs. To enhance scalability, we decompose the deterministic problem into agent-level subproblems solved in an MPC fashion, yielding a distributed control policy. Finally, we present an illustrative example and a comparison with [1].

Authors:Braghadeesh Lakshminarayanan, Cristian R. Rojas
Title: Fine Tuning a Data-Driven Estimator
Abstract:
In recent years, many industries have developed high-fidelity simulators, such as digital twins, to represent physical systems, although their parameters must be calibrated to accurately reflect the true system. This need has paved the way for the creation of data-driven parameter estimators to calibrate such simulators. These estimators are constructed by generating synthetic observations for various parameter settings of the simulator and then establishing a mapping from these observations to the corresponding parameter settings using supervised learning. However, if the true system's parameters fall outside the range of the sampled parameter set used to construct the mapping, the resulting predictions will suffer from out-of-distribution (OOD) issues. In this paper, we introduce a fine-tuning approach for a specific data-driven estimator, known as the Two-Stage estimator, designed to mitigate the problems associated with OOD and improve its accuracy.

Authors:Sahan Liyanaarachchi, Ismail Cosandal, Sennur Ulukus
Title: Source Coding for a Wiener Process
Abstract:
We develop a novel source coding strategy for sampling and monitoring of a Wiener process. For the encoding process, we employ a four level ``quantization'' scheme, which employs monotone function thresholds as opposed to fixed constant thresholds. Leveraging the hitting times of the Wiener process with these thresholds, we devise a sampling and encoding strategy which does not incur any quantization errors. We give analytical expressions for the mean squared error (MSE) and find the optimal source code lengths to minimize the MSE under this monotone function threshold scheme, subject to a sampling rate constraint.

Authors:Eli Brock, Jingqi Li, Javad Lavaei, Somayeh Sojoudi
Title: Coordinating Distributed Energy Resources with Nodal Pricing in Distribution Networks: a Game-Theoretic Approach
Abstract:
We propose a real-time nodal pricing mechanism for cost minimization and voltage control in a distribution network with autonomous distributed energy resources and analyze the resulting market using stochastic game theory. Unlike existing methods, the proposed pricing scheme does not require device-aware centralized coordination or communication between prosumers. By developing new sufficient conditions under which a stochastic game is a Markov potential game, we show that the problem of computing an equilibrium for the proposed model is equivalent to solving a single-agent Markov Decision Process. These new conditions are general and may apply to other applications. We compute the equilibrium for an IEEE test system to empirically demonstrate the effectiveness of the pricing policy.

Authors:Xinliang Dai, Yuning Jiang, Yi Guo, Colin N. Jones, Moritz Diehl, Veit Hagenmeyer
Title: Distributed AC Optimal Power Flow: A Scalable Solution for Large-Scale Problems
Abstract:
This paper introduces a novel distributed optimization framework for large-scale AC Optimal Power Flow (OPF) problems, offering both theoretical convergence guarantees and rapid convergence in practice. By integrating smoothing techniques and the Schur complement, the proposed approach addresses the scalability challenges and reduces communication overhead in distributed AC OPF. Additionally, optimal network decomposition enables efficient parallel processing under the single program multiple data (SPMD) paradigm. Extensive simulations on large-scale benchmarks across various operating scenarios indicate that the proposed framework outperforms the state-of-the-art centralized solver IPOPT on modest hardware. This paves the way for more scalable and efficient distributed optimization in future power system applications.

Authors:Shuo Liu, Wei Xiao, Calin A. Belta
Title: Ensuring Safe and Smooth Control in Safety-Critical Systems via Filtered Control Barrier Functions
Abstract:
In safety-critical control systems, ensuring both system safety and smooth control input is essential for theoretical guarantees and practical deployment. Existing Control Barrier Function (CBF) frameworks, especially High-Order CBFs (HOCBFs), effectively enforce safety constraints but often lead to nonsmooth or discontinuous control inputs that can degrade system performance or violate actuator limitations. This paper introduces Filtered Control Barrier Functions (FCBFs), which extend HOCBFs by incorporating an auxiliary dynamic system - referred to as input regularization filter - to produce Lipschitz continuous control inputs. The proposed framework ensures safety, control bounds, and smoothness simultaneously by integrating FCBFs and HOCBFs within a unified quadratic program (QP). Theoretical guarantees are provided and simulations on a unicycle model demonstrate the effectiveness of the proposed method compared to standard and smoothness-penalized HOCBF approaches.

Authors:Omkar Sudhir Patil, Brandon C. Fallin, Cristian F. Nino, Rebecca G. Hart, Warren E. Dixon
Title: Bounds on Deep Neural Network Partial Derivatives with Respect to Parameters
Abstract:
Deep neural networks (DNNs) have emerged as a powerful tool with a growing body of literature exploring Lyapunov-based approaches for real-time system identification and control. These methods depend on establishing bounds for the second partial derivatives of DNNs with respect to their parameters, a requirement often assumed but rarely addressed explicitly. This paper provides rigorous mathematical formulations of polynomial bounds on both the first and second partial derivatives of DNNs with respect to their parameters. We present lemmas that characterize these bounds for fully-connected DNNs, while accommodating various classes of activation function including sigmoidal and ReLU-like functions. Our analysis yields closed-form expressions that enable precise stability guarantees for Lyapunov-based deep neural networks (Lb-DNNs). Furthermore, we extend our results to bound the higher-order terms in first-order Taylor approximations of DNNs, providing important tools for convergence analysis in gradient-based learning algorithms. The developed theoretical framework develops explicit, computable expressions, for previously assumed bounds, thereby strengthening the mathematical foundation of neural network applications in safety-critical control systems.

Authors:Junwei Ji, Dongyuan Shi, Woon-Seng Gan
Title: Mixed-gradients Distributed Filtered Reference Least Mean Square Algorithm -- A Robust Distributed Multichannel Active Noise Control Algorithm
Abstract:
Distributed multichannel active noise control (DMCANC), which utilizes multiple individual processors to achieve a global noise reduction performance comparable to conventional centralized multichannel active noise control (MCANC), has become increasingly attractive due to its high computational efficiency. However, the majority of current DMCANC algorithms disregard the impact of crosstalk across nodes and impose the assumption of an ideal network devoid of communication limitations, which is an unrealistic assumption. Therefore, this work presents a robust DMCANC algorithm that employs the compensating filter to mitigate the impact of crosstalk. The proposed solution enhances the DMCANC system's flexibility and security by utilizing local gradients instead of local control filters to convey enhanced information, resulting in a mixed-gradients distributed filtered reference least mean square (MGDFxLMS) algorithm. The performance investigation demonstrates that the proposed approach performs well with the centralized method. Furthermore, to address the issue of communication delay in the distributed network, a practical strategy that auto-shrinks the step size value in response to the delayed samples is implemented to improve the system's resilience. The numerical simulation results demonstrate the efficacy of the proposed auto-shrink step size MGDFxLMS (ASSS-MGDFxLMS) algorithm across various communication delays, highlighting its practical value.

Authors:Songqiao Hu, Zeyi Liu, Xiao He
Title: Performance-bounded Online Ensemble Learning Method Based on Multi-armed bandits and Its Applications in Real-time Safety Assessment
Abstract:
Ensemble learning plays a crucial role in practical applications of online learning due to its enhanced classification performance and adaptable adjustment mechanisms. However, most weight allocation strategies in ensemble learning are heuristic, making it challenging to theoretically guarantee that the ensemble classifier outperforms its base classifiers. To address this issue, a performance-bounded online ensemble learning method based on multi-armed bandits, named PB-OEL, is proposed in this paper. Specifically, multi-armed bandit with expert advice is incorporated into online ensemble learning, aiming to update the weights of base classifiers and make predictions. A theoretical framework is established to bound the performance of the ensemble classifier relative to base classifiers. By setting expert advice of bandits, the bound exceeds the performance of any base classifier when the length of data stream is sufficiently large. Additionally, performance bounds for scenarios with limited annotations are also derived. Numerous experiments on benchmark datasets and a dataset of real-time safety assessment tasks are conducted. The experimental results validate the theoretical bound to a certain extent and demonstrate that the proposed method outperforms existing state-of-the-art methods.

Authors:Brandon C. Fallin, Cristian F. Nino, Omkar Sudhir Patil, Zachary I. Bell, Warren E. Dixon
Title: Lyapunov-Based Graph Neural Networks for Adaptive Control of Multi-Agent Systems
Abstract:
Graph neural networks (GNNs) have a message-passing framework in which vector messages are exchanged between graph nodes and updated using feedforward layers. The inclusion of distributed message-passing in the GNN architecture makes them ideally suited for distributed control and coordination tasks. Existing results develop GNN-based controllers to address a variety of multi-agent control problems while compensating for modeling uncertainties in the systems. However, these results use GNNs that are pre-trained offline. This paper provides the first result on GNNs with stability-driven online weight updates to address the multi-agent target tracking problem. Specifically, new Lyapunov-based distributed GNN and graph attention network (GAT)-based controllers are developed to adaptively estimate unknown target dynamics and address the second-order target tracking problem. A Lyapunov-based stability analysis is provided to guarantee exponential convergence of the target state estimates and agent states to a neighborhood of the target state. Numerical simulations show a 20.8% and 48.1% position tracking error performance improvement by the GNN and GAT architectures over a baseline DNN architecture, respectively.

Authors:Peihan Zhang, Florian Richter, Ishan Duriseti, Albert Hsiao, Sean Tutton, Alexander Norbash, Michael Yip
Title: Dexterous Control of an 11-DOF Redundant Robot for CT-Guided Needle Insertion With Task-Oriented Weighted Policies
Abstract:
Computed tomography (CT)-guided needle biopsies are critical for diagnosing a range of conditions, including lung cancer, but present challenges such as limited in-bore space, prolonged procedure times, and radiation exposure. Robotic assistance offers a promising solution by improving needle trajectory accuracy, reducing radiation exposure, and enabling real-time adjustments. In our previous work, we introduced a redundant robotic platform designed for dexterous needle insertion within the confined CT bore. However, its limited base mobility restricts flexible deployment in clinical settings. In this study, we present an improved 11-degree-of-freedom (DOF) robotic system that integrates a 6-DOF robotic base with a 5-DOF cable-driven end-effector, significantly enhancing workspace flexibility and precision. With the hyper-redundant degrees of freedom, we introduce a weighted inverse kinematics controller with a two-stage priority scheme for large-scale movement and fine in-bore adjustments, along with a null-space control strategy to optimize dexterity. We validate our system through both simulation and real-world experiments, demonstrating superior tracking accuracy and enhanced manipulability in CT-guided procedures. The study provides a strong case for hyper-redundancy and null-space control formulations for robot-assisted needle biopsy scenarios.

Authors:Cristian F. Nino, Omkar Sudhir Patil, Sage C. Edwards, Warren E. Dixon
Title: Distributed RISE-based Control for Exponential Heterogeneous Multi-Agent Target Tracking of Second-Order Nonlinear Systems
Abstract:
A distributed implementation of a Robust Integral of the Sign of the Error (RISE) controller is developed for multi-agent target tracking problems with exponential convergence guarantees. Previous RISE-based approaches for multi-agent systems required 2-hop communication, limiting practical applicability. New insights from a Lyapunov-based design-analysis approach are used to eliminate the need for multi-hop communication required in previous literature, while yielding exponential target tracking. The new insights include the development of a new P-function that works in tandem with the graph interaction matrix in the Lyapunov function. Nonsmooth Lyapunov-based stability analysis methods are used to yield semi-global exponential convergence to the target agent state despite the presence of bounded disturbances with bounded derivatives. The resulting outcome is a controller that achieves exponential target tracking with only local information exchange between neighboring agents.

Authors:Cristian F. Nino, Omkar Sudhir Patil, Jordan C. Insinger, Marla R. Eisman, Warren E. Dixon
Title: Online ResNet-Based Adaptive Control for Nonlinear Target Tracking
Abstract:
A generalized ResNet architecture for adaptive control of nonlinear systems with black box uncertainties is developed. The approach overcomes limitations in existing methods by incorporating pre-activation shortcut connections and a zeroth layer block that accommodates different input-output dimensions. The developed Lyapunov-based adaptation law establishes exponential convergence to a neighborhood of the target state despite unknown dynamics and disturbances. Furthermore, the theoretical results are validated through a comparative experiment.

Authors:Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
Title: 16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits
Abstract:
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing them based on the number of flight phases per stride and the phase relationships between the front and rear legs, following Hildebrand's framework for asymmetrical gaits. Using the A1 quadrupedal robot from Unitree, we model galloping dynamics as a hybrid dynamical system and employ trajectory optimization (TO) to minimize the cost of transport (CoT) across a range of speeds. Our results reveal that rotary and transverse gallop footfall sequences exhibit no fundamental energetic difference, despite variations in body yaw and roll motion. However, the number of flight phases significantly impacts energy efficiency: galloping with no flight phases is optimal at lower speeds, whereas galloping with two flight phases minimizes energy consumption at higher speeds. We validate these findings using a quadratic programming (QP)-based controller, developed in our previous work, in Gazebo simulations. These insights advance the understanding of quadrupedal locomotion energetics and may inform future legged robot designs for adaptive, energy-efficient gait transitions.

Authors:Margarita A. Guerrero, Braghadeesh Lakshminarayanan, Cristian R. Rojas
Title: Data-Driven Estimation of Structured Singular Values
Abstract:
Estimating the size of the modeling error is crucial for robust control. Over the years, numerous metrics have been developed to quantify the model error in a control relevant manner. One of the most important such metrics is the structured singular value, as it leads to necessary and sufficient conditions for ensuring stability and robustness in feedback control under structured model uncertainty. Although the computation of the structured singular value is often intractable, lower and upper bounds for it can often be obtained if a model of the system is known. In this paper, we introduce a fully data-driven method to estimate a lower bound for the structured singular value, by conducting experiments on the system and applying power iterations to the collected data. Our numerical simulations demonstrate that this method effectively lower bounds the structured singular value, yielding results comparable to those obtained using the Robust Control toolbox of MATLAB.

Authors:Xuezao Wang, Yijun Xu, Wei Gu, Kai Liu, Shuai Lu, Mert Korkali, Lamine Mili
Title: Fast Critical Clearing Time Calculation for Power Systems with Synchronous and Asynchronous Generation
Abstract:
The increasing penetration of renewables is replacing traditional synchronous generation in modern power systems with low-inertia asynchronous converter-interfaced generators (CIGs). This penetration threatens the dynamic stability of the modern power system. To assess the latter, we resort to the critical clearing time (CCT) as a stability index, which is typically computed through a large number of time-domain simulations. This is especially true for CIG-embedded power systems, where the complexity of the model is further increased. To alleviate the computing burden, we developed a trajectory sensitivity-based method for assessing the CCT in power systems with synchronous and asynchronous generators. This allows us to obtain the CCT cost-effectively. The simulation results reveal the excellent performance of the proposed method.

Authors:Hongzhan Yu, Seth Farrell, Ryo Yoshimitsu, Zhizhen Qin, Henrik I. Christensen, Sicun Gao
Title: Estimating Control Barriers from Offline Data
Abstract:
Learning-based methods for constructing control barrier functions (CBFs) are gaining popularity for ensuring safe robot control. A major limitation of existing methods is their reliance on extensive sampling over the state space or online system interaction in simulation. In this work we propose a novel framework for learning neural CBFs through a fixed, sparsely-labeled dataset collected prior to training. Our approach introduces new annotation techniques based on out-of-distribution analysis, enabling efficient knowledge propagation from the limited labeled data to the unlabeled data. We also eliminate the dependency on a high-performance expert controller, and allow multiple sub-optimal policies or even manual control during data collection. We evaluate the proposed method on real-world platforms. With limited amount of offline data, it achieves state-of-the-art performance for dynamic obstacle avoidance, demonstrating statistically safer and less conservative maneuvers compared to existing methods.

Authors:Arash Bahari Kordabad, Eleftherios E. Vlahakis, Lars Lindemann, Sebastien Gros, Dimos V. Dimarogonas, Sadegh Soudjani
Title: Data-Driven Distributionally Robust Control for Interacting Agents under Logical Constraints
Abstract:
In this paper, we propose a distributionally robust control synthesis for an agent with stochastic dynamics that interacts with other agents under uncertainties and constraints expressed by signal temporal logic (STL). We formulate the control synthesis as a chance-constrained program (CCP) with STL specifications that must be satisfied with high probability under all uncertainty tubes induced by the other agents. To tackle the CCP, we propose two methods based on concentration of measure (CoM) theory and conditional value at risk (CVaR) and compare the required assumptions and resulting optimizations. These approaches convert the CCP into an expectation-constrained program (ECP), which is simpler to solve than the original CCP. To estimate the expectation using a finite set of observed data, we adopt a distributionally robust optimization (DRO) approach. The underlying DRO can be approximated as a robust data-driven optimization that provides a probabilistic under-approximation to the original ECP, where the probability depends on the number of samples. Therefore, under feasibility, the original STL constraints are satisfied with two layers of designed confidence: the confidence of the chance constraint and the confidence of the approximated data-driven optimization, which depends on the number of samples. We then provide details on solving the resulting robust data-driven optimization numerically. Finally, we compare the two proposed approaches through case studies.

Authors:Behrad Samari, Abolfazl Lavaei
Title: Data-Driven Dynamic Controller Synthesis for Discrete-Time General Nonlinear Systems
Abstract:
Synthesizing safety controllers for general nonlinear systems is a highly challenging task, particularly when the system models are unknown, and input constraints are present. While some recent efforts have explored data-driven safety controller design for nonlinear systems, these approaches are primarily limited to specific classes of nonlinear dynamics (e.g., polynomials) and are not applicable to general nonlinear systems. This paper develops a direct data-driven approach for discrete-time general nonlinear systems, facilitating the simultaneous learning of control barrier certificates (CBCs) and dynamic controllers to ensure safety properties under input constraints. Specifically, by leveraging the adding-one-integrator approach, we incorporate the controller's dynamics into the system dynamics to synthesize a virtual static-feedback controller for the augmented system, resulting in a dynamic safety controller for the actual dynamics. We collect input-state data from the augmented system during a finite-time experiment, referred to as a single trajectory. Using this data, we learn augmented CBCs and the corresponding virtual safety controllers, ensuring the safety of the actual system and adherence to input constraints over a finite time horizon. We demonstrate that our proposed conditions boil down to some data-dependent linear matrix inequalities (LMIs), which are easy to satisfy. We showcase the effectiveness of our data-driven approach through two case studies: one exhibiting significant nonlinearity and the other featuring high dimensionality.

Authors:Yuki Shirai, Arvind Raghunathan, Devesh K. Jha
Title: Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
Abstract:
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously. In this paper, we present a novel framework for simultaneously designing trajectories of robots, objects, and contacts efficiently for contact-rich manipulation. We propose a hierarchical optimization framework where Mixed-Integer Linear Program (MILP) selects optimal contacts between robot \& object using approximate dynamical constraints, and then a NonLinear Program (NLP) optimizes trajectory of the robot(s) and object considering full nonlinear constraints. We present a convex relaxation of bilinear constraints using binary encoding technique such that MILP can provide tighter solutions with better computational complexity. The proposed framework is evaluated on various manipulation tasks where it can reason about complex multi-contact interactions while providing computational advantages. We also demonstrate our framework in hardware experiments using a bimanual robot system. The video summarizing this paper and hardware experiments is found https://youtu.be/s2S1Eg5RsRE?si=chPkftz_a3NAHxLq

Authors:Yan Wei, Yu Feng, Linlin Ou, Yueying Wang, Xinyi Yu
Title: Explicit Solution of Tunable Input-to-State Safe-Based Controller Under High-Relative-Degree Constraints
Abstract:
This paper investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization problem with and without a nominal controller is first provided, making it unnecessary to solve the quadratic program problem online and facilitating the analysis. Further, we introduce the concept of tunable input-to-state safety(ISSf), and a new tunable function in conjunction with HOCBF is provided. When combined with the existing ISSf theorem, produces controllers for constrained nonlinear systems with external disturbances. The theoretical results are proven and supported by numerical simulations.

Authors:Millend Roy, Vaibhav Balloli, Anupam Sobti, Srinivasan Iyengar, Shivkumar Kalyanaraman, Tanuja Ganu, Akshay Nambi
Title: EnCortex: A General, Extensible and Scalable Framework for Decision Management in New-age Energy Systems
Abstract:
With increased global warming, there has been a significant emphasis to replace fossil fuel-dependent energy sources with clean, renewable sources. These new-age energy systems are becoming more complex with an increasing proportion of renewable energy sources (like solar and wind), energy storage systems (like batteries), and demand side control in the mix. Most new-age sources being highly dependent on weather and climate conditions bring about high variability and uncertainty. Energy operators rely on such uncertain data to make different planning and operations decisions periodically, and sometimes in real-time, to maintain the grid stability and optimize their objectives (cost savings, carbon footprint, etc.). Hitherto, operators mostly rely on domain knowledge, heuristics, or solve point problems to take decisions. These approaches fall short because of their specific assumptions and limitations. Further, there is a lack of a unified framework for both research and production environments at scale. In this paper, we propose EnCortex to address these challenges. EnCortex provides a general, easy-to-use, extensible, and scalable energy decision framework that enables operators to plan, build and execute their real-world scenarios efficiently. We show that using EnCortex, we can define and compose complex new-age scenarios, owing to industry-standard abstractions of energy entities and the modularity of the framework. EnCortex provides a foundational structure to support several state-of-the-art optimizers with minimal effort. EnCortex supports both quick developments for research prototypes and scaling the solutions to production environments. We demonstrate the utility of EnCortex with three complex new-age real-world scenarios and show that significant cost and carbon footprint savings can be achieved.

Authors:Muhammad Umer, Muhammad Ahmed Mohsin, Ali Arshad Nasir, Hatem Abou-Zeid, Syed ALi Hassan
Title: Intelligent Spectrum Sharing in Integrated TN-NTNs: A Hierarchical Deep Reinforcement Learning Approach
Abstract:
Integrating non-terrestrial networks (NTNs) with terrestrial networks (TNs) is key to enhancing coverage, capacity, and reliability in future wireless communications. However, the multi-tier, heterogeneous architecture of these integrated TN-NTNs introduces complex challenges in spectrum sharing and interference management. Conventional optimization approaches struggle to handle the high-dimensional decision space and dynamic nature of these networks. This paper proposes a novel hierarchical deep reinforcement learning (HDRL) framework to address these challenges and enable intelligent spectrum sharing. The proposed framework leverages the inherent hierarchy of the network, with separate policies for each tier, to learn and optimize spectrum allocation decisions at different timescales and levels of abstraction. By decomposing the complex spectrum sharing problem into manageable sub-tasks and allowing for efficient coordination among the tiers, the HDRL approach offers a scalable and adaptive solution for spectrum management in future TN-NTNs. Simulation results demonstrate the superior performance of the proposed framework compared to traditional approaches, highlighting its potential to enhance spectral efficiency and network capacity in dynamic, multi-tier environments.

Authors:Zhiquan Zhang, Gokul Puthumanaillam, Manav Vora, Melkior Ornik
Title: Motion Planning and Control with Unknown Nonlinear Dynamics through Predicted Reachability
Abstract:
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation adaptively. In this paper, we propose a hybrid planning-control framework designed to compute a feasible trajectory toward a target. Our approach involves partitioning the state space and approximating the system by a piecewise affine (PWA) system with constrained control inputs. By abstracting the PWA system into a directed weighted graph, we incrementally update the existence of its edges via affine system identification and reach control theory, introducing a predictive reachability condition by exploiting prior information of the unknown dynamics. Heuristic weights are assigned to edges based on whether their existence is certain or remains indeterminate. Consequently, we propose a framework that adaptively collects and analyzes data during mission execution, continually updates the predictive graph, and synthesizes a controller online based on the graph search outcomes. We demonstrate the efficacy of our approach through simulation scenarios involving a mobile robot operating in unknown terrains, with its unknown dynamics abstracted as a single integrator model.

Authors:Musaab H. Hamed-Ahmed, Diego Ramil-López, Paula Fraga-Lamas, Tiago M. Fernández-Caramés
Title: Towards an Emotion-Aware Metaverse: A Human-Centric Shipboard Fire Drill Simulator
Abstract:
Traditional XR and Metaverse applications prioritize user experience (UX) for adoption and success but often overlook a crucial aspect of user interaction: emotions. This article addresses this gap by presenting an emotion-aware Metaverse application: a Virtual Reality (VR) fire drill simulator designed to prepare crews for shipboard emergencies. The simulator detects emotions in real time, assessing trainees responses under stress to improve learning outcomes. Its architecture incorporates eye-tracking and facial expression analysis via Meta Quest Pro headsets. The system features four levels whose difficulty is increased progressively to evaluate user decision-making and emotional resilience. The system was evaluated in two experimental phases. The first phase identified challenges, such as navigation issues and lack of visual guidance. These insights led to an improved second version with a better user interface, visual cues and a real-time task tracker. Performance metrics like completion times, task efficiency and emotional responses were analyzed. The obtained results show that trainees with prior VR or gaming experience navigated the scenarios more efficiently. Moreover, the addition of task-tracking visuals and navigation guidance significantly improved user performance, reducing task completion times between 14.18\% and 32.72\%. Emotional responses were captured, revealing that some participants were engaged, while others acted indifferently, indicating the need for more immersive elements. Overall, this article provides useful guidelines for creating the next generation of emotion-aware Metaverse applications.

Authors:Mingji Chen, Shuai Lu, Wei Gu, Zhaoyang Dong, Yijun Xu, Jiayi Ding
Title: On the Data-Driven Modeling of Price-Responsive Flexible Loads: Formulation and Algorithm
Abstract:
The flexible loads in power systems, such as interruptible and transferable loads, are critical flexibility resources for mitigating power imbalances. Despite their potential, accurate modeling of these loads is a challenging work and has not received enough attention, limiting their integration into operational frameworks. To bridge this gap, this paper develops a data-driven identification theory and algorithm for price-responsive flexible loads (PRFLs). First, we introduce PRFL models that capture both static and dynamic decision mechanisms governing their response to electricity price variations. Second, We develop a data-driven identification framework that explicitly incorporates forecast and measurement errors. Particularly, we give a theoretical analysis to quantify the statistical impact of such noise on parameter estimation. Third, leveraging the bilevel structure of the identification problem, we propose a Bayesian optimization-based algorithm that features the scalability to large sample sizes and the ability to offer posterior differentiability certificates as byproducts. Numerical tests demonstrate the effectiveness and superiority of the proposed approach.

Authors:Gokul Puthumanaillam, Paulo Padrao, Jose Fuentes, Pranay Thangeda, William E. Schafer, Jae Hyuk Song, Karan Jagdale, Leonardo Bobadilla, Melkior Ornik
Title: TRACE: A Self-Improving Framework for Robot Behavior Forecasting with Vision-Language Models
Abstract:
Predicting the near-term behavior of a reactive agent is crucial in many robotic scenarios, yet remains challenging when observations of that agent are sparse or intermittent. Vision-Language Models (VLMs) offer a promising avenue by integrating textual domain knowledge with visual cues, but their one-shot predictions often miss important edge cases and unusual maneuvers. Our key insight is that iterative, counterfactual exploration--where a dedicated module probes each proposed behavior hypothesis, explicitly represented as a plausible trajectory, for overlooked possibilities--can significantly enhance VLM-based behavioral forecasting. We present TRACE (Tree-of-thought Reasoning And Counterfactual Exploration), an inference framework that couples tree-of-thought generation with domain-aware feedback to refine behavior hypotheses over multiple rounds. Concretely, a VLM first proposes candidate trajectories for the agent; a counterfactual critic then suggests edge-case variations consistent with partial observations, prompting the VLM to expand or adjust its hypotheses in the next iteration. This creates a self-improving cycle where the VLM progressively internalizes edge cases from previous rounds, systematically uncovering not only typical behaviors but also rare or borderline maneuvers, ultimately yielding more robust trajectory predictions from minimal sensor data. We validate TRACE on both ground-vehicle simulations and real-world marine autonomous surface vehicles. Experimental results show that our method consistently outperforms standard VLM-driven and purely model-based baselines, capturing a broader range of feasible agent behaviors despite sparse sensing. Evaluation videos and code are available at trace-robotics.github.io.

Authors:Zhikai Huang, Shuai Lu, Wei Gu, Ruizhi Yu, Suhan Zhang, Yijun Xu, Yuan Li
Title: Dynamic Energy Flow Analysis of Integrated Electricity and Gas Systems: A Semi-Analytical Approach
Abstract:
Ensuring the safe and reliable operation of integrated electricity and gas systems (IEGS) requires dynamic energy flow (DEF) simulation tools that achieve high accuracy and computational efficiency. However, the inherent strong nonlinearity of gas dynamics and its bidirectional coupling with power grids impose significant challenges on conventional numerical algorithms, particularly in computational efficiency and accuracy. Considering this, we propose a novel non-iterative semi-analytical algorithm based on differential transformation (DT) for DEF simulation of IEGS. First, we introduce a semi-discrete difference method to convert the partial differential algebraic equations of the DEF model into ordinary differential algebraic equations to resort to the DT. Particularly, by employing spatial central difference and numerical boundary extrapolation, we effectively avoid the singularity issue of the DT coefficient matrix. Second, we propose a DT-based semi-analytical solution method, which can yield the solution of the DEF model by recursion. Finally, simulation results demonstrate the superiority of the proposed method.

Authors:Behrad Samari, Gian Paolo Incremona, Antonella Ferrara, Abolfazl Lavaei
Title: From Data to Sliding Mode Control of Uncertain Large-Scale Networks with Unknown Dynamics
Abstract:
Large-scale interconnected networks, composed of multiple low-dimensional subsystems, serve as a crucial framework for modeling a wide range of real-world applications. Despite offering computational scalability, the inherent interdependence among subsystems poses significant challenges to the effective control of such networks. This complexity is further exacerbated in the presence of external perturbations and when the dynamics of individual subsystems, and accordingly the overall network, are unknown-scenarios frequently encountered in modern practical applications. In this paper, we develop a compositional data-driven approach to ensure the global asymptotic stability (GAS) of large-scale nonlinear networks with unknown mathematical models, subjected to external perturbations. To achieve this, we first gather two sets of data from each unknown nominal subsystem without perturbation, which we refer to as two input-state trajectories. The collected data from each subsystem is then utilized to design an input-to-state stable (ISS) Lyapunov function and its corresponding controller for each nominal subsystem, rendering them ISS. To cancel the effect of external perturbations on the dynamic of each subsystem, and accordingly the whole network, we then design a local integral sliding mode (ISM) controller for each subsystem using the collected data. Under a small-gain compositional condition, we employ data-driven ISS Lyapunov functions designed for subsystems and construct a control Lyapunov function for the network, rendering the assurance of GAS property over the nominal network. We then extend this compositional result to network perturbed models, demonstrating that the synthesized ISM controllers ensure the GAS property even in the presence of perturbations.

Authors:Shuo Liu, Wei Xiao, Calin A. Belta
Title: Auxiliary-Variable Adaptive Control Barrier Functions
Abstract:
This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree constraints, input nullification problems, and the presence of tight or time-varying control bounds, which can lead to infeasible solutions and compromised safety. To address these challenges, we propose Auxiliary-Variable Adaptive Control Barrier Functions (AVCBFs), a novel framework that introduces auxiliary variables in auxiliary functions to dynamically adjust CBF constraints without the need of excessive additional constraints. The AVCBF method ensures that all components of the control input explicitly appear in the desired-order safety constraint, thereby improving feasibility while maintaining safety guarantees. Additionally, we introduce an automatic tuning method that iteratively adjusts AVCBF hyperparameters to ensure feasibility and safety with less conservatism. We demonstrate the effectiveness of the proposed approach in adaptive cruise control and obstacle avoidance scenarios, showing that AVCBFs outperform existing CBF methods by reducing infeasibility and enhancing adaptive safety control under tight or time-varying control bounds.

Authors:Allen M. Wang, Alessandro Pau, Cristina Rea, Oswin So, Charles Dawson, Olivier Sauter, Mark D. Boyer, Anna Vu, Cristian Galperti, Chuchu Fan, Antoine Merle, Yoeri Poels, Cristina Venturini, Stefano Marchioni, the TCV Team
Title: Learning Plasma Dynamics and Robust Rampdown Trajectories with Predict-First Experiments at TCV
Abstract:
The rampdown phase of a tokamak pulse is difficult to simulate and often exacerbates multiple plasma instabilities. To reduce the risk of disrupting operations, we leverage advances in Scientific Machine Learning (SciML) to combine physics with data-driven models, developing a neural state-space model (NSSM) that predicts plasma dynamics during Tokamak à Configuration Variable (TCV) rampdowns. The NSSM efficiently learns dynamics from a modest dataset of 311 pulses with only five pulses in a reactor-relevant high-performance regime. The NSSM is parallelized across uncertainties, and reinforcement learning (RL) is applied to design trajectories that avoid instability limits. High-performance experiments at TCV show statistically significant improvements in relevant metrics. A predict-first experiment, increasing plasma current by 20% from baseline, demonstrates the NSSM's ability to make small extrapolations. The developed approach paves the way for designing tokamak controls with robustness to considerable uncertainty and demonstrates the relevance of SciML for fusion experiments.

Authors:Inaam Ashraf, André Artelt, Barbara Hammer
Title: Scalable and Robust Physics-Informed Graph Neural Networks for Water Distribution Systems
Abstract:
Water distribution systems (WDSs) are an important part of critical infrastructure becoming increasingly significant in the face of climate change and urban population growth. We propose a robust and scalable surrogate deep learning (DL) model to enable efficient planning, expansion, and rehabilitation of WDSs. Our approach incorporates an improved graph neural network architecture, an adapted physics-informed algorithm, an innovative training scheme, and a physics-preserving data normalization method. Evaluation results on a number of WDSs demonstrate that our model outperforms the current state-of-the-art DL model. Moreover, our method allows us to scale the model to bigger and more realistic WDSs. Furthermore, our approach makes the model more robust to out-of-distribution input features (demands, pipe diameters). Hence, our proposed method constitutes a significant step towards bridging the simulation-to-real gap in the use of artificial intelligence for WDSs.

Authors:Qi Lou, Yijun Xu, Wei Gu
Title: Matrix Low-dimensional Qubit Casting Based Quantum Electromagnetic Transient Network Simulation Program
Abstract:
In modern power systems, the integration of converter-interfaced generations requires the development of electromagnetic transient network simulation programs (EMTP) that can capture rapid fluctuations. However, as the power system scales, the EMTP's computing complexity increases exponentially, leading to a curse of dimensionality that hinders its practical application. Facing this challenge, quantum computing offers a promising approach for achieving exponential acceleration. To realize this in noisy intermediate-scale quantum computers, the variational quantum linear solution (VQLS) was advocated because of its robustness against depolarizing noise. However, it suffers data inflation issues in its preprocessing phase, and no prior research has applied quantum computing to high-frequency switching EMT networks.To address these issues, this paper first designs the matrix low-dimension qubit casting (MLQC) method to address the data inflation problem in the preprocessing of the admittance matrix for VQLS in EMT networks. Besides, we propose a real-only quantum circuit reduction method tailored to the characteristics of the EMT network admittance matrices. Finally, the proposed quantum EMTP algorithm (QEMTP) has been successfully verified for EMT networks containing a large number of high-frequency switching elements.

Authors:Marcus Nolte, Markus Maurer
Title: Towards Closing the Gap between Model-Based Systems Engineering and Automated Vehicle Assurance: Tailoring Generic Methods by Integrating Domain Knowledge
Abstract:
Designing, assuring and releasing safe automated vehicles is a highly interdisciplinary process. As complex systems, automated driving systems will inevitably be subject to emergent properties, i. e., the properties of the overall system will be more than just a sum of the properties of its integrated elements. Safety is one example of such emergent properties. In this regard, it must be ensured that effects of emergence do not render an overall system that is composed of safety-approved sub systems unsafe. The key challenges in this regard are twofold: Regarding the interdisciplinary character of the development and assurance processes, all relevant stakeholders must speak a common language and have a common understanding of the key concepts that influence system safety. Additionally, the individual properties of system elements should remain traceable to the system level. Model-Based Systems Engineering (MBSE) provides an interdisciplinary mindset, as well as methods and processes to manage emergent system properties over the entire system lifecycle. By this, MBSE provides tools that can assist the assurance process for automated vehicles. However, concepts from the domain of MBSE have a reputation for not being directly accessible for domain experts who are no experts in the field of Systems Engineering. This paper highlights challenges when applying MBSE methods to the design and development of automated driving systems. It will present an approach to create and apply domain-specific SysML profiles, which can be a first step for enhancing communication between different stake-holders in the development and safety assurance processes.

Authors:Marcus Nolte, Leon Johann Brettin, Hans Steege, Nayel Salem, Marvin Loba, Robert Graubohm, Markus Maurer
Title: A Review of Conceptualizations of Safety and Risk in Current Automated Driving Regulation
Abstract:
"Safety" and "Risk" are key concepts for the design and development of automated vehicles. For the market introduction or large-scale field tests, both concepts are not only relevant for engineers developing the vehicles, but for all stakeholders (e.g., regulators, lawyers, or the general public) who have stakes in the technology. In the communication between stakeholder groups, common notions of these abstract concepts are key for efficient communication and setting mutual expectations. In the European market, automated vehicles require Europe-wide type approval or at least operating permits in the individual states. For this, a central means of communication between regulators and engineers are regulatory documents. Flawed terminology regarding the safety expectations for automated vehicles can unnecessarily complicate relations between regulators and manufacturers, and thus hinder the introduction of the technology. In this paper, we review relevant documents at the UN- and EU-level, for the UK, and Germany regarding their (implied) notions of safety and risk. We contrast the regulatory notions with established and more recently developing notions of safety and risk in the field of automated driving. Based on the analysis, we provide recommendations on how explicit definitions of safety and risk in regulatory documents can support rather than hinder the market introduction of automated vehicles.

Authors:Yuan Li, Xiang Dong, Tao Li, Junfeng Hao, Xiaoxue Xu, Sana Ullaha, Yincai Cai, Peng Wu, Ting Peng
Title: Spatiotemporal Trajectory Tracking Method for Vehicles Incorporating Lead-Lag Judgement
Abstract:
In the domain of intelligent transportation systems, especially within the context of autonomous vehicle control, the preemptive holistic collaborative system has been presented as a promising solution to bring a remarkable enhancement in traffic efficiency and a substantial reduction in the accident rate, demonstrating a great potential of development. In order to ensure this system operates as intended, accurate tracking of the spatiotemporal trajectory is of crucial significance. Moreover, minimizing the tracking error is a necessary step in this process. To this end, a novel lead-lag judgment mechanism is proposed. This mechanism precisely quantifies the longitudinal positional deviation between the vehicle and the target trajectory over time, then the deviation is corrected with a real - time acceleration compensation strategy, as a result, the accuracy and reliability of trajectory tracking are significantly enhanced. Real - vehicle experiments were conducted in a dedicated test field to validate the feasibility of this innovative approach empirically. Subsequently, the obtained tracking data was subsequent processed using the lead-lag judgment mechanism. In this step, we carefully analyzed the spatiotemporal error patterns between the vehicle and the target trajectory under different alignments and speeds. Finally, using real highway speed and alignment data, we conducted comprehensive spatiotemporal trajectory tracking simulations. Through experiments and simulations, tracking errors maintained in an acceptable range and reasonable spatiotemporal distance is given during the preemptive merging process on highway ramps. Overall, this study offers valuable insights for highway ramp emerging safety. Future work can expand on these findings.

Authors:Behrad Samari, Amy Nejati, Abolfazl Lavaei
Title: Model Order Reduction from Data with Certification
Abstract:
Model order reduction (MOR) involves offering low-dimensional models that effectively approximate the behavior of complex high-order systems. Due to potential model complexities and computational costs, designing controllers for high-dimensional systems with complex behaviors can be challenging, rendering MOR a practical alternative to achieve results that closely resemble those of the original complex systems. To construct such effective reduced-order models (ROMs), existing literature generally necessitates precise knowledge of original systems, which is often unavailable in real-world scenarios. This paper introduces a data-driven scheme to construct ROMs of dynamical systems with unknown mathematical models. Our methodology leverages data and establishes similarity relations between output trajectories of unknown systems and their data-driven ROMs via the notion of simulation functions (SFs), capable of formally quantifying their closeness. To achieve this, under a rank condition readily fulfillable using data, we collect only two input-state trajectories from unknown systems to construct both ROMs and SFs, while offering correctness guarantees. We demonstrate that the proposed ROMs derived from data can be leveraged for controller synthesis endeavors while effectively ensuring high-level logic properties over unknown dynamical models. We showcase our data-driven findings across a range of benchmark scenarios involving various unknown physical systems, demonstrating the enforcement of diverse complex properties.

Authors:Sahan Liyanaarachchi, Sennur Ulukus
Title: Optimum Monitoring and Job Assignment with Multiple Markov Machines
Abstract:
We study a class of systems termed Markov Machines (MM) which process job requests with exponential service times. Assuming a Poison job arrival process, these MMs oscillate between two states, free and busy. We consider the problem of sampling the states of these MMs so as to track their states, subject to a total sampling budget, with the goal of allocating external job requests effectively to them. For this purpose, we leverage the $\textit{binary freshness metric}$ to quantify the quality of our ability to track the states of the MMs, and introduce two new metrics termed $\textit{false acceptance ratio}$ (FAR) and $\textit{false rejection ratio}$ (FRR) to evaluate the effectiveness of our job assignment strategy. We provide optimal sampling rate allocation schemes for jointly monitoring a system of $N$ heterogeneous MMs.

Authors:Ildar N. Idrisov, Divine Okeke, Abdullatif Albaseer, Mohamed Abdallah, Federico M. Ibanez
Title: Leveraging Digital Twin and Machine Learning Techniques for Anomaly Detection in Power Electronics Dominated Grid
Abstract:
Modern power grids are transitioning towards power electronics-dominated grids (PEDG) due to the increasing integration of renewable energy sources and energy storage systems. This shift introduces complexities in grid operation and increases vulnerability to cyberattacks. This research explores the application of digital twin (DT) technology and machine learning (ML) techniques for anomaly detection in PEDGs. A DT can accurately track and simulate the behavior of the physical grid in real-time, providing a platform for monitoring and analyzing grid operations, with extended amount of data about dynamic power flow along the whole power system. By integrating ML algorithms, the DT can learn normal grid behavior and effectively identify anomalies that deviate from established patterns, enabling early detection of potential cyberattacks or system faults. This approach offers a comprehensive and proactive strategy for enhancing cybersecurity and ensuring the stability and reliability of PEDGs.

Authors:Cristian F. Nino, Omkar Sudhir Patil, Christopher D. Petersen, Sean Phillips, Warren E. Dixon
Title: Collaborative Spacecraft Servicing under Partial Feedback using Lyapunov-based Deep Neural Networks
Abstract:
Multi-agent systems are increasingly applied in space missions, including distributed space systems, resilient constellations, and autonomous rendezvous and docking operations. A critical emerging application is collaborative spacecraft servicing, which encompasses on-orbit maintenance, space debris removal, and swarm-based satellite repositioning. These missions involve servicing spacecraft interacting with malfunctioning or defunct spacecraft under challenging conditions, such as limited state information, measurement inaccuracies, and erratic target behaviors. Existing approaches often rely on assumptions of full state knowledge or single-integrator dynamics, which are impractical for real-world applications involving second-order spacecraft dynamics. This work addresses these challenges by developing a distributed state estimation and tracking framework that requires only relative position measurements and operates under partial state information. A novel $ρ$-filter is introduced to reconstruct unknown states using locally available information, and a Lyapunov-based deep neural network adaptive controller is developed that adaptively compensates for uncertainties stemming from unknown spacecraft dynamics. To ensure the collaborative spacecraft regulation problem is well-posed, a trackability condition is defined. A Lyapunov-based stability analysis is provided to ensure exponential convergence of errors in state estimation and spacecraft regulation to a neighborhood of the origin under the trackability condition. The developed method eliminates the need for expensive velocity sensors or extensive pre-training, offering a practical and robust solution for spacecraft servicing in complex, dynamic environments.

Authors:Hwa Hui Tew, Gaoxuan Li, Fan Ding, Xuewen Luo, Junn Yong Loo, Chee-Ming Ting, Ze Yang Ding, Chee Pin Tan
Title: KANS: Knowledge Discovery Graph Attention Network for Soft Sensing in Multivariate Industrial Processes
Abstract:
Soft sensing of hard-to-measure variables is often crucial in industrial processes. Current practices rely heavily on conventional modeling techniques that show success in improving accuracy. However, they overlook the non-linear nature, dynamics characteristics, and non-Euclidean dependencies between complex process variables. To tackle these challenges, we present a framework known as a Knowledge discovery graph Attention Network for effective Soft sensing (KANS). Unlike the existing deep learning soft sensor models, KANS can discover the intrinsic correlations and irregular relationships between the multivariate industrial processes without a predefined topology. First, an unsupervised graph structure learning method is introduced, incorporating the cosine similarity between different sensor embedding to capture the correlations between sensors. Next, we present a graph attention-based representation learning that can compute the multivariate data parallelly to enhance the model in learning complex sensor nodes and edges. To fully explore KANS, knowledge discovery analysis has also been conducted to demonstrate the interpretability of the model. Experimental results demonstrate that KANS significantly outperforms all the baselines and state-of-the-art methods in soft sensing performance. Furthermore, the analysis shows that KANS can find sensors closely related to different process variables without domain knowledge, significantly improving soft sensing accuracy.

Authors:Max T. M. Ng, Meredith Raymer, Hani S. Mahmassani, Omer Verbas, Taner Cokyasar
Title: Equity Impacts of Public Transit Network Redesign with Shared Autonomous Mobility Services
Abstract:
This study examines the equity impacts of integrating shared autonomous mobility services (SAMS) into transit system redesign. Using the Greater Chicago area as a case study, we compare two optimization objectives in multimodal transit network redesign: minimizing total generalized costs (equity-agnostic) versus prioritizing service in low-income areas (equity-focused). We evaluate the achieved accessibility of clustered zones with redesigned transit networks under two objectives, compared to driving and the existing transit network. The transit access gaps across zones and between transit and driving are found to be generally reduced with the introduction of SAMS, but less so with the subsequent improved infrastructure under budget. Differential improvement in equity is seen across suburbs and areas of the city, reflecting the disparity in current transit access and improvement potential. In particular, SAMS bridges the transit access gaps in suburban and city areas currently underserved by transit. The City of Chicago, which is also disproportionately home to vulnerable populations, offers an avenue to improve vertical equity. These findings demonstrate that SAMS can enhance both horizontal and vertical equity in transit systems, particularly when equity is explicitly incorporated into the design objective.

Authors:Max T. M. Ng, Hani S. Mahmassani
Title: Autonomous Minibus Service with Semi-on-demand Routes in Grid Networks
Abstract:
This paper investigates the potential of autonomous minibuses which take on-demand directional routes for pick-up and drop-off in a grid network of wider area with low density, followed by fixed routes in areas with demand. Mathematical formulation for generalized costs demonstrates its benefits, with indicators proposed to select existing bus routes for conversion with the options of zonal express and parallel routes. Simulations on modeled scenarios and case studies with bus routes in Chicago show reductions in both passenger costs and generalized costs over existing fixed-route bus service between suburban areas and CBD.

Authors:Quang-Manh Hoang, Van Nam Nguyen, Taehyung Kim, Guilherme Vieira Hollweg, Wencong Su, Van-Hai Bui
Title: ANN-Based Grid Impedance Estimation for Adaptive Gain Scheduling in VSG Under Dynamic Grid Conditions
Abstract:
In contrast to grid-following inverters, Virtual Synchronous Generators (VSGs) perform well under weak grid conditions but may become unstable when the grid is strong. Grid strength depends on grid impedance, which unfortunately varies over time. In this paper, we propose a novel adaptive gain-scheduling control scheme for VSGs. First, an Artificial Neural Network (ANN) estimates the fundamental-frequency grid impedance; then these estimates are fed into an adaptive gain-scheduling function to recalculate controller parameters under varying grid conditions. The proposed method is validated in Simulink and compared with a conventional VSG employing fixed controller gains. The results demonstrate that settling times and overshoot percentages remain consistent across different grid conditions. Additionally, previously unseen grid impedance values are estimated with high accuracy and minimal time delay, making the approach well suited for real-time gain-scheduling control.

Authors:Shrenik Jadhav, Birva Sevak, Srijita Das, Akhtar Hussain, Wencong Su, Van-Hai Bui
Title: FairMarket-RL: LLM-Guided Fairness Shaping for Multi-Agent Reinforcement Learning in Peer-to-Peer Markets
Abstract:
Peer-to-peer (P2P) trading is increasingly recognized as a key mechanism for decentralized market regulation, yet existing approaches often lack robust frameworks to ensure fairness. This paper presents FairMarket-RL, a novel hybrid framework that combines Large Language Models (LLMs) with Reinforcement Learning (RL) to enable fairness-aware trading agents. In a simulated P2P microgrid with multiple sellers and buyers, the LLM acts as a real-time fairness critic, evaluating each trading episode using two metrics: Fairness-To-Buyer (FTB) and Fairness-Between-Sellers (FBS). These fairness scores are integrated into agent rewards through scheduled λ-coefficients, forming an adaptive LLM-guided reward shaping loop that replaces brittle, rule-based fairness constraints. Agents are trained using Independent Proximal Policy Optimization (IPPO) and achieve equitable outcomes, fulfilling over 90% of buyer demand, maintaining fair seller margins, and consistently reaching FTB and FBS scores above 0.80. The training process demonstrates that fairness feedback improves convergence, reduces buyer shortfalls, and narrows profit disparities between sellers. With its language-based critic, the framework scales naturally, and its extension to a large power distribution system with household prosumers illustrates its practical applicability. FairMarket-RL thus offers a scalable, equity-driven solution for autonomous trading in decentralized energy systems.

Authors:Akash Mahajan, Shivam Chaturvedi, Srijita Das, Wencong Su, Van-Hai Bui
Title: Optimal Parameter Design for Power Electronic Converters Using a Probabilistic Learning-Based Stochastic Surrogate Model
Abstract:
The selection of optimal design for power electronic converter parameters involves balancing efficiency and thermal constraints to ensure high performance without compromising safety. This paper introduces a probabilistic-learning-based stochastic surrogate modeling framework to address this challenge and significantly reduce the time required during the design phase. The approach begins with a neural network classifier that evaluates the feasibility of parameter configurations, effectively filtering out unsafe and/or impractical inputs. Subsequently, a probabilistic prediction model estimates the converter's efficiency and temperature while quantifying prediction uncertainty, providing both performance insights and reliability metrics. Finally, a heuristic optimization-based model is employed to optimize a multi-objective function that maximizes efficiency while adhering to thermal constraints. The optimization process incorporates penalty terms to discourage solutions that violate practical thresholds, ensuring actionable and realistic recommendations. An advanced heuristic optimization method is used to find the optimal solution and is compared with several well-known search algorithms, including Genetic Algorithm (GA), Particle Swarm Optimization (PSO), Simulated Annealing (SA), Tabu-Search (TS), and Stochastic Hill Climbing (SHC). The results demonstrate significant improvements in predictive accuracy and optimization outcomes, offering a robust solution for advancing power electronics design.

Authors:Jun Liu, Maxwell Fitzsimmons
Title: Symbolic Reduction for Formal Synthesis of Global Lyapunov Functions
Abstract:
We investigate the formal synthesis of global polynomial Lyapunov functions for polynomial vector fields. We establish that a sign-definite polynomial must satisfy specific algebraic constraints, which we leverage to develop a set of straightforward symbolic reduction rules. These rules can be recursively applied to symbolically simplify the Lyapunov candidate, enabling more efficient and robust discovery of Lyapunov functions via optimization or satisfiability modulo theories (SMT) solving. In many cases, without such simplification, finding a valid Lyapunov function is often infeasible. When strict Lyapunov functions are unavailable, we design synthesis procedures for finding weak Lyapunov functions to verify global asymptotic stability using LaSalle's invariance principle. Finally, we encode instability conditions for Lyapunov functions and develop SMT procedures to disprove global asymptotic stability. Through a series of examples, we demonstrate that the proposed symbolic reduction, LaSalle-type conditions, and instability tests allow us to efficiently solve many cases that would otherwise be challenging.

Authors:Cédric Join, Jakub Orłowski, Antoine Chaillet, Madeleine Lowery, Hugues Mounier, Michel Fliess
Title: Disruption of parkinsonian brain oscillations
Abstract:
Deep brain stimulation (DBS) is an advanced surgical treatment for the symptoms of Parkinson's disease (PD), involving electrical stimulation of neurons within the basal ganglia region of the brain. DBS is traditionally delivered in an open-loop manner using fixed stimulation parameters, which may lead to suboptimal results. In an effort to overcome these limitations, closed loop DBS, using pathological subthalamic beta (13--30 Hz) activity as a feedback signal, offers the potential to adapt DBS automatically in response to changes in patient symptoms and side effects. However, clinically implemented closed-loop techniques have been limited to date to simple control algorithms, due to the inherent uncertainties in the dynamics involved. Model-free control, which has already seen successful applications in the field of bioengineering, offers a way to avoid this limitation and provides an alternative method to apply modern control approach to selective suppression of pathological oscillations.

Authors:Nikhil Pawar, Guilherme Vieira Hollweg, Akhtar Hussain, Wencong Su, Van-Hai Bui
Title: Enhancing Forecasting Accuracy in Dynamic Environments via PELT-Driven Drift Detection and Model Adaptation
Abstract:
Accurate time series forecasting models are often compromised by data drift, where underlying data distributions change over time, leading to significant declines in prediction performance. To address this challenge, this study proposes an adaptive forecasting framework that integrates drift detection with targeted model retraining to compensate for drift effects. The framework utilizes the Pruned Exact Linear Time (PELT) algorithm to identify drift points within the feature space of time series data. Once drift intervals are detected, selective retraining is applied to prediction models using Multilayer Perceptron (MLP) and Lasso Regressor architectures, allowing the models to adjust to changing data patterns. The effectiveness of the proposed approach is demonstrated on two datasets: a real-world dataset containing electricity consumption and HVAC system data, and a synthetic financial dataset designed to test cross-domain applicability. Initial baseline models were developed without drift detection using extensive feature engineering. After integrating drift-aware retraining, the MLP model achieved a 44% reduction in mean absolute error (MAE) and a 39% increase in R^2 on the real-world dataset, while even greater improvements were observed on the synthetic financial dataset. Similar enhancements were achieved with the Lasso Regressor. These results highlight the robustness and generalizability of incorporating drift detection and adaptive retraining to sustain forecasting accuracy across diverse domains.

Authors:Mohamed Serry, Haoyu Li, Ruikun Zhou, Huan Zhang, Jun Liu
Title: Safe Domains of Attraction for Discrete-Time Nonlinear Systems: Characterization and Verifiable Neural Network Estimation
Abstract:
Analysis of nonlinear autonomous systems typically involves estimating domains of attraction, which have been a topic of extensive research interest for decades. Despite that, accurately estimating domains of attraction for nonlinear systems remains a challenging task, where existing methods are conservative or limited to low-dimensional systems. The estimation becomes even more challenging when accounting for state constraints. In this work, we propose a framework to accurately estimate safe (state-constrained) domains of attraction for discrete-time autonomous nonlinear systems. In establishing this framework, we first derive a new Zubov equation, whose solution corresponds to the exact safe domain of attraction. The solution to the aforementioned Zubov equation is shown to be unique and continuous over the whole state space. We then present a physics-informed approach to approximating the solution of the Zubov equation using neural networks. To obtain certifiable estimates of the domain of attraction from the neural network approximate solutions, we propose a verification framework that can be implemented using standard verification tools (e.g., $α,\!β$-CROWN and dReal). To illustrate its effectiveness, we demonstrate our approach through numerical examples concerning nonlinear systems with state constraints.

Authors:Julius P. J. Krebbekx, Roland Tóth, Amritam Das
Title: Reset Controller Analysis and Design for Unstable Linear Plants using Scaled Relative Graphs
Abstract:
In this technical communique, we develop a graphical design procedure for reset controllers for unstable LTI plants based on recent developments on Scaled Relative Graph analysis, yielding an $L_2$-gain performance bound. The stabilizing controller consists of a second order reset element in parallel with a proportional gain. The proposed method goes beyond existing approaches that are limited to stable systems only, providing a well-applicable approach to design problems in practice where the plant is unstable.

Authors:Mohammadreza Kouchaki, Aly Sabri Abdalla, Vuk Marojevic
Title: Federated Neuroevolution O-RAN: Enhancing the Robustness of Deep Reinforcement Learning xApps
Abstract:
The open radio access network (O-RAN) architecture introduces RAN intelligent controllers (RICs) to facilitate the management and optimization of the disaggregated RAN. Reinforcement learning (RL) and its advanced form, deep RL (DRL), are increasingly employed for designing intelligent controllers, or xApps, to be deployed in the near-real time (near-RT) RIC. These models often encounter local optima, which raise concerns about their reliability for RAN intelligent control. We therefore introduce Federated O-RAN enabled Neuroevolution (NE)-enhanced DRL (F-ONRL) that deploys an NE-based optimizer xApp in parallel to the RAN controller xApps. This NE-DRL xApp framework enables effective exploration and exploitation in the near-RT RIC without disrupting RAN operations. We implement the NE xApp along with a DRL xApp and deploy them on Open AI Cellular (OAIC) platform and present numerical results that demonstrate the improved robustness of xApps while effectively balancing the additional computational load.

Authors:Sina Mohammadi, Ali Hassan, Rouzbeh Haghighi, Van-Hai Bui, Wencong Su
Title: Large Language Models for Solving Economic Dispatch Problem
Abstract:
This paper investigates the capability of off-the-shelf large language models (LLMs) to solve the economic dispatch (ED) problem. ED is a hard-constrained optimization problem solved on a day-ahead timescale by grid operators to minimize electricity generation costs while accounting for physical and engineering constraints. Numerous approaches have been proposed, but these typically require either mathematical formulations, face convergence issues, or depend on extensive labeled data and training time. This work implements LLMs enhanced with reasoning capabilities to address the classic lossless ED problem. The proposed approach avoids the need for explicit mathematical formulations, does not suffer from convergence challenges, and requires neither labeled data nor extensive training. A few-shot learning technique is utilized in two different prompting contexts. The IEEE 118-bus system with 19 generation units serves as the evaluation benchmark. Results demonstrate that various prompting strategies enable LLMs to effectively solve the ED problem, offering a convenient and efficient alternative. Consequently, this approach presents a promising future solution for ED tasks, particularly when foundational power system models are available.

Authors:Ondřej Straka, Jindřich Duník, Pau Closas, Tales Imbiriba
Title: Interpretable Augmented Physics-Based Model for Estimation and Tracking
Abstract:
State-space estimation and tracking rely on accurate dynamical models to perform well. However, obtaining an vaccurate dynamical model for complex scenarios or adapting to changes in the system poses challenges to the estimation process. Recently, augmented physics-based models (APBMs) appear as an appealing strategy to cope with these challenges where the composition of a small and adaptive neural network with known physics-based models (PBM) is learned on the fly following an augmented state-space estimation approach. A major issue when introducing data-driven components in such a scenario is the danger of compromising the meaning (or interpretability) of estimated states. In this work, we propose a novel constrained estimation strategy that constrains the APBM dynamics close to the PBM. The novel state-space constrained approach leads to more flexible ways to impose constraints than the traditional APBM approach. Our experiments with a radar-tracking scenario demonstrate different aspects of the proposed approach and the trade-offs inherent in the imposed constraints.

Authors:Aly Sabri Abdalla, Vuk Marojevic
Title: Enhancing Secrecy Energy Efficiency in RIS-Aided Aerial Mobile Edge Computing Networks: A Deep Reinforcement Learning Approach
Abstract:
This paper studies the problem of securing task offloading transmissions from ground users against ground eavesdropping threats. Our study introduces a reconfigurable intelligent surface (RIS)-aided unmanned aerial vehicle (UAV)-mobile edge computing (MEC) scheme to enhance the secure task offloading while minimizing the energy consumption of the UAV subject to task completion constraints. Leveraging a data-driven approach, we propose a comprehensive optimization strategy that jointly optimizes the aerial MEC (AMEC)'s trajectory, task offloading partitioning, UE transmission scheduling, and RIS phase shifts. Our objective centers on optimizing the secrecy energy efficiency (SEE) of UE task offloading transmissions while preserving the AMEC's energy resources and meeting the task completion time requirements. Numerical results show that the proposed solution can effectively safeguard legitimate task offloading transmissions while preserving AMEC energy.

Authors:Charles Marion Ueltschey, Joshua Moore, Aly Sabri Abdalla, Vuk Marojevic
Title: RAN Tester UE: An Automated Declarative UE Centric Security Testing Platform
Abstract:
Cellular networks require strict security procedures and measures across various network components, from core to radio access network (RAN) and end-user devices. As networks become increasingly complex and interconnected, as in O-RAN deployments, they are exposed to a numerous security threats. Therefore, ensuring robust security is critical for O-RAN to protect network integrity and safeguard user data. This requires rigorous testing methodologies to mitigate threats. This paper introduces an automated, adaptive, and scalable user equipment (UE) based RAN security testing framework designed to address the shortcomings of existing RAN testing solutions. Experimental results on a 5G software radio testbed built with commercial off-the-shelf hardware and open source software validate the efficiency and reproducibility of sample security test procedures developed on the RAN Tester UE framework.

Authors:Zihao Song, Shirantha Welikala, Panos J. Antsaklis, Hai Lin
Title: Mesh Stability Guaranteed Rigid Body Networks Using Control and Topology Co-Design
Abstract:
Merging and splitting are of great significance for rigid body networks in making such networks reconfigurable. The main challenges lie in simultaneously ensuring the compositionality of the distributed controllers and the mesh stability of the entire network. To this end, we propose a decentralized control and topology co-design method for rigid body networks, which enables flexible joining and leaving of rigid bodies without the need to redesign the controllers for the entire network after such maneuvers. We first provide a centralized linear matrix inequality (LMI)-based control and topology co-design optimization of the rigid body networks with a formal mesh stability guarantee. Then, these centralized mesh stability constraints are made decentralized by a proposed alternative set of sufficient conditions. Using these decentralized mesh stability constraints and Sylvester's criterion-based decentralization techniques, the said centralized LMI problem is equivalently broken down into a set of smaller decentralized LMI problems that can be solved at each rigid body, enabling flexible merging/splitting of rigid bodies. Finally, the effectiveness of the proposed co-design method is illustrated based on a specifically developed simulator and a comparison study with respect to a state-of-the-art method.

Authors:Paul Zheng, Navid Keshtiarast, Pradyumna Kumar Bishoyi, Yao Zhu, Yulin Hu, Marina Petrova, Anke Schmeink
Title: Joint Communication Scheduling and Resource Allocation for Distributed Edge Learning: Seamless Integration in Next-Generation Wireless Networks
Abstract:
Distributed edge learning (DL) is considered a cornerstone of intelligence enablers, since it allows for collaborative training without the necessity for local clients to share raw data with other parties, thereby preserving privacy and security. Integrating DL into the 6G networks requires a coexistence design with existing services such as high-bandwidth (HB) traffic like eMBB. Current designs in the literature mainly focus on communication round-wise designs that assume a rigid resource allocation throughout each communication round (CR). However, rigid resource allocation within a CR is a highly inefficient and inaccurate representation of the system's realistic behavior. This is due to the heterogeneous nature of the system, as clients inherently may need to access the network at different times. This work zooms into one arbitrary CR, and demonstrates the importance of considering a time-dependent resource sharing design with HB traffic. We first formulate a time-step-wise optimization problem to minimize the consumed time by DL within the CR while constrained by a DL energy budget. Due to its intractability, a session-based optimization problem is formulated assuming a CR lasts less than a large-scale coherence time. Some scheduling properties of such multi-server joint communication scheduling and resource allocation framework have been established. An iterative algorithm has been designed to solve such non-convex and non-block-separable-constrained problems. Simulation results confirm the importance of the efficient and accurate integration design proposed in this work.

Authors:Tony Tao, Mohan Kumar Srirama, Jason Jingzhou Liu, Kenneth Shaw, Deepak Pathak
Title: DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies
Abstract:
Large-scale, diverse robot datasets have emerged as a promising path toward enabling dexterous manipulation policies to generalize to novel environments, but acquiring such datasets presents many challenges. While teleoperation provides high-fidelity datasets, its high cost limits its scalability. Instead, what if people could use their own hands, just as they do in everyday life, to collect data? In DexWild, a diverse team of data collectors uses their hands to collect hours of interactions across a multitude of environments and objects. To record this data, we create DexWild-System, a low-cost, mobile, and easy-to-use device. The DexWild learning framework co-trains on both human and robot demonstrations, leading to improved performance compared to training on each dataset individually. This combination results in robust robot policies capable of generalizing to novel environments, tasks, and embodiments with minimal additional robot-specific data. Experimental results demonstrate that DexWild significantly improves performance, achieving a 68.5% success rate in unseen environments-nearly four times higher than policies trained with robot data only-and offering 5.8x better cross-embodiment generalization. Video results, codebases, and instructions at https://dexwild.github.io

Authors:Victor Hugo Pereira Rodrigues, Tiago Roux Oliveira, Miroslav Krstic, Tamer Basar
Title: Distributed Event-Triggered Nash Equilibrium Seeking for Noncooperative Games
Abstract:
We propose locally convergent Nash equilibrium seeking algorithms for $N$-player noncooperative games, which use distributed event-triggered pseudo-gradient estimates. The proposed approach employs sinusoidal perturbations to estimate the pseudo-gradients of unknown quadratic payoff functions. This is the first instance of noncooperative games being tackled in a model-free fashion with event-triggered extremum seeking. Each player evaluates independently the deviation between the corresponding current pseudo-gradient estimate and its last broadcasted value from the event-triggering mechanism to tune individually the player action, while they preserve collectively the closed-loop stability/convergence. We guarantee Zeno behavior avoidance by establishing a minimum dwell-time to avoid infinitely fast switching. In particular, the stability analysis is carried out using Lyapunov's method and averaging for systems with discontinuous right-hand sides. We quantify the size of the ultimate small residual sets around the Nash equilibrium and illustrate the theoretical results numerically on an oligopoly setting.

Authors:Joudi Hajar, Reza Ghane, Babak Hassibi
Title: Beyond Quadratic Costs: A Bregman Divergence Approach to H$_\infty$ Control
Abstract:
In the past couple of decades, non-quadratic convex penalties have reshaped signal processing and machine learning; in robust control, however, general convex costs break the Riccati and storage function structure that make the design tractable. Practitioners thus default to approximations, heuristics or robust model predictive control that are solved online for short horizons. We close this gap by extending $H_\infty$ control of discrete-time linear systems to strictly convex penalties on state, input, and disturbance, recasting the objective with Bregman divergences that admit a completion-of-squares decomposition. The result is a closed-form, time-invariant, full-information stabilizing controller that minimizes a worst-case performance ratio over the infinite horizon. Necessary and sufficient existence/optimality conditions are given by a Riccati-like identity together with a concavity requirement; with quadratic costs, these collapse to the classical $H_\infty$ algebraic Riccati equation and the associated negative-semidefinite condition, recovering the linear central controller. Otherwise, the optimal controller is nonlinear and can enable safety envelopes, sparse actuation, and bang-bang policies with rigorous $H_\infty$ guarantees.

Authors:Babak Hassibi, Joudi Hajar, Reza Ghane
Title: Beyond Quadratic Costs in LQR: Bregman Divergence Control
Abstract:
In the past couple of decades, the use of ``non-quadratic" convex cost functions has revolutionized signal processing, machine learning, and statistics, allowing one to customize solutions to have desired structures and properties. However, the situation is not the same in control where the use of quadratic costs still dominates, ostensibly because determining the ``value function", i.e., the optimal expected cost-to-go, which is critical to the construction of the optimal controller, becomes computationally intractable as soon as one considers general convex costs. As a result, practitioners often resort to heuristics and approximations, such as model predictive control that only looks a few steps into the future. In the quadratic case, the value function is easily determined by solving Riccati equations. In this work, we consider a special class of convex cost functions constructed from Bregman divergence and show how, with appropriate choices, they can be used to fully extend the framework developed for the quadratic case. The resulting optimal controllers are infinite horizon, come with stability guarantees, and have state-feedback, or estimated state-feedback, laws. They exhibit a much wider range of behavior than their quadratic counterparts since the feedback laws are nonlinear. The approach can be applied to several cases of interest, including safety control, sparse control, and bang-bang control.

Authors:Loïck Degorre, Emmanuel Delaleau, Cédric Join, Michel Fliess
Title: Guidance and Control of Unmanned Surface Vehicles via HEOL
Abstract:
This work presents a new approach to the guidance and control of marine craft via HEOL, i.e., a new way of combining flatness-based and model-free controllers. Its goal is to develop a general regulator for Unmanned Surface Vehicles (USV). To do so, the well-known USV maneuvering model is simplified into a nominal Hovercraft model which is flat. A flatness-based controller is derived for the simplified USV model and the loop is closed via an intelligent proportional-derivative (iPD) regulator. We thus associate the well-documented natural robustness of flatness-based control and adaptivity of iPDs. The controller is applied in simulation to two surface vessels, one meeting the simplifying hypotheses, the other one being a generic USV of the literature. It is shown to stabilize both systems even in the presence of unmodeled environmental disturbances.

Authors:Jun Zhou, Yiming Meng, Jun Liu
Title: Koopman Spectral Analysis and System Identification for Stochastic Dynamical Systems via Yosida Approximation of Generators
Abstract:
System identification and Koopman spectral analysis are crucial for uncovering physical laws and understanding the long-term behaviour of stochastic dynamical systems governed by stochastic differential equations (SDEs). In this work, we propose a novel method for estimating the Koopman generator of systems of SDEs, based on the theory of resolvent operators and the Yosida approximation. This enables both spectral analysis and accurate estimation and reconstruction of system parameters. The proposed approach relies on only mild assumptions about the system and effectively avoids the error amplification typically associated with direct numerical differentiation. It remains robust even under low sampling rates or with only a single observed trajectory, reliably extracting dominant spectral modes and dynamic features. We validate our method on two simple systems and compare it with existing techniques as benchmarks. The experimental results demonstrate the effectiveness and improved performance of our approach in system parameter estimation, spectral mode extraction, and overall robustness.

Authors:Kevin Weinberger, Robert-Jeron Reifert, Aydin Sezgin, Mehdi Bennis
Title: Accelerated Recovery with RIS: Designing Wireless Resilience in Mission-Critical Environments
Abstract:
As 6G and beyond redefine connectivity, wireless networks become the foundation of critical operations, making resilience more essential than ever. With this shift, wireless systems cannot only take on vital services previously handled by wired infrastructures but also enable novel innovative applications that would not be possible with wired systems. As a result, there is a pressing demand for strategies that can adapt to dynamic channel conditions, interference, and unforeseen disruptions, ensuring seamless and reliable performance in an increasingly complex environment. Despite considerable research, existing resilience assessments lack comprehensive key performance indicators (KPIs), especially those quantifying its adaptability, which are vital for identifying a system's capacity to rapidly adapt and reallocate resources. In this work, we bridge this gap by proposing a novel framework that explicitly quantifies the adaption performance by augmenting the gradient of the system's rate function. To further enhance the network resilience, we integrate Reconfigurable Intelligent Surfaces (RISs) into our framework due to their capability to dynamically reshape the propagation environment while providing alternative channel paths. Numerical results show that gradient augmentation enhances resilience by improving adaptability under adverse conditions while proactively preparing for future disruptions.

Authors:Heming Fu, Guojun Xiong, Jian Li, Shan Lin
Title: Multi-Agent Reinforcement Learning for Decentralized Reservoir Management via Murmuration Intelligence
Abstract:
Conventional centralized water management systems face critical limitations from computational complexity and uncertainty propagation. We present MurmuRL, a novel decentralized framework inspired by starling murmurations intelligence, integrating bio-inspired alignment, separation, and cohesion rules with multi-agent reinforcement learning. MurmuRL enables individual reservoirs to make autonomous local decisions while achieving emergent global coordination. Experiments on grid networks demonstrate that MurmuRL achieves 8.8% higher final performance while using 27% less computing overhead compared to centralized approaches. Notably, strategic diversity scales super-linearly with system size, exhibiting sophisticated coordination patterns and enhanced resilience during extreme events. MurmuRL offers a scalable solution for managing complex water systems by leveraging principles of natural collective behavior.

Authors:Victor Hugo Pereira Rodrigues, Tiago Roux Oliveira, Miroslav Krstic
Title: Event-Triggered Source Seeking Control for Nonholonomic Systems
Abstract:
This paper introduces an event-triggered source seeking control (ET-SSC) for autonomous vehicles modeled as the nonholonomic unicycle. The classical source seeking control is enhanced with static-triggering conditions to enable aperiodic and less frequent updates of the system's input signals, offering a resource-aware control design. Our convergence analysis is based on time-scaling combined with Lyapunov and averaging theories for systems with discontinuous right-hand sides. ET-SSC ensures exponentially stable behavior for the resulting average system, leading to practical asymptotic convergence to a small neighborhood of the source point. We guarantee the avoidance of Zeno behavior by establishing a minimum dwell time to prevent infinitely fast switching. The performance optimization is aligned with classical continuous-time source seeking algorithms while balancing system performance with actuation resource consumption. Our ET-SSC algorithm, the first of its kind, allows for arbitrarily large inter-sampling times, overcoming the limitations of classical sampled-data implementations for source seeking control.

Authors:Andevaldo da Encarnação Vitório, Pedro Henrique Silva Coutinho, Iury Bessa, Victor Hugo Pereira Rodrigues, Tiago Roux Oliveira
Title: Unit-Vector Control Design under Saturating Actuators
Abstract:
This paper deals with unit vector control design for multivariable polytopic uncertain systems under saturating actuators. For that purpose, we propose LMI-based conditions to design the unit vector control gain such that the origin of the closed-loop system is finite-time stable. Moreover, an optimization problem is provided to obtain an enlarged estimate of the region of attraction of the equilibrium point for the closed-loop system, where the convergence of trajectories is ensured even in the presence of saturation functions. Numerical simulations illustrate the effectiveness of the proposed approach.

Authors:Zihao Song, Shirantha Welikala, Panos J. Antsaklis, Hai Lin
Title: Graph Neural Network-Based Distributed Optimal Control for Linear Networked Systems: An Online Distributed Training Approach
Abstract:
In this paper, we consider the distributed optimal control problem for discrete-time linear networked systems. In particular, we are interested in learning distributed optimal controllers using graph recurrent neural networks (GRNNs). Most of the existing approaches result in centralized optimal controllers with offline training processes. However, as the increasing demand of network resilience, the optimal controllers are further expected to be distributed, and are desirable to be trained in an online distributed fashion, which are also the main contributions of our work. To solve this problem, we first propose a GRNN-based distributed optimal control method, and we cast the problem as a self-supervised learning problem. Then, the distributed online training is achieved via distributed gradient computation, and inspired by the (consensus-based) distributed optimization idea, a distributed online training optimizer is designed. Furthermore, the local closed-loop stability of the linear networked system under our proposed GRNN-based controller is provided by assuming that the nonlinear activation function of the GRNN-based controller is both local sector-bounded and slope-restricted. The effectiveness of our proposed method is illustrated by numerical simulations using a specifically developed simulator.

Authors:Yuhang Deng, Zheng Chen, Erik G. Larsson
Title: Robust and Efficient Average Consensus with Non-Coherent Over-the-Air Aggregation
Abstract:
Non-coherent over-the-air (OTA) computation has garnered increasing attention for its advantages in facilitating information aggregation among distributed agents in resource-constrained networks without requiring precise channel estimation. A promising application scenario of this method is distributed average consensus in wireless multi-agent systems. However, in such scenario, non-coherent interference from concurrent OTA transmissions can introduce bias in the consensus value. To address this issue, we develop a robust distributed average consensus algorithm by formulating the consensus problem as a distributed optimization problem. Using decentralized projected gradient descent (D-PGD), our proposed algorithm can achieve unbiased mean square average consensus even in the presence of non-coherent interference and noise. Additionally, we implement transmit power control and receive scaling mechanisms to further accelerate convergence. Simulation results demonstrate that our method can significantly enhance the convergence speed of the D-PGD algorithm for OTA average consensus without compromising accuracy.

Authors:Yun Li, Jicheng Shi, Colin N. Jones, Neil Yorke-Smith, Tamas Keviczky
Title: Model Predictive Building Climate Control for Mitigating Heat Pump Noise Pollution (Extended Version)
Abstract:
Noise pollution from heat pumps (HPs) has been an emerging concern to their broader adoption, especially in densely populated areas. This paper explores a model predictive control (MPC) approach for building climate control, aimed at minimizing the noise nuisance generated by HPs. By exploiting a piecewise linear approximation of HP noise patterns and assuming linear building thermal dynamics, the proposed design can be generalized to handle various HP acoustic patterns with mixed-integer linear programming (MILP). Additionally, two computationally efficient options for defining the noise cost function in the proposed MPC design are discussed. Numerical experiments on a high-fidelity building simulator are performed to demonstrate the viability and effectiveness of the proposed design. Simulation results show that the proposed approach can effectively reduce the noise pollution caused by HPs with negligible energy cost increase.

Authors:Anna Maddux, Marko Maljkovic, Nikolas Geroliminis, Maryam Kamgarpour
Title: No-Regret Learning in Stackelberg Games with an Application to Electric Ride-Hailing
Abstract:
We consider the problem of efficiently learning to play single-leader multi-follower Stackelberg games when the leader lacks knowledge of the lower-level game. Such games arise in hierarchical decision-making problems involving self-interested agents. For example, in electric ride-hailing markets, a central authority aims to learn optimal charging prices to shape fleet distributions and charging patterns of ride-hailing companies. Existing works typically apply gradient-based methods to find the leader's optimal strategy. Such methods are impractical as they require that the followers share private utility information with the leader. Instead, we treat the lower-level game as a black box, assuming only that the followers' interactions approximate a Nash equilibrium while the leader observes the realized cost of the resulting approximation. Under kernel-based regularity assumptions on the leader's cost function, we develop a no-regret algorithm that converges to an $ε$-Stackelberg equilibrium in $O(\sqrt{T})$ rounds. Finally, we validate our approach through a numerical case study on optimal pricing in electric ride-hailing markets.

Authors:Grzegorz Czechmanowski, Jan Węgrzynowski, Piotr Kicki, Krzysztof Walas
Title: On learning racing policies with reinforcement learning
Abstract:
Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by considering the task of autonomous racing and propose solving it by learning a racing policy using Reinforcement Learning (RL). Our approach leverages domain randomization, actuator dynamics modeling, and policy architecture design to enable reliable and safe zero-shot deployment on a real platform. Evaluated on the F1TENTH race car, our RL policy not only surpasses a state-of-the-art Model Predictive Control (MPC), but, to the best of our knowledge, also represents the first instance of an RL policy outperforming expert human drivers in RC racing. This work identifies the key factors driving this performance improvement, providing critical insights for the design of robust RL-based control strategies for autonomous vehicles.

Authors:Julius P. J. Krebbekx, Roland Tóth, Amritam Das
Title: Nonlinear Bandwidth and Bode Diagrams based on Scaled Relative Graphs
Abstract:
Scaled Relative Graphs (SRGs) provide a novel graphical frequency-domain method for the analysis of Nonlinear (NL) systems. In this paper, we restrict the SRG to particular input spaces to compute frequency-dependent incremental gain bounds for nonlinear systems. This leads to a NL generalization of the Bode diagram, where the sinusoidal, harmonic, and subharmonic inputs are considered separately. When applied to the analysis of the NL loop transfer and sensitivity, we define a notion of bandwidth for both the open-loop and closed-loop, compatible with the Linear Time-Invariant (LTI) definitions. We illustrate the power of our method on the analysis of a DC motor with a parasitic nonlinearity and verify our results in simulations.

Authors:Joshua Moore, Aly Sabri Abdalla, Prabesh Khanal, Vuk Marojevic
Title: Integrated LLM-Based Intrusion Detection with Secure Slicing xApp for Securing O-RAN-Enabled Wireless Network Deployments
Abstract:
The Open Radio Access Network (O-RAN) architecture is reshaping telecommunications by promoting openness, flexibility, and intelligent closed-loop optimization. By decoupling hardware and software and enabling multi-vendor deployments, O-RAN reduces costs, enhances performance, and allows rapid adaptation to new technologies. A key innovation is intelligent network slicing, which partitions networks into isolated slices tailored for specific use cases or quality of service requirements. The RAN Intelligent Controller further optimizes resource allocation, ensuring efficient utilization and improved service quality for user equipment (UEs). However, the modular and dynamic nature of O-RAN expands the threat surface, necessitating advanced security measures to maintain network integrity, confidentiality, and availability. Intrusion detection systems have become essential for identifying and mitigating attacks. This research explores using large language models (LLMs) to generate security recommendations based on the temporal traffic patterns of connected UEs. The paper introduces an LLM-driven intrusion detection framework and demonstrates its efficacy through experimental deployments, comparing non fine-tuned and fine-tuned models for task-specific accuracy.

Authors:E. Javier Olucha, Rajiv Singh, Amritam Das, Roland Tóth
Title: On-the-fly Surrogation for Complex Nonlinear Dynamics
Abstract:
High-fidelity models are essential for accurately capturing nonlinear system dynamics. However, simulation of these models is often computationally too expensive and, due to their complexity, they are not directly suitable for analysis, control design or real-time applications. Surrogate modelling techniques seek to construct simplified representations of these systems with minimal complexity, but adequate information on the dynamics given a simulation, analysis or synthesis objective at hand. Despite the widespread availability of system linearizations and the growing computational potential of autograd methods, there is no established approach that systematically exploits them to capture the underlying global nonlinear dynamics. This work proposes a novel surrogate modelling approach that can efficiently build a global representation of the dynamics on-the-fly from local system linearizations without ever explicitly computing a model. Using radial basis function interpolation and the second fundamental theorem of calculus, the surrogate model is only computed at its evaluation, enabling rapid computation for simulation and analysis and seamless incorporation of new linearization data. The efficiency and modelling capabilities of the method are demonstrated on simulation examples.

Authors:Jicheng Shi, Colin N. Jones
Title: Disturbance-adaptive Model Predictive Control for Bounded Average Constraint Violations
Abstract:
This paper considers stochastic linear time-invariant systems subject to constraints on the average number of state-constraint violations over time without knowing the disturbance distribution. We present a novel disturbance-adaptive model predictive control (DAD-MPC) framework, which adjusts the disturbance model based on measured constraint violations. Using a robust invariance method, DAD-MPC ensures recursive feasibility and guarantees asymptotic or robust bounds on average constraint violations. Additionally, the bounds hold even with an inaccurate disturbance model, which allows for data-driven disturbance quantification methods to be used, such as conformal prediction. Simulation results demonstrate that the proposed approach outperforms state-of-the-art methods while satisfying average violation constraints.

Authors:Marko Maljkovic, Nikolas Geroliminis
Title: On Learning-Based Traffic Monitoring With a Swarm of Drones
Abstract:
Efficient traffic monitoring is crucial for managing urban transportation networks, especially under congested and dynamically changing traffic conditions. Drones offer a scalable and cost-effective alternative to fixed sensor networks. However, deploying fleets of low-cost drones for traffic monitoring poses challenges in adaptability, scalability, and real-time operation. To address these issues, we propose a learning-based framework for decentralized traffic monitoring with drone swarms, targeting the uneven and unpredictable distribution of monitoring needs across urban areas. Our approach introduces a semi-decentralized reinforcement learning model, which trains a single Q-function using the collective experience of the swarm. This model supports full scalability, flexible deployment, and, when hardware allows, the online adaptation of each drone's action-selection mechanism. We first train and evaluate the model in a synthetic traffic environment, followed by a case study using real traffic data from Shenzhen, China, to validate its performance and demonstrate its potential for real-world applications in complex urban monitoring tasks.

Authors:Jingxian Zhou, Ziqing Zhu, Linghua Zhu, Siqi Bu
Title: Problem-Structure-Informed Quantum Approximate Optimization Algorithm for Large-Scale Unit Commitment with Limited Qubits
Abstract:
As power systems expand, solving the Unit Commitment Problem (UCP) becomes increasingly challenging due to the dimensional catastrophe, and traditional methods often struggle to balance computational efficiency and solution quality. To tackle this issue, we propose a problem-structure-informed Quantum Approximate Optimization Algorithm (QAOA) framework that fully exploits the quantum advantage under extremely limited quantum resources. Specifically, we leverage the inherent topological structure of power systems to decompose large-scale UCP instances into smaller subproblems, each solvable in parallel by limited number of qubits. This decomposition not only circumvents the current hardware limitations of quantum computing but also achieves higher performance as the graph structure of the power system becomes more sparse. Consequently, our approach can be readily extended to future power systems that are larger and more complex.

Authors:Zhuoyuan Wang, Raffaele Romagnoli, Jasmine Ratchford, Yorie Nakahira
Title: Physics-Informed Deep B-Spline Networks for Dynamical Systems
Abstract:
Physics-informed machine learning provides an approach to combining data and governing physics laws for solving complex partial differential equations (PDEs). However, efficiently solving PDEs with varying parameters and changing initial conditions and boundary conditions (ICBCs) with theoretical guarantees remains an open challenge. We propose a hybrid framework that uses a neural network to learn B-spline control points to approximate solutions to PDEs with varying system and ICBC parameters. The proposed network can be trained efficiently as one can directly specify ICBCs without imposing losses, calculate physics-informed loss functions through analytical formulas, and requires only learning the weights of B-spline functions as opposed to both weights and basis as in traditional neural operator learning methods. We provide theoretical guarantees that the proposed B-spline networks serve as universal approximators for the set of solutions of PDEs with varying ICBCs under mild conditions and establish bounds on the generalization errors in physics-informed learning. We also demonstrate in experiments that the proposed B-spline network can solve problems with discontinuous ICBCs and outperforms existing methods, and is able to learn solutions of 3D dynamics with diverse initial conditions.

Authors:Mahdieh Zaker, Amy Nejati, Abolfazl Lavaei
Title: From Data to Global Asymptotic Stability of Unknown Large-Scale Networks with Provable Guarantees
Abstract:
We offer a compositional data-driven scheme for synthesizing controllers that ensure global asymptotic stability (GAS) across large-scale interconnected networks, characterized by unknown mathematical models. In light of each network's configuration composed of numerous subsystems with smaller dimensions, our proposed framework gathers data from each subsystem's trajectory, enabling the design of local controllers that ensure input-to-state stability (ISS) properties over subsystems, signified by ISS Lyapunov functions. To accomplish this, we require only a single input-state trajectory from each unknown subsystem up to a specified time horizon, fulfilling certain rank conditions. Subsequently, under small-gain compositional reasoning, we leverage ISS Lyapunov functions derived from data to offer a control Lyapunov function (CLF) for the interconnected network, ensuring GAS certificate over the network. We demonstrate that while the computational complexity for designing a CLF increases polynomially with the network dimension using sum-of-squares (SOS) optimization, our compositional data-driven approach significantly mitigates it to \emph{linear} with respect to the number of subsystems. We showcase the efficacy of our data-driven approach over a set of benchmarks, involving physical networks with diverse interconnection topologies.

Authors:Erfaun Noorani, Pasan Dissanayake, Faisal Hamman, Sanghamitra Dutta
Title: Counterfactual Explanations for Model Ensembles Using Entropic Risk Measures
Abstract:
Counterfactual explanations indicate the smallest change in input that can translate to a different outcome for a machine learning model. Counterfactuals have generated immense interest in high-stakes applications such as finance, education, hiring, etc. In several use-cases, the decision-making process often relies on an ensemble of models rather than just one. Despite significant research on counterfactuals for one model, the problem of generating a single counterfactual explanation for an ensemble of models has received limited interest. Each individual model might lead to a different counterfactual, whereas trying to find a counterfactual accepted by all models might significantly increase cost (effort). We propose a novel strategy to find the counterfactual for an ensemble of models using the perspective of entropic risk measure. Entropic risk is a convex risk measure that satisfies several desirable properties. We incorporate our proposed risk measure into a novel constrained optimization to generate counterfactuals for ensembles that stay valid for several models. The main significance of our measure is that it provides a knob that allows for the generation of counterfactuals that stay valid under an adjustable fraction of the models. We also show that a limiting case of our entropic-risk-based strategy yields a counterfactual valid for all models in the ensemble (worst-case min-max approach). We study the trade-off between the cost (effort) for the counterfactual and its validity for an ensemble by varying degrees of risk aversion, as determined by our risk parameter knob. We validate our performance on real-world datasets.

Authors:Paul Zheng, Navid Keshtiarast, Pradyumna Kumar Bishoyi, Yao Zhu, Yulin Hu, Marina Petrova, Anke Schmeink
Title: Efficient Integration of Distributed Learning Services in Next-Generation Wireless Networks
Abstract:
Distributed learning (DL) is considered a cornerstone of intelligence enabler, since it allows for collaborative training without the necessity for local clients to share raw data with other parties, thereby preserving privacy and security. Integrating DL into the 6G networks requires coexistence design with existing services such as high-bandwidth (HB) traffic like eMBB. Current designs in the literature mainly focus on communication round (CR)-wise designs that assume a fixed resource allocation during each CR. However, fixed resource allocation within a CR is a highly inefficient and inaccurate representation of the system's realistic behavior. This is due to the heterogeneous nature of the system, where clients inherently need to access the network at different times. This work zooms into one arbitrary communication round and demonstrates the importance of considering a time-dependent resource-sharing design with HB traffic. We propose a time-dependent optimization problem for minimizing the consumed time and energy by DL within the CR. Due to its intractability, a session-based optimization problem has been proposed assuming a large-scale coherence time. An iterative algorithm has been designed to solve such problems and simulation results confirm the importance of such efficient and accurate integration design.

Authors:Navid Keshtiarast, Pradyumna Kumar Bishoyi, Marina Petrova
Title: Environment-Aware Scheduling of URLLC and Sensing Services for Smart Industries
Abstract:
In this paper, we address the problem of scheduling sensing and communication functionality in an integrated sensing and communication (ISAC) enabled base station (BS) operating in an indoor factory (InF) environment. The BS is performing the task of detecting an AGV while managing downlink transmission of ultra-reliable low-latency communication (URLLC) data in a time-sharing manner. Scheduling fixed time slots for both sensing and communication is inefficient for the InF environment, as the instantaneous environmental changes necessitate a higher frequency of sensing operations to accurately detect the AGV. To address this issue, we propose an environment-aware scheduling scheme, in which we first formulate an optimization problem to maximize the probability of detection of AGV while considering the survival time constraint of URLLC data. Subsequently, utilizing the Nash bargaining theory, we propose an adaptive time-sharing scheme that assigns sensing duration in accordance with the environmental clutter density and distributes time to URLLC depending on the incoming traffic rate. Using our own Python-based discrete-event link-level simulator, we demonstrate the effectiveness of our proposed scheme over the baseline scheme in terms of probability of detection and downlink latency.

Authors:R. Spencer Hallyburton, Miroslav Pajic
Title: Security-Aware Sensor Fusion with MATE: the Multi-Agent Trust Estimator
Abstract:
Lacking security awareness, sensor fusion in systems with multi-agent networks such as smart cities is vulnerable to attacks. To guard against recent threats, we design security-aware sensor fusion that is based on the estimates of distributions over trust. Trust estimation can be cast as a hidden Markov model, and we solve it by mapping sensor data to trust pseudomeasurements (PSMs) that recursively update trust posteriors in a Bayesian context. Trust then feeds sensor fusion to facilitate trust-weighted updates to situational awareness. Essential to security-awareness are a novel field of view estimator, logic to map sensor data into PSMs, and the derivation of efficient Bayesian updates. We evaluate security-aware fusion under attacks on agents using case studies and Monte Carlo simulation in the physics-based Unreal Engine simulator, CARLA. A mix of novel and classical security-relevant metrics show that our security-aware fusion enables building trustworthy situational awareness even in hostile conditions.

Authors:Liqian Ma, Zishun Liu, Hongzhe Yu, Yongxin Chen
Title: Safety Verification of Stochastic Systems under Signal Temporal Logic Specifications
Abstract:
We study the verification problem of stochastic systems under signal temporal logic (STL) specifications. We propose a novel approach that enables the verification of the probabilistic satisfaction of STL specifications for nonlinear systems subject to both bounded deterministic disturbances and stochastic disturbances. Our method, referred to as the STL erosion strategy, reduces the probabilistic verification problem into a deterministic verification problem with a tighter STL specification. The degree of tightening is determined by leveraging recent results on bounding the deviation between the stochastic trajectory and the deterministic trajectory. Our approach can be seamlessly integrated with any existing deterministic STL verification algorithm. Numerical experiments are conducted to showcase the efficacy of our method.

Authors:Navid Keshtiarast, Pradyumna Kumar Bishoyi, Ido Manuel Lumbantobing, Marina Petrova
Title: When Next-Gen Sensing Meets Legacy Wi-Fi: Performance Analyses of IEEE 802.11bf and IEEE 802.11ax Coexistence
Abstract:
Sensing is emerging as a vital future service in next-generation wireless networks, enabling applications such as object localization and activity recognition. The IEEE 802.11bf standard extends Wi-Fi capabilities to incorporate these sensing functionalities. However, coexistence with legacy Wi-Fi in densely populated networks poses challenges, as contention for channels can impair both sensing and communication quality. This paper develops an analytical framework and a system-level simulation in ns-3 to evaluate the coexistence of IEEE 802.11bf and legacy 802.11ax in terms of sensing delay and communication throughput. Forthis purpose, we have developed a dedicated ns-3 module forIEEE 802.11bf, which is made publicly available as open-source. We provide the first coexistence analysis between IEEE 802.11bfand IEEE 802.11ax, supported by link-level simulation in ns-3to assess the impact on sensing delay and network performance. Key parameters, including sensing intervals, access categories, network densities, and antenna configurations, are systematically analyzed to understand their influence on the sensing delay and aggregated network throughput. The evaluation is further extended to a realistic indoor office environment modeled after the 3GPP TR 38.901 standard. Our findings reveal key trade-offs between sensing intervals and throughput and the need for balanced sensing parameters to ensure effective coexistence in Wi-Fi networks.

Authors:Sina Mohammadi, Van-Hai Bui, Wencong Su
Title: A Novel Topology Recovery Method for Low Voltage Distribution Networks
Abstract:
Low voltage distribution networks (LVDNs) suffer from limited visibility due to sparse or nonexistent measurement systems, leaving distribution network service providers with incomplete data. Maintenance activities, such as transformer upgrades and power line replacements, sometimes go undocumented, leading to unmonitored topology changes. This lack of oversight hinders network optimization, fault detection, and outage management, as utilities cannot fully monitor or control the system. With the rise of electric vehicles, having an accurate understanding of LVDN topology is crucial to avoid infrastructure damage from potential overloads. This paper introduces a method to reconstruct LVDN topology using incremental voltage and current changes from smart meters at customer endpoints. The approach identifies and maps network topologies with high accuracy, overcoming limitations of prior methods by discarding unrealistic assumptions. Specifically, it addresses grids with fewer than three pole connections and employs an AC power flow model over simplified DC approximations. Simulations across diverse configurations validate the method's effectiveness in accurately reconstructing LVDN topologies, enhancing real-world applicability.

Authors:Obaid Ullah Ahmad, Anwar Said, Mudassir Shabbir, Xenofon Koutsoukos, Waseem Abbas
Title: Learning Backbones: Sparsifying Graphs through Zero Forcing for Effective Graph-Based Learning
Abstract:
This paper introduces a novel framework for graph sparsification that preserves the essential learning attributes of original graphs, improving computational efficiency and reducing complexity in learning algorithms. We refer to these sparse graphs as "learning backbones". Our approach leverages the zero-forcing (ZF) phenomenon, a dynamic process on graphs with applications in network control. The key idea is to generate a tree from the original graph that retains critical dynamical properties. By correlating these properties with learning attributes, we construct effective learning backbones. We evaluate the performance of our ZF-based backbones in graph classification tasks across eight datasets and six baseline models. The results demonstrate that our method outperforms existing techniques. Additionally, we explore extensions using node distance metrics to further enhance the framework's utility.

Authors:Giuseppe Paolo, Abdelhakim Benechehab, Hamza Cherkaoui, Albert Thomas, Balázs Kégl
Title: TAG: A Decentralized Framework for Multi-Agent Hierarchical Reinforcement Learning
Abstract:
Hierarchical organization is fundamental to biological systems and human societies, yet artificial intelligence systems often rely on monolithic architectures that limit adaptability and scalability. Current hierarchical reinforcement learning (HRL) approaches typically restrict hierarchies to two levels or require centralized training, which limits their practical applicability. We introduce TAME Agent Framework (TAG), a framework for constructing fully decentralized hierarchical multi-agent systems. TAG enables hierarchies of arbitrary depth through a novel LevelEnv concept, which abstracts each hierarchy level as the environment for the agents above it. This approach standardizes information flow between levels while preserving loose coupling, allowing for seamless integration of diverse agent types. We demonstrate the effectiveness of TAG by implementing hierarchical architectures that combine different RL agents across multiple levels, achieving improved performance over classical multi-agent RL baselines on standard benchmarks. Our results show that decentralized hierarchical organization enhances both learning speed and final performance, positioning TAG as a promising direction for scalable multi-agent systems.

Authors:E. Javier Olucha, Patrick J. W. Koelewijn, Amritam Das, Roland Tóth
Title: Automated Linear Parameter-Varying Modeling of Nonlinear Systems: A Global Embedding Approach
Abstract:
In this paper, an automated Linear Parameter-Varying (LPV) model conversion approach is proposed for nonlinear dynamical systems. The proposed method achieves global embedding of the original nonlinear behavior of the system by leveraging the second fundamental theorem of calculus to factorize matrix function expressions without any approximation. The implementation of the proposed method in the LPVcore toolbox for Matlab is discussed, and its performance is showcased on a comprehensive example of automated LPV model conversion of an unbalanced disk system, which is then used to design an LPV controller that is deployed on the original nonlinear system. In addition, the conversion capabilities are further demonstrated by obtaining an LPV embedding of a three-degree-of-freedom control moment gyroscope. All software implementations are available at www.lpvcore.net.

Authors:Jacob Knaup, Jovin D'sa, Behdad Chalaki, Hossein Nourkhiz Mahjoub, Ehsan Moradi-Pari, Panagiotis Tsiotras
Title: Dual Control for Interactive Autonomous Merging with Model Predictive Diffusion
Abstract:
Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Traditional predict-then-act frameworks are often insufficient or inefficient because accurate inference of human behavior requires a continuous interaction rather than isolated prediction. To address this, we propose an active learning framework in which we rigorously derive predicted belief distributions. Additionally, we introduce a novel model-based diffusion solver tailored for online receding horizon control problems, demonstrated through a complex, non-convex highway merging scenario. Our approach extends previous high-fidelity dual control simulations to hardware experiments, which may be viewed at https://youtu.be/Q_JdZuopGL4, and verifies behavior inference in human-driven traffic scenarios, moving beyond idealized models. The results show improvements in adaptive planning under uncertainty, advancing the field of interactive decision-making for real-world applications.

Authors:Shirantha Welikala, Hai Lin, Panos J. Antsaklis
Title: Inventory Consensus Control in Supply Chain Networks using Dissipativity-Based Control and Topology Co-Design
Abstract:
Recent global and local phenomena have exposed vulnerabilities in critical supply chain networks (SCNs), drawing significant attention from researchers across various fields. Typically, SCNs are viewed as static entities regularly optimized to maintain their optimal operation. However, the dynamic nature of SCNs and their associated uncertainties have motivated researchers to treat SCNs as dynamic networked systems requiring robust control techniques. In this paper, we address the SCN inventory consensus problem, which aims to synchronize multiple parallel supply chains, enhancing coordination and robustness of the overall SCN. To achieve this, we take a novel approach exploiting dissipativity theory. In particular, we propose a dissipativity-based co-design strategy for distributed consensus controllers and communication topology in SCNs. It requires only the dissipativity information of the individual supply chains and involves solving a set of convex optimization problems, thus contributing to scalability, compositionality, and computational efficiency. Moreover, it optimizes the robustness of the SCN to various associated uncertainties, mitigating both bullwhip and ripple effects. We demonstrate our contributions using numerical examples, mainly by comparing the consensus performance with respect to standard steady-state control, feedback control, and consensus control strategies.

Authors:Rouzbeh Haghighi, Ali Hassan, Van-Hai Bui, Akhtar Hussain, Wencong Su
Title: Deep Reinforcement Learning-Based Optimization of Second-Life Battery Utilization in Electric Vehicles Charging Stations
Abstract:
The rapid rise in electric vehicle (EV) adoption presents significant challenges in managing the vast number of retired EV batteries. Research indicates that second-life batteries (SLBs) from EVs typically retain considerable residual capacity, offering extended utility. These batteries can be effectively repurposed for use in EV charging stations (EVCS), providing a cost-effective alternative to new batteries and reducing overall planning costs. Integrating battery energy storage systems (BESS) with SLBs into EVCS is a promising strategy to alleviate system overload. However, efficient operation of EVCS with integrated BESS is hindered by uncertainties such as fluctuating EV arrival and departure times and variable power prices from the grid. This paper presents a deep reinforcement learning-based (DRL) planning framework for EV charging stations with BESS, leveraging SLBs. We employ the advanced soft actor-critic (SAC) approach, training the model on a year's worth of data to account for seasonal variations, including weekdays and holidays. A tailored reward function enables effective offline training, allowing real-time optimization of EVCS operations under uncertainty.

Authors:Victor Hugo Pereira Rodrigues, Tiago Roux Oliveira, Miroslav Krstic, Paulo Tabuada
Title: Event-Triggered Newton-Based Extremum Seeking Control
Abstract:
This paper proposes the incorporation of static event-triggered control in the actuation path of Newton-based extremum seeking and its comparison with the earlier gradient version. As in the continuous methods, the convergence rate of the gradient approach depends on the unknown Hessian of the nonlinear map to be optimized, whereas the proposed event-triggered Newton-based extremum seeking eliminates this dependence, becoming user-assignable. This is achieved by means of a dynamic estimator for the Hessian's inverse, implemented as a Riccati equation filter. Lyapunov stability and averaging theory for discontinuous systems are applied to analyze the closed-loop system. Local exponential practical stability is guaranteed to a small neighborhood of the extremum point of scalar and static maps. Numerical simulations illustrate the advantages of the proposed approach over the previous gradient method, including improved convergence speed, followed by a reduction in the amplitude and updating frequency of the control signals.

Authors:Cédric Join, Emmanuel Delaleau, Michel Fliess
Title: Model-Free Predictive Control: Introductory Algebraic Calculations, and a Comparison with HEOL and ANNs
Abstract:
Model predictive control (MPC) is a popular control engineering practice, but requires a sound knowledge of the model. Model-free predictive control (MFPC), a burning issue today, also related to reinforcement learning (RL) in AI, is reformulated here via a linear differential equation with constant coefficients, thanks to a new perspective on optimal control combined with recent advances in the field of model-free control (MFC). It is replacing Dynamic Programming, the Hamilton-Jacobi-Bellman equation, and Pontryagin's Maximum Principle. The computing burden is low. The implementation is straightforward. Two nonlinear examples, a chemical reactor and a two tank system, are illustrating our approach. A comparison with the HEOL setting, where some expertise of the process model is needed, shows only a slight superiority of the later. A recent identification of the two tank system via a complex ANN architecture might indicate that a full modeling and the corresponding machine learning mechanism are not always necessary neither in control, nor, more generally, in AI.

Authors:Bo Chen, Baike She, Calvin Hawkins, Philip E. Paré, Matthew T. Hale
Title: Scalable Distributed Reproduction Numbers of Network Epidemics with Differential Privacy
Abstract:
Reproduction numbers are widely used for the estimation and prediction of epidemic spreading processes over networks. However, conventional reproduction numbers of an overall network do not indicate where an epidemic is spreading. Therefore, we propose a novel notion of local distributed reproduction numbers to capture the spreading behaviors of each node in a network. We first show how to compute them and then use them to derive new conditions under which an outbreak can occur. These conditions are then used to derive new conditions for the existence, uniqueness, and stability of equilibrium states of the underlying epidemic model. Building upon these local distributed reproduction numbers, we define cluster distributed reproduction numbers to model the spread between clusters composed of nodes. Furthermore, we demonstrate that the local distributed reproduction numbers can be aggregated into cluster distributed reproduction numbers at different scales. However, both local and cluster distributed reproduction numbers can reveal the frequency of interactions between nodes in a network, which raises privacy concerns. Thus, we next develop a privacy framework that implements a differential privacy mechanism to provably protect the frequency of interactions between nodes when computing distributed reproduction numbers. Numerical experiments show that, even under differential privacy, the distributed reproduction numbers provide accurate estimates of the epidemic spread while also providing more insights than conventional reproduction numbers.

Authors:Meiyi Li, Javad Mohammadi
Title: Learning to Optimize Joint Chance-constrained Power Dispatch Problems
Abstract:
The ever-increasing integration of stochastic renewable energy sources into power systems operation is making the supply-demand balance more challenging. While joint chance-constrained methods are equipped to model these complexities and uncertainties, solving these models using the traditional iterative solvers is time-consuming and can hinder real-time implementation. To overcome the shortcomings of today's solvers, we propose a fast, scalable, and explainable machine learning-based optimization proxy. Our solution, called Learning to Optimize the Optimization of Joint Chance-Constrained Problems (LOOP-JCCP), is iteration-free and solves the underlying problem in a single-shot. Our model uses a polyhedral reformulation of the original problem to manage constraint violations and ensure solution feasibility across various scenarios through customizable probability settings. To this end, we build on our recent deterministic solution (LOOP-LC 2.0) by incorporating a set aggregator module to handle uncertain sample sets of varying sizes and complexities. Our results verify the feasibility of our near-optimal solutions for joint chance-constrained power dispatch scenarios. Additionally, our feasibility guarantees increase the transparency and interpretability of our method, which is essential for operators to trust the outcomes. We showcase the effectiveness of our model in solving the stochastic energy management problem of Virtual Power Plants (VPPs). Our numerical findings complement our theoretical justifications and demonstrate great flexibility in parameter tuning, adaptability to diverse datasets, and increased computational speed.

Authors:Victor Hugo Pereira Rodrigues, Tiago Roux Oliveira, Miroslav Krstic, Tamer Basar
Title: Lie-Bracket Nash Equilibrium Seeking with Bounded Update Rates for Noncooperative Games
Abstract:
This paper proposes a novel approach for local convergence to Nash equilibrium in quadratic noncooperative games based on a distributed Lie-bracket extremum seeking control scheme. This is the first instance of noncooperative games being tackled in a model-free fashion integrated with the extremum seeking method of bounded update rates. In particular, the stability analysis is carried out using Lie-bracket approximation and Lyapunov's direct method. We quantify the size of the ultimate small residual sets around the Nash equilibrium and illustrate the theoretical results numerically on an example in an oligopoly setting.

Authors:Quang-Manh Hoang, Guilherme Vieira Hollweg, Akhtar Hussain, Sina Zarrabian, Wencong Su, Van-Hai Bui
Title: PSO-based Sliding Mode Current Control of Grid-Forming Inverter in Rotating Frame
Abstract:
The Grid-Forming Inverter (GFMI) is an emerging topic that is attracting significant attention from both academic and industrial communities, particularly in the area of control design. The Decoupled Average Model-based Sliding Mode Current Controller (DAM-SMC) has been used to address the need such as fast response, fixed switching frequency, and no overshoot to avoid exceeding current limits. Typically, the control parameters for DAM-SMC are chosen based on expert knowledge and certain assumptions. However, these parameters may not achieve optimized performance due to system dynamics and uncertainties. To address this, this paper proposes a Particle Swarm Optimization (PSO)-based DAM-SMC controller, which inherits the control laws from DAM-SMC but optimizes the control parameters offline using PSO. The main goal is to reduce chattering and achieve smaller tracking errors. The proposed method is compared with other metaheuristic optimization algorithms, such as Genetic Algorithm (GA) and Simulated Annealing (SA). Simulations are performed in MATLAB/Simulink across various scenarios to evaluate the effectiveness of the proposed controller. The proposed approach achieves a substantial reduction in convergence time, decreasing it by 86.36% compared to the GA and by 88.89% compared to SA. Furthermore, the tracking error is reduced by 11.61% compared to the conventional DAM-SMC algorithm. The robustness of the proposed method is validated under critical conditions, where plant and control model parameters varied by up to 40%.

Authors:Jiarui Yu, Jicheng Shi, Wenjie Xu, Colin N. Jones
Title: Which price to pay? Auto-tuning building MPC controller for optimal economic cost
Abstract:
Model predictive control (MPC) controller is considered for temperature management in buildings but its performance heavily depends on hyperparameters. Consequently, MPC necessitates meticulous hyperparameter tuning to attain optimal performance under diverse contracts. However, conventional building controller design is an open-loop process without critical hyperparameter optimization, often leading to suboptimal performance due to unexpected environmental disturbances and modeling errors. Furthermore, these hyperparameters are not adapted to different pricing schemes and may lead to non-economic operations. To address these issues, we propose an efficient performance-oriented building MPC controller tuning method based on a cutting-edge efficient constrained Bayesian optimization algorithm, CONFIG, with global optimality guarantees. We demonstrate that this technique can be applied to efficiently deal with real-world DSM program selection problems under customized black-box constraints and objectives. In this study, a simple MPC controller, which offers the advantages of reduced commissioning costs, enhanced computational efficiency, was optimized to perform on a comparable level to a delicately designed and computationally expensive MPC controller. The results also indicate that with an optimized simple MPC, the monthly electricity cost of a household can be reduced by up to 26.90% compared with the cost when controlled by a basic rule-based controller under the same constraints. Then we compared 12 real electricity contracts in Belgium for a household family with customized black-box occupant comfort constraints. The results indicate a monthly electricity bill saving up to 20.18% when the most economic contract is compared with the worst one, which again illustrates the significance of choosing a proper electricity contract.

Authors:Emmanuel Delaleau, Cédric Join, Michel Fliess
Title: Synchronization of Kuramoto oscillators via HEOL, and a discussion on AI
Abstract:
Artificial neural networks and their applications in deep learning have recently made an incursion into the field of control. Deep learning techniques in control are often related to optimal control, which relies on Pontryagin maximum principle or the Hamilton-Jacobi-Bellman equation. They imply control schemes that are tedious to implement. We show here that the new HEOL setting, resulting from the fusion of the two established approaches, namely differential flatness and model-free control, provides a solution to control problems that is more sober in terms of computational resources. This communication is devoted to the synchronization of the popular Kuramoto's coupled oscillators, which was already considered via artificial neural networks (Böttcher et al., Nature Communications 2022), where, contrarily to this communication, only the single control variable is examined. One establishes the flatness of Kuramoto's coupled oscillator model with multiplicative control and develops the resulting HEOL control. Unlike many exemples, this system reveals singularities that are avoided by a clever generation of phase angle trajectories. The results obtained, verified in simulation, show that it is not only possible to synchronize these oscillators in finite time, and even to follow angular frequency profiles, but also to exhibit robustness concerning model mismatches. To the best of our knowledge this has never been done before. Concluding remarks advocate a viewpoint, which might be traced back to Wiener's cybernetics: control theory belongs to AI.

Authors:Md Abdullah-Al Kaiser, Sugeet Sunder, Ajey P. Jacob, Akhilesh R. Jaiswal
Title: X-pSRAM: A Photonic SRAM with Embedded XOR Logic for Ultra-Fast In-Memory Computing
Abstract:
Traditional von Neumann architectures suffer from fundamental bottlenecks due to continuous data movement between memory and processing units, a challenge that worsens with technology scaling as electrical interconnect delays become more significant. These limitations impede the performance and energy efficiency required for modern data-intensive applications. In contrast, photonic in-memory computing presents a promising alternative by harnessing the advantages of light, enabling ultra-fast data propagation without length-dependent impedance, thereby significantly reducing computational latency and energy consumption. This work proposes a novel differential photonic static random access memory (pSRAM) bitcell that facilitates electro-optic data storage while enabling ultra-fast in-memory Boolean XOR computation. By employing cross-coupled microring resonators and differential photodiodes, the XOR-augmented pSRAM (X-pSRAM) bitcell achieves at least 10 GHz read, write, and compute operations entirely in the optical domain. Additionally, wavelength-division multiplexing (WDM) enables n-bit XOR computation in a single-shot operation, supporting massively parallel processing and enhanced computational efficiency. Validated on GlobalFoundries' 45SPCLO node, the X-pSRAM consumed 13.2 fJ energy per bit for XOR computation, representing a significant advancement toward next-generation optical computing with applications in cryptography, hyperdimensional computing, and neural networks.

Authors:Md Abdullah-Al Kaiser, Sugeet Sunder, Ajey P. Jacob, Akhilesh R. Jaiswal
Title: A Mixed-Signal Photonic SRAM-based High-Speed Energy-Efficient Photonic Tensor Core with Novel Electro-Optic ADC
Abstract:
The rapid surge in data generated by Internet of Things (IoT), artificial intelligence (AI), and machine learning (ML) applications demands ultra-fast, scalable, and energy-efficient hardware, as traditional von Neumann architectures face significant latency and power challenges due to data transfer bottlenecks between memory and processing units. Furthermore, conventional electrical memory technologies are increasingly constrained by rising bitline and wordline capacitance, as well as the resistance of compact and long interconnects, as technology scales. In contrast, photonics-based in-memory computing systems offer substantial speed and energy improvements over traditional transistor-based systems, owing to their ultra-fast operating frequencies, low crosstalk, and high data bandwidth. Hence, we present a novel differential photonic SRAM (pSRAM) bitcell-augmented scalable mixed-signal multi-bit photonic tensor core, enabling high-speed, energy-efficient matrix multiplication operations using fabrication-friendly integrated photonic components. Additionally, we propose a novel 1-hot encoding electro-optic analog-to-digital converter (eoADC) architecture to convert the multiplication outputs into digital bitstreams, supporting processing in the electrical domain. Our designed photonic tensor core, utilizing GlobalFoundries' monolithic 45SPCLO technology node, achieves computation speeds of 4.10 tera-operations per second (TOPS) and a power efficiency of 3.02 TOPS/W.

Authors:Armin Abdolmohammadi, Navid Mojahed, Shima Nazari, Bahram Ravani
Title: Data-Efficient Excavation Force Estimation for Wheel Loaders
Abstract:
Accurate excavation force prediction is essential for enabling autonomous operation and optimizing control strategies in earthmoving machinery. Conventional methods typically require extensive data collection or simulations across diverse soil types, limiting scalability and adaptability. This paper proposes a data-efficient framework that calibrates soil parameters using force data from the prior bucket-loading cycle. Leveraging an analytical soil-tool interaction model, the fundamental earthmoving equation (FEE), our approach uses a multi-stage optimization strategy, on soil parameters during the loading phase. These fitted parameters are then used to predict excavation forces in the upcoming digging cycle, allowing the system to adapt its control inputs without the need for extensive data collection or machine learning-based model training. The framework is validated in high-fidelity simulations using the Algoryx Dynamics engine, across multiple soil types and excavation trajectories, demonstrating accurate force predictions with root-mean-square errors of 10\% to 15\% in primary test cases. This cycle-to-cycle adaptation strategy showcases the potential for online and scalable efficient path planning for wheel loader operations.

Authors:Mehdi Monemi, Mehdi Rasti, Omid Yazdani, Onel Lopez, Matti Latva-aho
Title: Beam Squint Mitigation in Wideband Hybrid Beamformers: Full-TTD, Sparse-TTD, or Non-TTD?
Abstract:
Beam squint poses a fundamental challenge in wideband hybrid beamforming, particularly for mmWave and THz systems that demand both ultra-wide bandwidth and high directional beams. While conventional phase shifter-based beamformers may offer partial mitigation, True Time Delay (TTD) units provide a fundamentally more effective solution by enabling frequency-independent beam steering. However, the high cost of TTD units has recently driven much interest in Sparse-TTD architectures, which combine a limited number of TTDs with a higher number of conventional phase shifters to balance performance and cost. This paper provides a critical examination of beam squint mitigation strategies in wideband hybrid beamformers, comparing Full-TTD, Sparse-TTD, and Non-TTD architectures. We analyze recent Non-TTD approaches, specifically the scheme leveraging the wideband beam gain (WBBG) concept, evaluating their performance and cost characteristics against TTD-based solutions. A key focus is placed on the practical limitations of Sparse-TTD architectures, particularly the often-overlooked requirement for wideband phase shifters operating alongside TTDs, which can significantly impact performance and implementation cost in real-world scenarios, especially for ultra-wideband applications. Finally, we conduct a cost-performance analysis to examine the trade-offs inherent in each architecture and provide guidance on selecting the most suitable hybrid beamforming structure for various fractional bandwidth regimes.

Authors:Violetta Rostobaya, James Berneburg, Yue Guan, Michael Dorothy, Daigo Shishika
Title: Deceptive Path Planning: A Bayesian Game Approach
Abstract:
This paper investigates how an autonomous agent can transmit information through its motion in an adversarial setting. We consider scenarios where an agent must reach its goal while deceiving an intelligent observer about its destination. We model this interaction as a dynamic Bayesian game between a mobile Attacker with a privately known goal and a Defender who infers the Attacker's intent to allocate defensive resources effectively. We use Perfect Bayesian Nash Equilibrium (PBNE) as our solution concept and propose a computationally efficient approach to find it. In the resulting equilibrium, the Defender employs a simple Markovian strategy, while the Attacker strategically balances deception and goal efficiency by stochastically mixing shortest and non-shortest paths to manipulate the Defender's beliefs. Numerical experiments demonstrate the advantages of our PBNE-based strategies over existing methods based on one-sided optimization.

Authors:Toshiaki Tsuji, Yasuhiro Kato, Gokhan Solak, Heng Zhang, Tadej Petrič, Francesco Nori, Arash Ajoudani
Title: A Survey on Imitation Learning for Contact-Rich Tasks in Robotics
Abstract:
This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to their nonlinear dynamics and sensitivity to small positional deviations. The paper examines demonstration collection methodologies, including teaching methods and sensory modalities crucial for capturing subtle interaction dynamics. We then analyze imitation learning approaches, highlighting their applications to contact-rich manipulation. Recent advances in multimodal learning and foundation models have significantly enhanced performance in complex contact tasks across industrial, household, and healthcare domains. Through systematic organization of current research and identification of challenges, this survey provides a foundation for future advancements in contact-rich robotic manipulation.

Authors:Ozan Karaali, Hossam Farag, Strahinja Dosen, Cedomir Stefanovic
Title: 5G-Enabled Smart Prosthetic Hand: Connectivity Analysis and Assessment
Abstract:
In this paper, we demonstrate a proof-of-concept implementation of a framework for the development of edge-connected prosthetic systems. The framework is composed of a bionic hand equipped with a camera and connected to a Jetson device that establishes a wireless connection to the edge server, processing the received video stream and feeding back the inferred information about the environment. The hand-edge server connection is obtained either through a direct 5G link, where the edge server also functions as a 5G base station, or through a WiFi link. We evaluate the latency of closing the control loop in the system, showing that, in a realistic usage scenario, the connectivity and computation delays combined are well below 125 ms, which falls into the natural control range. To the best of our knowledge, this is the first analysis showcasing the feasibility of a 5G-enabled prosthetic system.

Authors:Yuyan Lin, Hao Zhou, Chengming Hu, Xue Liu, Hao Chen, Yan Xin, Jianzhong, Zhang
Title: Hierarchical Debate-Based Large Language Model (LLM) for Complex Task Planning of 6G Network Management
Abstract:
6G networks have become increasingly complicated due to novel network architecture and newly emerging signal processing and transmission techniques, leading to significant burdens to 6G network management. Large language models (LLMs) have recently been considered a promising technique to equip 6G networks with AI-native intelligence. Different from most existing studies that only consider a single LLM, this work involves a multi-LLM debate-based scheme for 6G network management, where multiple LLMs can collaboratively improve the initial solution sequentially. Considering the complex nature of 6G domain, we propose a novel hierarchical debate scheme: LLMs will first debate the sub-task decomposition, and then debate each subtask step-by-step. Such a hierarchical approach can significantly reduce the overall debate difficulty by sub-task decomposition, aligning well with the complex nature of 6G networks and ensuring the final solution qualities. In addition, to better evaluate the proposed technique, we have defined a novel dataset named 6GPlan, including 110 complex 6G network management tasks and 5000 keyword solutions. Finally, the experiments show that the proposed hierarchical debate can significantly improve performance compared to baseline techniques, e.g. more than 30% coverage rate and global recall rate improvement.

Authors:Julian F. Schumann, Johan Engström, Leif Johnson, Matthew O'Kelly, Joao Messias, Jens Kober, Arkady Zgonnikov
Title: Active inference as a unified model of collision avoidance behavior in human drivers
Abstract:
Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on specific scenarios or only describing certain aspects of the avoidance behavior, such as response times. This paper addresses these gaps by proposing a novel computational cognitive model of human collision avoidance behavior based on active inference. Active inference provides a unified approach to modeling human behavior: the minimization of free energy. Building on prior active inference work, our model incorporates established cognitive mechanisms such as evidence accumulation to simulate human responses in two distinct collision avoidance scenarios: front-to-rear lead vehicle braking and lateral incursion by an oncoming vehicle. We demonstrate that our model explains a wide range of previous empirical findings on human collision avoidance behavior. Specifically, the model closely reproduces both aggregate results from meta-analyses previously reported in the literature and detailed, scenario-specific effects observed in a recent driving simulator study, including response timing, maneuver selection, and execution. Our results highlight the potential of active inference as a unified framework for understanding and modeling human behavior in complex real-life driving tasks.

Authors:Aikaterini Maria Panteleaki, Varatheepan Paramanayakam, Vasileios Pentsos, Andreas Karatzas, Spyros Tragoudas, Iraklis Anagnostopoulos
Title: A Vertical Approach to Designing and Managing Sustainable Heterogeneous Edge Data Centers
Abstract:
The increasing demand for Artificial Intelligence (AI) computing poses significant environmental challenges, with both operational and embodied carbon emissions becoming major contributors. This paper presents a carbon-aware holistic methodology for designing and managing sustainable Edge Data Centers (EDCs), based on three design principles that challenge the state-of-the-art optimization paradigms. Our approach employs vertical integration across the architecture, system, and runtime layers, balances operational and embodied carbon emissions while considering EDC performance as a co-optimization objective, rather than a constraint. At the architecture level, we propose carbon-aware and approximate accelerator designs to reduce embodied carbon. At the system level, we enhance resource utilization and adapt to real-time carbon intensity variations to minimize operational emissions. Finally, at the runtime level, we develop dynamic scheduling frameworks that adjust execution, based on energy constraints and carbon intensity.

Authors:Priyadarshi Mukherjee, Constantinos Psomas, Himal A. Suraweera, Ioannis Krikidis
Title: Chaotic Noncoherent SWIPT in Multi-Functional RIS-Aided Systems
Abstract:
In this letter, we investigate the design of chaotic signal-based transmit waveforms in a multi-functional reconfigurable intelligent surface (MF-RIS)-aided set-up for simultaneous wireless information and power transfer. We propose a differential chaos shift keying-based MF-RIS-aided set-up, where the MF-RIS is partitioned into three non-overlapping surfaces. The elements of the first sub-surface perform energy harvesting (EH), which in turn, provide the required power to the other two sub-surfaces responsible for transmission and reflection of the incident signal. By considering a frequency selective scenario and a realistic EH model, we characterize the chaotic MF-RIS-aided system in terms of its EH performance and the associated bit error rate. Thereafter, we characterize the harvested energy-bit error rate trade-off and derive a lower bound on the number of elements required to operate in the EH mode. Accordingly, we propose novel transmit waveform designs to demonstrate the importance of the choice of appropriate system parameters in the context of achieving self-sustainability.

Authors:Lorenzo Lagostina, Deborah Volpe, Maurizio Zamboni, Giovanna Turvani
Title: AEQUAM: Accelerating Quantum Algorithm Validation through FPGA-Based Emulation
Abstract:
This work presents AEQUAM (Area Efficient QUAntum eMulation), a toolchain that enables faster and more accessible quantum circuit verification. It consists of a compiler that translates OpenQASM 2.0 into RISC-like instructions, Cython software models for selecting number representations and simulating circuits, and a VHDL generator that produces RTL descriptions for FPGA-based hardware emulators. The architecture leverages a SIMD approach to parallelize computation and reduces complexity by exploiting the sparsity of quantum gate matrices. The VHDL generator allows customization of the number of emulated qubits and parallelization levels to meet user requirements. Synthesized on an Altera Cyclone 10LP FPGA with a 20-bit fixed-point representation and nearest-type approximation, the architecture demonstrates better scalability than other state-of-the-art emulators. Specifically, the emulator has been validated by exploiting the well consolidated benchmark of mqt bench framework.

Authors:Michael Tang, Miroslav Krstic, Jorge Poveda
Title: Deception in Oligopoly Games via Adaptive Nash Seeking Systems
Abstract:
In the theory of multi-agent systems, deception refers to the strategic manipulation of information to influence the behavior of other agents, ultimately altering the long-term dynamics of the entire system. Recently, this concept has been examined in the context of model-free Nash equilibrium seeking (NES) algorithms for noncooperative games. Specifically, it was demonstrated that players can exploit knowledge of other players' exploration signals to drive the system toward a ``deceptive" Nash equilibrium, while maintaining the stability of the closed-loop system. To extend this insight beyond the duopoly case, in this paper we conduct a comprehensive study of deception mechanisms in N-player oligopoly markets. By leveraging the structure of these games and employing stability techniques for nonlinear dynamical systems, we provide game-theoretic insights into deception and derive specialized results, including stability conditions. These results allow players to systematically adjust their NES dynamics by tuning gains and signal amplitudes, all while ensuring closed-loop stability. Additionally, we introduce novel sufficient conditions to demonstrate that the (practically) stable equilibrium point of the deceptive dynamics corresponds to a true Nash equilibrium of a different game, which we term the ``deceptive game." Our results show that, under the proposed adaptive dynamics with deception, a victim firm may develop a distorted perception of its competitors' product appeal, which could lead to setting suboptimal prices.

Authors:Sixu Li, Yang Zhou
Title: Nonlinear Oscillatory Response of Automated Vehicle Car-following: Theoretical Analysis with Traffic State and Control Input Limits
Abstract:
This paper presents a framework grounded in the theory of describing function (DF) and incremental-input DF to theoretically analyze the nonlinear oscillatory response of automated vehicles (AVs) car-following (CF) amidst traffic oscillations, considering the limits of traffic state and control input. While prevailing approaches largely ignore these limits (i.e., saturation of acceleration/deceleration and speed) and focus on linear string stability analysis, this framework establishes a basis for theoretically analyzing the frequency response of AV systems with nonlinearities imposed by these limits. To this end, trajectories of CF pairs are decomposed into nominal and oscillatory trajectories, subsequently, the controlled AV system is repositioned within the oscillatory trajectory coordinates. Built on this base, DFs are employed to approximate the frequency responses of nonlinear saturation components by using their first harmonic output, thereby capturing the associated amplification ratio and phase shift. Considering the closed-loop nature of AV control systems, where system states and control input mutually influence each other, amplification ratios and phase shifts are balanced within the loop to ensure consistency. This balancing process may render multiple solutions, hence the incremental-input DF is further applied to identify the reasonable ones. The proposed method is validated by estimations from Simulink, and further comparisons with prevailing methods are conducted. Results confirm the alignment of our framework with Simulink results and exhibit its superior accuracy in analysis compared to the prevailing methods. Furthermore, the framework proves valuable in string stability analysis, especially when conventional linear methods offer misleading insights.

Authors:Michael Hertneck, David Meister, Frank Allgöwer
Title: Current trends and future directions in event-based control
Abstract:
The defining characteristic of event-based control is that feedback loops are only closed when indicated by a triggering condition that takes recent information about the system into account. This stands in contrast to periodic control where the feedback loop is closed periodically. Benefits of event-based control arise when sampling comes at a cost, which occurs, e.g., for Networked Control Systems or in other setups with resource constraints. A rapidly growing number of publications deals with event-based control. Nevertheless, some fundamental questions about event-based control are still unsolved. In this article, we provide an overview of current research trends in event-based control. We focus on results that aim for a better understanding of effects that occur in feedback loops with event-based control. Based on this summary, we identify important open directions for future research.

Authors:Kehan Long, Jorge Cortés, Nikolay Atanasov
Title: Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions
Abstract:
We study the problem of certifying the stability of closed-loop systems under control policies derived from optimal control or reinforcement learning (RL). Classical Lyapunov methods require a strict step-wise decrease in the Lyapunov function but such a certificate is difficult to construct for a learned control policy. The value function associated with an RL policy is a natural Lyapunov function candidate but it is not clear how it should be modified. To gain intuition, we first study the linear quadratic regulator (LQR) problem and make two key observations. First, a Lyapunov function can be obtained from the value function of an LQR policy by augmenting it with a residual term related to the system dynamics and stage cost. Second, the classical Lyapunov decrease requirement can be relaxed to a generalized Lyapunov condition requiring only decrease on average over multiple time steps. Using this intuition, we consider the nonlinear setting and formulate an approach to learn generalized Lyapunov functions by augmenting RL value functions with neural network residual terms. Our approach successfully certifies the stability of RL policies trained on Gymnasium and DeepMind Control benchmarks. We also extend our method to jointly train neural controllers and stability certificates using a multi-step Lyapunov loss, resulting in larger certified inner approximations of the region of attraction compared to the classical Lyapunov approach. Overall, our formulation enables stability certification for a broad class of systems with learned policies by making certificates easier to construct, thereby bridging classical control theory and modern learning-based methods.

Authors:Jiani Cheng, Ting Gao, Jinqiao Duan
Title: Adaptive control for multi-scale stochastic dynamical systems with stochastic next generation reservoir computing
Abstract:
The rapid advancement of neuroscience and machine learning has established data-driven stochastic dynamical system modeling as a powerful tool for understanding and controlling high-dimensional, spatio-temporal processes. We introduce the stochastic next-generation reservoir computing (NG-RC) controller, a framework that integrates the computational efficiency of NG-RC with stochastic analysis to enable robust event-triggered control in multiscale stochastic systems. The asymptotic stability of the controller is rigorously proven via an extended stochastic LaSalle theorem, providing theoretical guarantees for amplitude regulation in nonlinear stochastic dynamics. Numerical experiments on a stochastic Van-der-Pol system subject to both additive and multiplicative noise validate the algorithm, demonstrating its convergence rate across varying temporal scales and noise intensities. To bridge theoretical insights with real-world applications, we deploy the controller to modulate pathological dynamics reconstructed from epileptic EEG data. This work advances a theoretically guaranteed scalable framework for adaptive control of stochastic systems, with broad potential for data-driven decision making in engineering, neuroscience, and beyond.

Authors:Abdullah Quran, Shimaa Naser, Maryam Tariq, Omar Alhussein, Sami Muhaidat
Title: Max-Min Fairness in Stacked Intelligent Metasurface-Aided Rate Splitting Networks
Abstract:
This paper investigates a downlink multiuser multiple-input single-output system that integrates rate-splitting multiple access (RSMA) with a stacked intelligent metasurface (SIM) to enable wave-domain beamforming. Unlike conventional digital beamforming, the proposed system leverages the programmable phase shifts of the SIM to perform beamforming entirely in the wave domain. In contrast to existing literature, this work introduces a fairness-centric SIM-RSMA design that shifts the emphasis from maximizing sum-rate to ensuring fair allocation of resources. In particular, we formulate a max-min rate optimization problem that jointly optimizes transmit power coefficients at the base station and SIM phase shifts. Given the non-convex nature of this problem, we develop an alternating optimization framework, where the power allocation is optimized through successive convex approximation and SIM beamforming is optimized using the Riemannian conjugate gradient method. Simulation results indicate that combining SIM with RSMA yields superior max-min performance compared to its integration with space division multiple access or non-orthogonal multiple access.

Authors:Mirco Theile, Andres R. Zapata Rodriguez, Marco Caccamo, Alberto L. Sangiovanni-Vincentelli
Title: Continuous World Coverage Path Planning for Fixed-Wing UAVs using Deep Reinforcement Learning
Abstract:
Unmanned Aerial Vehicle (UAV) Coverage Path Planning (CPP) is critical for applications such as precision agriculture and search and rescue. While traditional methods rely on discrete grid-based representations, real-world UAV operations require power-efficient continuous motion planning. We formulate the UAV CPP problem in a continuous environment, minimizing power consumption while ensuring complete coverage. Our approach models the environment with variable-size axis-aligned rectangles and UAV motion with curvature-constrained Bézier curves. We train a reinforcement learning agent using an action-mapping-based Soft Actor-Critic (AM-SAC) algorithm employing a self-adaptive curriculum. Experiments on both procedurally generated and hand-crafted scenarios demonstrate the effectiveness of our method in learning energy-efficient coverage strategies.

Authors:Weixian He, Zeyu He, Wenhan Cao, Haoyu Gao, Tong Liu, Bin Shuai, Chang Liu, Shengbo Eben Li
Title: Design and Experimental Test of Datatic Approximate Optimal Filter in Nonlinear Dynamic Systems
Abstract:
Filtering is crucial in engineering fields, providing vital state estimation for control systems. However, the nonlinear nature of complex systems and the presence of non-Gaussian noises pose significant challenges to the performance of conventional filtering methods in terms of estimation accuracy and computational efficiency. In this work, we present a data-driven closed-loop filter, termed datatic approximate optimal filter (DAOF), specifically designed for nonlinear systems under non-Gaussian conditions. We first formulate a Markovian filtering problem (MFP), which inherently shares a connection with reinforcement learning (RL) as it aims to compute the optimal state estimate by minimizing the accumulated error. To solve MFP, we propose DAOF, which primarily incorporates a trained RL policy and features two distinct structural designs: DAOF-v1 and DAOF-v2. Designed for systems with explicit models, DAOF-v1 combines prediction and update phases, with the RL policy generating the update value. Meanwhile, DAOF-v2 bypasses system modeling by directly outputting the state estimate. Then, we utilize an actor-critic algorithm to learn the parameterized policy for DAOF. Experimental results on a 2-degree-of-freedom (2-DOF) vehicle system, equipped with explicit system models, demonstrate the superior accuracy and computational efficiency of DAOF-v1 compared to existing nonlinear filters. Moreover, DAOF-v2 showcases its unique ability to perform filtering without requiring explicit system modeling, as validated by a 14-DOF vehicle system.

Authors:Lorenzo Poli, Aakash Bansal, Giacomo Oliveri, Aaron Angel Salas-Sanchez, Will Whittow, Andrea Massa
Title: Time-Modulated EM Skins for Integrated Sensing and Communications
Abstract:
An innovative solution, based on the exploitation of the harmonic beams generated by time-modulated electromagnetic skins (TM-EMSs), is proposed for the implementation of integrated sensing and communication (ISAC) functionalities in a Smart Electromagnetic Environment (SEME) scenario. More in detail, the field radiated by a user terminal, located at an unknown position, is assumed to illuminate a passive TM-EMS that, thanks to a suitable modulation of the local reflection coefficients at the meta-atom level of the EMS surface, simultaneously reflects towards a receiving base station (BS) a "sum" beam and a "difference" one at slightly different frequencies. By processing the received signals and exploiting monopulse radar tracking concepts, the BS both localizes the user terminal and, as a by-product, establishes a communication link with it by leveraging on the "sum" reflected beam. Towards this purpose, the arising harmonic beam control problem is reformulated as a global optimization one, which is successively solved by means of an evolutionary iterative approach to determine the desired TM-EMS modulation sequence. The results from selected numerical and experimental tests are reported to assess the effectiveness and the reliability of the proposed approach.

Authors:Haokun Yu, Jingyuan Zhou, Kaidi Yang
Title: Interaction-Aware Parameter Privacy-Preserving Data Sharing in Coupled Systems via Particle Filter Reinforcement Learning
Abstract:
This paper addresses the problem of parameter privacy-preserving data sharing in coupled systems, where a data provider shares data with a data user but wants to protect its sensitive parameters. The shared data affects not only the data user's decision-making but also the data provider's operations through system interactions. To trade off control performance and privacy, we propose an interaction-aware privacy-preserving data sharing approach. Our approach generates distorted data by minimizing a combination of (i) mutual information, quantifying privacy leakage of sensitive parameters, and (ii) the impact of distorted data on the data provider's control performance, considering the interactions between stakeholders. The optimization problem is formulated into a Bellman equation and solved by a particle filter reinforcement learning (RL)-based approach. Compared to existing RL-based methods, our formulation significantly reduces history dependency and efficiently handles scenarios with continuous state space. Validated in a mixed-autonomy platoon scenario, our method effectively protects sensitive driving behavior parameters of human-driven vehicles (HDVs) against inference attacks while maintaining negligible impact on fuel efficiency.

Authors:Ioannis Tzortzis, Evagoras Makridis, Charalambos D. Charalambous, Themistoklis Charalambous
Title: Remote Estimation over Packet-Dropping Wireless Channels with Partial State Information
Abstract:
In this paper, we study the design of an optimal transmission policy for remote state estimation over packet-dropping wireless channels with imperfect channel state information. A smart sensor uses a Kalman filter to estimate the system state and transmits its information to a remote estimator. Our objective is to minimize the state estimation error and energy consumption by deciding whether to transmit new information or retransmit previously failed packets. To balance the trade-off between information freshness and reliability, the sensor applies a hybrid automatic repeat request protocol. We formulate this problem as a finite horizon partially observable Markov decision process with an augmented state-space that incorporates both the age of information and the unknown channel state. By defining an information state, we derive the dynamic programming equations for evaluating the optimal policy. This transmission policy is computed numerically using the point-based value iteration algorithm.

Authors:Lei Lv, Lei Liu, Lei Bao, Fuchun Sun, Jiahong Dong, Jianwei Zhang, Xuemei Shan, Kai Sun, Hao Huang, Yu Luo
Title: Multi-segment Soft Robot Control via Deep Koopman-based Model Predictive Control
Abstract:
Soft robots, compared to regular rigid robots, as their multiple segments with soft materials bring flexibility and compliance, have the advantages of safe interaction and dexterous operation in the environment. However, due to its characteristics of high dimensional, nonlinearity, time-varying nature, and infinite degree of freedom, it has been challenges in achieving precise and dynamic control such as trajectory tracking and position reaching. To address these challenges, we propose a framework of Deep Koopman-based Model Predictive Control (DK-MPC) for handling multi-segment soft robots. We first employ a deep learning approach with sampling data to approximate the Koopman operator, which therefore linearizes the high-dimensional nonlinear dynamics of the soft robots into a finite-dimensional linear representation. Secondly, this linearized model is utilized within a model predictive control framework to compute optimal control inputs that minimize the tracking error between the desired and actual state trajectories. The real-world experiments on the soft robot "Chordata" demonstrate that DK-MPC could achieve high-precision control, showing the potential of DK-MPC for future applications to soft robots.

Authors:Varatheepan Paramanayakam, Andreas Karatzas, Iraklis Anagnostopoulos, Dimitrios Stamoulis
Title: CarbonCall: Sustainability-Aware Function Calling for Large Language Models on Edge Devices
Abstract:
Large Language Models (LLMs) enable real-time function calling in edge AI systems but introduce significant computational overhead, leading to high power consumption and carbon emissions. Existing methods optimize for performance while neglecting sustainability, making them inefficient for energy-constrained environments. We introduce CarbonCall, a sustainability-aware function-calling framework that integrates dynamic tool selection, carbon-aware execution, and quantized LLM adaptation. CarbonCall adjusts power thresholds based on real-time carbon intensity forecasts and switches between model variants to sustain high tokens-per-second throughput under power constraints. Experiments on an NVIDIA Jetson AGX Orin show that CarbonCall reduces carbon emissions by up to 52%, power consumption by 30%, and execution time by 30%, while maintaining high efficiency.

Authors:Muzaffar Qureshi, Tochukwu Elijah Ogri, Zachary I. Bell, Wanjiku A. Makumi, Rushikesh Kamalapurkar
Title: A Taylor Series Approach to Correction of Input Errors in Gaussian Process Regression
Abstract:
Gaussian Processes (GPs) are widely recognized as powerful non-parametric models for regression and classification. Traditional GP frameworks predominantly operate under the assumption that the inputs are either accurately known or subject to zero-mean noise. However, several real-world applications such as mobile sensors have imperfect localization, leading to inputs with biased errors. These biases can typically be estimated through measurements collected over time using, for example, Kalman filters. To avoid recomputation of the entire GP model when better estimates of the inputs used in the training data become available, we introduce a technique for updating a trained GP model to incorporate updated estimates of the inputs. By leveraging the differentiability of the mean and covariance functions derived from the squared exponential kernel, a second-order correction algorithm is developed to update the trained GP models. Precomputed Jacobians and Hessians of kernels enable real-time refinement of the mean and covariance predictions. The efficacy of the developed approach is demonstrated using two simulation studies, with error analyses revealing improvements in both predictive accuracy and uncertainty quantification.

Authors:Muzaffar Qureshi, Tochukwu Elijah Ogri, Humberto Ramos, Wanjiku A. Makumi, Zachary I. Bell, Rushikesh Kamalapurkar
Title: Improved Dwell-times for Switched Nonlinear Systems using Memory Regression Extension
Abstract:
This paper presents a switched systems approach for extending the dwell-time of an autonomous agent during GPS-denied operation by leveraging memory regressor extension (MRE) techniques. To maintain accurate trajectory tracking despite unknown dynamics and environmental disturbances, the agent periodically acquires access to GPS, allowing it to correct accumulated state estimation errors. The motivation for this work arises from the limitations of existing switched system approaches, where increasing estimation errors during GPS-denied intervals and overly conservative dwell-time conditions restrict the operational efficiency of the agent. By leveraging MRE techniques during GPS-available intervals, the developed method refines the estimates of unknown system parameters, thereby enabling longer and more reliable operation in GPS-denied environments. A Lyapunov-based switched-system stability analysis establishes that improved parameter estimates obtained through concurrent learning allow extended operation in GPS-denied intervals without compromising closed-loop system stability. Simulation results validate the theoretical findings, demonstrating dwell-time extensions and enhanced trajectory tracking performance.

Authors:Irshad A. Meer, Bruno Hörmann, Mustafa Ozger, Fabien Geyer, Alberto Viseras, Dominic Schupke, Cicek Cavdar
Title: Explainable AI for UAV Mobility Management: A Deep Q-Network Approach for Handover Minimization
Abstract:
The integration of unmanned aerial vehicles (UAVs) into cellular networks presents significant mobility management challenges, primarily due to frequent handovers caused by probabilistic line-of-sight conditions with multiple ground base stations (BSs). To tackle these challenges, reinforcement learning (RL)-based methods, particularly deep Q-networks (DQN), have been employed to optimize handover decisions dynamically. However, a major drawback of these learning-based approaches is their black-box nature, which limits interpretability in the decision-making process. This paper introduces an explainable AI (XAI) framework that incorporates Shapley Additive Explanations (SHAP) to provide deeper insights into how various state parameters influence handover decisions in a DQN-based mobility management system. By quantifying the impact of key features such as reference signal received power (RSRP), reference signal received quality (RSRQ), buffer status, and UAV position, our approach enhances the interpretability and reliability of RL-based handover solutions. To validate and compare our framework, we utilize real-world network performance data collected from UAV flight trials. Simulation results show that our method provides intuitive explanations for policy decisions, effectively bridging the gap between AI-driven models and human decision-makers.

Authors:Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell, Matthew Longmire, Rushikesh Kamalapurkar
Title: Monocular inspection of spacecraft under illumination constraints and avoidance regions
Abstract:
This paper presents an adaptive control approach to information-based guidance and control of a spacecraft carrying out on-orbit inspection by actively computing optimal policies for the spacecraft to achieve the best possible representation of objects within its orbital environment. Due to the complexity of navigating the space environment, it may be impossible to carry out on-orbit servicing to maintain space systems like satellites using a spacecraft equipped with controllers that cannot adapt to changing conditions. In particular, the presence of constraints such as illumination, field-of-view (FOV), minimal fuel, the use of visual-inertial navigation for improved localization, and the need for real-time computation of control policies render the spacecraft motion planning problem challenging. The control framework developed in this paper addresses these challenges by formulating the inspection task as a constrained optimization problem where the goal is to maximize information gained from the cameras, while navigating to the next best view, subject to illumination and FOV constraints. The developed architecture is analyzed using a Lyapunov-based stability analysis and the effectiveness of the planning algorithm is verified in simulation.

Authors:Markus Amann, Malte Probst, Raphael Wenzel, Thomas H. Weisswange, Miguel Ángel Sotelo
Title: Optimal Behavior Planning for Implicit Communication using a Probabilistic Vehicle-Pedestrian Interaction Model
Abstract:
In interactions between automated vehicles (AVs) and crossing pedestrians, modeling implicit vehicle communication is crucial. In this work, we present a combined prediction and planning approach that allows to consider the influence of the planned vehicle behavior on a pedestrian and predict a pedestrian's reaction. We plan the behavior by solving two consecutive optimal control problems (OCPs) analytically, using variational calculus. We perform a validation step that assesses whether the planned vehicle behavior is adequate to trigger a certain pedestrian reaction, which accounts for the closed-loop characteristics of prediction and planning influencing each other. In this step, we model the influence of the planned vehicle behavior on the pedestrian using a probabilistic behavior acceptance model that returns an estimate for the crossing probability. The probabilistic modeling of the pedestrian reaction facilitates considering the pedestrian's costs, thereby improving cooperative behavior planning. We demonstrate the performance of the proposed approach in simulated vehicle-pedestrian interactions with varying initial settings and highlight the decision making capabilities of the planning approach.

Authors:Hossam Farag, Mohamed Ragab, Gilberto Berardinelli, Cedomir Stefanovic
Title: Proactive Radio Resource Allocation for 6G In-Factory Subnetworks
Abstract:
6G In-Factory Subnetworks (InF-S) have recently been introduced as short-range, low-power radio cells installed in robots and production modules to support the strict requirements of modern control systems. Information freshness, characterized by the Age of Information (AoI), is crucial to guarantee the stability and accuracy of the control loop in these systems. However, achieving strict AoI performance poses significant challenges considering the limited resources and the high dynamic environment of InF-S. In this work, we introduce a proactive radio resource allocation approach to minimize the AoI violation probability. The proposed approach adopts a decentralized learning framework using Bayesian Ridge Regression (BRR) to predict the future AoI by actively learning the system dynamics. Based on the predicted AoI value, radio resources are proactively allocated to minimize the probability of AoI exceeding a predefined threshold, hence enhancing the reliability and accuracy of the control loop. The conducted simulation results prove the effectiveness of our proposed approach to improve the AoI performance where a reduction of 98% is achieved in the AoI violation probability compared to relevant baseline methods.

Authors:Théo Verhelst, Giacomo Acciarini, Dario Izzo, Francesco Biscani
Title: Probability of collision in nonlinear dynamics by moment propagation
Abstract:
Estimating the probability of collision between spacecraft is crucial for risk management and collision-avoidance strategies. Current methods often rely on Gaussian assumptions and simplifications, which can be inaccurate in highly nonlinear scenarios. This paper presents a general and efficient approach for computing collision probabilities without relying on such assumptions. Using high-order multivariate Taylor polynomials, we propagate statistical moments of initial uncertainties to the point of closest approach between the spacecraft. To compute the probability of collision, we derive a semi-analytical expression for the probability density function (PDF) of the closest approach distance, inferred from the propagated moments using orthogonal polynomials. Tested on various short-term and long-term encounters in low-Earth orbit, our method accurately handles nonlinear dynamics, non-Gaussian uncertainties, and irregular distributions. This versatile framework advances space situational awareness by providing precise collision probability estimates in complex dynamical environments. Moreover, our methodology applies to any dynamical system with uncertainty in its initial state and is therefore not restricted to collision probability estimation.

Authors:Xinyi Wei, Shuo Han, Ahmed H. Hemida, Charles A. Kamhoua, Jie Fu
Title: Strategic Planning of Stealthy Backdoor Attacks in Markov Decision Processes
Abstract:
This paper investigates backdoor attack planning in stochastic control systems modeled as Markov Decision Processes (MDPs). In a backdoor attack, the adversary provides a control policy that behaves well in the original MDP to pass the testing phase. However, when such a policy is deployed with a trigger policy, which perturbs the system dynamics at runtime, it optimizes the attacker's objective instead. To solve jointly the control policy and its trigger, we formulate the attack planning problem as a constrained optimal planning problem in an MDP with augmented state space, with the objective to maximize the attacker's total rewards in the system with an activated trigger, subject to the constraint that the control policy is near optimal in the original MDP. We then introduce a gradient-based optimization method to solve the optimal backdoor attack policy as a pair of coordinated control and trigger policies. Experimental results from a case study validate the effectiveness of our approach in achieving stealthy backdoor attacks.

Authors:Evagoras Makridis, Gabriele Oliva, Kasagatta Ramesh Narahari, Mohammadreza Doostmohammadian, Usman A. Khan, Themistoklis Charalambous
Title: Distributed Optimization with Gradient Tracking over Heterogeneous Delay-Prone Directed Networks
Abstract:
In this paper, we address the distributed optimization problem over unidirectional networks with possibly time-invariant heterogeneous bounded transmission delays. In particular, we propose a modified version of the Accelerated Distributed Directed OPTimization (ADD-OPT) algorithm, herein called Robustified ADD-OPT (R-ADD-OPT), which is able to solve the distributed optimization problem, even when the communication links suffer from heterogeneous but bounded transmission delays. We show that if the gradient step-size of the R-ADD-OPT algorithm is within a certain range, which also depends on the maximum time delay in the network, then the nodes are guaranteed to converge to the optimal solution of the distributed optimization problem. The range of the gradient step-size that guarantees convergence can be computed a priori based on the maximum time delay in the network.

Authors:Evagoras Makridis, Themistoklis Charalambous
Title: A Linear Push-Pull Average Consensus Algorithm for Delay-Prone Networks
Abstract:
In this paper, we address the average consensus problem of multi-agent systems for possibly unbalanced and delay-prone networks with directional information flow. We propose a linear distributed algorithm (referred to as RPPAC) that handles asynchronous updates and time-varying heterogeneous information delays. Our proposed distributed algorithm utilizes a surplus-consensus mechanism and information regarding the number of incoming and outgoing links to guarantee state averaging, despite the imbalanced and delayed information flow in directional networks. The convergence of the RPPAC algorithm is examined using key properties of the backward product of time-varying matrices that correspond to different snapshots of the directional augmented network.

Authors:Neofytos Charalampous, Evagoras Makridis, Apostolos I. Rikos, Themistoklis Charalambous
Title: HARQ-based Quantized Average Consensus over Unreliable Directed Network Topologies
Abstract:
In this paper, we propose a distributed algorithm (herein called HARQ-QAC) that enables nodes to calculate the average of their initial states by exchanging quantized messages over a directed communication network. In our setting, we assume that our communication network consists of unreliable communication links (i.e., links suffering from packet drops). For countering link unreliability our algorithm leverages narrowband error-free feedback channels for acknowledging whether a packet transmission between nodes was successful. Additionally, we show that the feedback channels play a crucial role in enabling our algorithm to exhibit finite-time convergence. We analyze our algorithm and demonstrate its operation via an example, where we illustrate its operational advantages. Finally, simulations corroborate that our proposed algorithm converges to the average of the initial quantized values in a finite number of steps, despite the packet losses. This is the first quantized consensus algorithm in the literature that can handle packet losses and converge to the average. Additionally, the use of the retransmission mechanism allows for accelerating the convergence.

Authors:Minghao Han, Xunyuan Yin
Title: Deep Neural Koopman Operator-based Economic Model Predictive Control of Shipboard Carbon Capture System
Abstract:
Shipboard carbon capture is a promising solution to help reduce carbon emissions in international shipping. In this work, we propose a data-driven dynamic modeling and economic predictive control approach within the Koopman framework. This integrated modeling and control approach is used to achieve safe and energy-efficient process operation of shipboard post-combustion carbon capture plants. Specifically, we propose a deep neural Koopman operator modeling approach, based on which a Koopman model with time-varying model parameters is established. This Koopman model predicts the overall economic operational cost and key system outputs, based on accessible partial state measurements. By leveraging this learned model, a constrained economic predictive control scheme is developed. Despite time-varying parameters involved in the formulated model, the formulated optimization problem associated with the economic predictive control design is convex, and it can be solved efficiently during online control implementations. Extensive tests are conducted on a high-fidelity simulation environment for shipboard post-combustion carbon capture processes. Four ship operational conditions are taken into account. The results show that the proposed method significantly improves the overall economic operational performance and carbon capture rate. Additionally, the proposed method guarantees safe operation by ensuring that hard constraints on the system outputs are satisfied.

Authors:Viet-Anh Le, Andreas A. Malikopoulos
Title: Distributed Mixed-Integer Quadratic Programming for Mixed-Traffic Intersection Control
Abstract:
In this paper, we present a distributed algorithm utilizing the proximal alternating direction method of multipliers (ADMM) in conjunction with sequential constraint tightening to address mixed-integer quadratic programming (MIQP) problems associated with traffic light systems and connected automated vehicles (CAVs) in mixed-traffic intersections. We formulate a comprehensive MIQP model aimed at optimizing the coordination of traffic light systems and CAVs, thereby fully capitalizing on the advantages of CAV integration under conditions of high penetration rates. To effectively approximate the intricate multi-agent MIQP challenges, we develop a distributed algorithm that employs proximal ADMM for solving the convex relaxation of the MIQP while systematically tightening the constraint coefficients to uphold integrality requirements. The performance of our control framework and the efficacy of the distributed algorithm are rigorously validated through a series of simulations conducted across varying penetration rates and traffic volumes.

Authors:Arshiya Taj Abdul, Augustinos D. Saravanos, Evangelos A. Theodorou
Title: Nonlinear Robust Optimization for Planning and Control
Abstract:
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with respect to all possible realizations of the disturbances within prescribed uncertainty sets. To address this problem, we introduce a bi-level optimization algorithm. The outer level employs a trust-region successive convexification approach which relies on linearizing the nonlinear dynamics and robust constraints. The inner level involves solving the resulting linearized robust optimization problems, for which we derive tractable convex reformulations and present an Augmented Lagrangian method for efficiently solving them. To further enhance the robustness of our methodology on nonlinear systems, we also illustrate that potential linearization errors can be effectively modeled as unknown disturbances as well. Simulation results verify the applicability of our approach in controlling nonlinear systems in a robust manner under unknown disturbances. The promise of effectively handling approximation errors in such successive linearization schemes from a robust optimization perspective is also highlighted.

Authors:Avijit Saha Asru, Hamed Khosravi, Imtiaz Ahmed, Abdullahil Azeem
Title: From Automation to Autonomy in Smart Manufacturing: A Bayesian Optimization Framework for Modeling Multi-Objective Experimentation and Sequential Decision Making
Abstract:
Discovering novel materials with desired properties is essential for driving innovation. Industry 4.0 and smart manufacturing have promised transformative advances in this area through real-time data integration and automated production planning and control. However, the reliance on automation alone has often fallen short, lacking the flexibility needed for complex processes. To fully unlock the potential of smart manufacturing, we must evolve from automation to autonomous systems that go beyond rigid programming and can dynamically optimize the search for solutions. Current discovery approaches are often slow, requiring numerous trials to find optimal combinations, and costly, particularly when optimizing multiple properties simultaneously. This paper proposes a Bayesian multi-objective sequential decision-making (BMSDM) framework that can intelligently select experiments as manufacturing progresses, guiding us toward the discovery of optimal design faster and more efficiently. The framework leverages sequential learning through Bayesian Optimization, which iteratively refines a statistical model representing the underlying manufacturing process. This statistical model acts as a surrogate, allowing for efficient exploration and optimization without requiring numerous real-world experiments. This approach can significantly reduce the time and cost of data collection required by traditional experimental designs. The proposed framework is compared with traditional DoE methods and two other multi-objective optimization methods. Using a manufacturing dataset, we evaluate and compare the performance of these approaches across five evaluation metrics. BMSDM comprehensively outperforms the competing methods in multi-objective decision-making scenarios. Our proposed approach represents a significant leap forward in creating an intelligent autonomous platform capable of novel material discovery.

Authors:Mouaad Boughellaba, Soulaimane Berkane, Abdelhamid Tayebi
Title: Nonlinear Observer Design for Landmark-Inertial Simultaneous Localization and Mapping
Abstract:
This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for rigid body systems in three-dimensional space. We introduce a new matrix Lie group SE_{3+n}(3), whose elements are composed of the pose, gravity, linear velocity and landmark positions, and propose an almost globally asymptotically stable nonlinear geometric observer that integrates Inertial Measurement Unit (IMU) data with landmark measurements. The proposed observer estimates the pose and map up to a constant position and a constant rotation about the gravity direction. Numerical simulations are provided to validate the performance and effectiveness of the proposed observer, demonstrating its potential for robust SLAM applications.

Authors:Jason J. Choi, Christopher A. Strong, Koushil Sreenath, Namhoon Cho, Claire J. Tomlin
Title: Data-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data
Abstract:
In continuous-time optimal control, evaluating the Hamiltonian requires solving a constrained optimization problem using the system's dynamics model. Hamilton-Jacobi reachability analysis for safety verification has demonstrated practical utility only when efficient evaluation of the Hamiltonian over a large state-time grid is possible. In this study, we introduce the concept of a data-driven Hamiltonian (DDH), which circumvents the need for an explicit dynamics model by relying only on mild prior knowledge (e.g., Lipschitz constants), thus enabling the construction of reachable sets directly from trajectory data. Recognizing that the Hamiltonian is the optimal inner product between a given costate and realizable state velocities, the DDH estimates the Hamiltonian using the worst-case realization of the velocity field based on the observed state trajectory data. This formulation ensures a conservative approximation of the true Hamiltonian for uncertain dynamics. The reachable set computed based on the DDH is also ensured to be a conservative approximation of the true reachable set. Next, we propose a data-efficient safe experiment framework for gradual expansion of safe sets using the DDH. This is achieved by iteratively conducting experiments within the computed data-driven safe set and updating the set using newly collected trajectory data. To demonstrate the capabilities of our approach, we showcase its effectiveness in safe flight envelope expansion for a tiltrotor vehicle transitioning from near-hover to forward flight.

Authors:Yang Li, Shitu Zhang, Yuanzheng Li
Title: AI-Enhanced Resilience in Power Systems: Adversarial Deep Learning for Robust Short-Term Voltage Stability Assessment under Cyber-Attacks
Abstract:
In the era of Industry 4.0, ensuring the resilience of cyber-physical systems against sophisticated cyber threats is increasingly critical. This study proposes a pioneering AI-based control framework that enhances short-term voltage stability assessments (STVSA) in power systems under complex composite cyber-attacks. First, by incorporating white-box and black-box adversarial attacks with Denial-of-Service (DoS) perturbations during training, composite adversarial attacks are implemented. Second, the application of Spectral Normalized Conditional Wasserstein Generative Adversarial Network with Gradient Penalty (SNCWGAN-GP) and Fast Gradient Sign Method (FGSM) strengthens the model's resistance to adversarial disturbances, improving data quality and training stability. Third, an assessment model based on Long Short-Term Memory (LSTM)-enhanced Graph Attention Network (L-GAT) is developed to capture dynamic relationships between the post-fault dynamic trajectories and electrical grid topology. Experimental results on the IEEE 39-bus test system demonstrate the efficacy and superiority of the proposed method in composite cyber-attack scenarios. This contribution is pivotal to advancing AI-based resilient control strategies for nonlinear dynamical systems, marking a substantial enhancement in the security of cyber-physical systems.

Authors:Janani Venkatasubramanian, Johannes Köhler, Frank Allgöwer
Title: Beyond Asymptotics: Targeted exploration with finite-sample guarantees
Abstract:
In this paper, we introduce a targeted exploration strategy for the non-asymptotic, finite-time case. The proposed strategy is applicable to uncertain linear time-invariant systems subject to sub-Gaussian disturbances. As the main result, the proposed approach provides a priori guarantees, ensuring that the optimized exploration inputs achieve a desired accuracy of the model parameters. The technical derivation of the strategy (i) leverages existing non-asymptotic identification bounds with self-normalized martingales, (ii) utilizes spectral lines to predict the effect of sinusoidal excitation, and (iii) effectively accounts for spectral transient error and parametric uncertainty. A numerical example illustrates how the finite exploration time influence the required exploration energy.

Authors:Abhigyan Majumdar, Navid Mojahed, Shima Nazari
Title: Inverted Gaussian Process Optimization for Nonparametric Koopman Operator Discovery
Abstract:
The Koopman Operator Theory opens the door for application of rich linear systems theory for computationally efficient modeling and optimal control of nonlinear systems by providing a globally linear representation for complex nonlinear systems. However, methodologies for Koopman Operator discovery struggle with the dependency on the set of selected observable functions and meaningful uncertainty quantification. The primary objective of this work is to leverage Gaussian process regression (GPR) to develop a probabilistic Koopman linear model while removing the need for heuristic observable specification. In this work, we present inverted Gaussian process optimization based Koopman Operator learning (iGPK), an automatic differentiation-based approach to simultaneously learn the observable-operator combination. We show that the proposed iGPK method is robust to observation noise in the training data, while also providing good uncertainty quantification, such that the predicted distribution consistently encapsulates the ground truth, even for noisy training data.

Authors:Hansung Kim, Eric Yongkeun Choi, Eunhyek Joa, Hotae Lee, Linda Lim, Scott Moura, Francesco Borrelli
Title: Energy-Aware Lane Planning for Connected Electric Vehicles in Urban Traffic: Design and Vehicle-in-the-Loop Validation
Abstract:
Urban driving with connected and automated vehicles (CAVs) offers potential for energy savings, yet most eco-driving strategies focus solely on longitudinal speed control within a single lane. This neglects the significant impact of lateral decisions, such as lane changes, on overall energy efficiency, especially in environments with traffic signals and heterogeneous traffic flow. To address this gap, we propose a novel energy-aware motion planning framework that jointly optimizes longitudinal speed and lateral lane-change decisions using vehicle-to-infrastructure (V2I) communication. Our approach estimates long-term energy costs using a graph-based approximation and solves short-horizon optimal control problems under traffic constraints. Using a data-driven energy model calibrated to an actual battery electric vehicle, we demonstrate with vehicle-in-the-loop experiments that our method reduces motion energy consumption by up to 24 percent compared to a human driver, highlighting the potential of connectivity-enabled planning for sustainable urban autonomy.

Authors:Mouaad Boughellaba, Soulaimane Berkane, Abdelhamid Tayebi
Title: Attitude Synchronization for Multi-Agent Systems on SO(3) Using Vector Measurements
Abstract:
In this paper, we address the problem of leaderless attitude synchronization for a group of rigid body systems evolving on SO(3), relying on local measurements of some inertial (unit-length) vectors. The interaction graph among agents is assumed to be undirected, acyclic, and connected. We first present a distributed attitude synchronization scheme designed at the kinematic level of SO(3), followed by an extended scheme designed at the dynamic level. Both schemes are supported by a rigorous stability analysis, which establishes their almost global asymptotic stability properties. Finally, numerical simulations demonstrate the effectiveness of both distributed attitude synchronization schemes.

Authors:Viet-Anh Le, Panagiotis Kounatidis, Andreas A. Malikopoulos
Title: Combining Graph Attention Networks and Distributed Optimization for Multi-Robot Mixed-Integer Convex Programming
Abstract:
In this paper, we develop a fast mixed-integer convex programming (MICP) framework for multi-robot navigation by combining graph attention networks and distributed optimization. We formulate a mixed-integer optimization problem for receding horizon motion planning of a multi-robot system, taking into account the surrounding obstacles. To address the resulting multi-agent MICP problem in real time, we propose a framework that utilizes heterogeneous graph attention networks to learn the latent mapping from problem parameters to optimal binary solutions. Furthermore, we apply a distributed proximal alternating direction method of multipliers algorithm for solving the convex continuous optimization problem. We demonstrate the effectiveness of our proposed framework through experiments conducted on a robotic testbed.

Authors:Alexandre Didier, Melanie N. Zeilinger
Title: A multiobjective approach to robust predictive control barrier functions for discrete-time systems
Abstract:
We present an optimisation-based approach to ensure robust asymptotic stability stability of a desired set in the state space of nonlinear dynamical systems, while optimising a general control objective. The approach relies on the decrease of a robust predictive control barrier function (PCBF), which is defined as the optimal value function of a slack minimisation problem with respect to the target set. We show continuity of the proposed robust PCBF, allowing the introduction of a decrease constraint in the control objective minimisation. The PCBF decrease is given with respect to a warmstart value based on a feasible solution at the prior time step. Thereby, the control objective can be optimised while ensuring robust asymptotic stability of the target set. We demonstrate the effectiveness of the proposed formulation on a linear space rendezvous and nonlinear lane changing problem.

Authors:Mahdis Rabbani, Navid Mojahed, Shima Nazari
Title: Optimal Modified Feedback Strategies in LQ Games under Control Imperfections
Abstract:
Game-theoretic approaches and Nash equilibrium have been widely applied across various engineering domains. However, practical challenges such as disturbances, delays, and actuator limitations can hinder the precise execution of Nash equilibrium strategies. This work explores the impact of such implementation imperfections on game trajectories and players' costs within the context of a two-player linear quadratic (LQ) nonzero-sum game. Specifically, we analyze how small deviations by one player affect the state and cost function of the other player. To address these deviations, we propose an adjusted control policy that not only mitigates adverse effects optimally but can also exploit the deviations to enhance performance. Rigorous mathematical analysis and proofs are presented, demonstrating through a representative example that the proposed policy modification achieves up to $61\%$ improvement compared to the unadjusted feedback policy and up to $0.59\%$ compared to the feedback Nash strategy.

Authors:Max Langtry, Ruchi Choudhary
Title: The value of hedging against energy storage uncertainties when designing energy parks
Abstract:
Energy storage is needed to match renewable generation to industrial loads in energy parks. However, the future performance of bulk storage technologies is currently highly uncertain. Due to the urgency of decarbonization targets, energy park projects must be designed and begun now. But, as uncertainty in storage performance reduces, a different technology than identified during initial design may turn out cheaper. Enabling flexibility so that design adaptations can be made as better information becomes available would lower the cost of decarbonizing industry. But having this flexibility is itself costly. This raises the question, "Is it worth it?" This study quantifies the benefit of retaining flexibility to adapt energy park designs and optionality over storage technology choice as uncertainty reduces, to determine whether it is economically worthwhile. It applies the Value of Information analysis framework to the sizing of wind, solar, and storage in an illustrative energy park model based on a real-world proposal near Rotterdam, considering uncertainty in storage efficiency, lifetime, and capital cost. Updating asset sizings after storage uncertainty reduced is found to reduce total costs by 18% on average. Having the option to switch storage technology choice as well reduces costs by a further 13%, which is substantially greater than the cost of providing storage optionality. Using two storage technologies in the energy park reduces costs by 14%, and in this case storage optionality is not worthwhile. These results are robust to the level of uncertainty reduction in storage performance, and the risk aversion of the system designer.

Authors:Yuhao Zhang, Keisuke Okumura, Heedo Woo, Ajay Shankar, Amanda Prorok
Title: D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations
Abstract:
This work presents an optimization method for generating kinodynamically feasible and collision-free multi-robot trajectories that exploits an incremental denoising scheme in diffusion models. Our key insight is that high-quality trajectories can be discovered merely by denoising noisy trajectories sampled from a distribution. This approach has no learning component, relying instead on only two ingredients: a dynamical model of the robots to obtain feasible trajectories via rollout, and a fitness function to guide denoising with Monte Carlo gradient approximation. The proposed framework iteratively optimizes a deformation for the previous trajectory with the current denoising process, allows anytime refinement as time permits, supports different dynamics, and benefits from GPU acceleration. Our evaluations for differential-drive and holonomic teams with up to 16 robots in 2D and 3D worlds show its ability to discover high-quality solutions faster than other black-box optimization methods such as MPPI. In a 2D holonomic case with 16 robots, it is almost twice as fast. As evidence for feasibility, we demonstrate zero-shot deployment of the planned trajectories on eight multirotors.

Authors:Joohwan Seo, Soochul Yoo, Junwoo Chang, Hyunseok An, Hyunwoo Ryu, Soomi Lee, Arvind Kruthiventy, Jongeun Choi, Roberto Horowitz
Title: SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey
Abstract:
Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-based multimodal perception and decision-making. However, conventional deep learning and Transformer models often struggle to process data with inherent symmetries and invariances, typically relying on large datasets or extensive data augmentation. Equivariant neural networks overcome these limitations by explicitly integrating symmetry and invariance into their architectures, leading to improved efficiency and generalization. This tutorial survey reviews a wide range of equivariant deep learning and control methods for robotics, from classic to state-of-the-art, with a focus on SE(3)-equivariant models that leverage the natural 3D rotational and translational symmetries in visual robotic manipulation and control design. Using unified mathematical notation, we begin by reviewing key concepts from group theory, along with matrix Lie groups and Lie algebras. We then introduce foundational group-equivariant neural network design and show how the group-equivariance can be obtained through their structure. Next, we discuss the applications of SE(3)-equivariant neural networks in robotics in terms of imitation learning and reinforcement learning. The SE(3)-equivariant control design is also reviewed from the perspective of geometric control. Finally, we highlight the challenges and future directions of equivariant methods in developing more robust, sample-efficient, and multi-modal real-world robotic systems.

Authors:Xu Han, Zhiwen Wu, Xin Xia, Jiaqi Ma
Title: Traffic Regulation-aware Path Planning with Regulation Databases and Vision-Language Models
Abstract:
This paper introduces and tests a framework integrating traffic regulation compliance into automated driving systems (ADS). The framework enables ADS to follow traffic laws and make informed decisions based on the driving environment. Using RGB camera inputs and a vision-language model (VLM), the system generates descriptive text to support a regulation-aware decision-making process, ensuring legal and safe driving practices. This information is combined with a machine-readable ADS regulation database to guide future driving plans within legal constraints. Key features include: 1) a regulation database supporting ADS decision-making, 2) an automated process using sensor input for regulation-aware path planning, and 3) validation in both simulated and real-world environments. Particularly, the real-world vehicle tests not only assess the framework's performance but also evaluate the potential and challenges of VLMs to solve complex driving problems by integrating detection, reasoning, and planning. This work enhances the legality, safety, and public trust in ADS, representing a significant step forward in the field.

Authors:Kawon Han, Kaitao Meng, Christos Masouros
Title: Over-the-Air Time-Frequency Synchronization in Distributed ISAC Systems
Abstract:
A distributed integrated sensing and communication (D-ISAC) system offers significant cooperative gains for both sensing and communication performance. These gains, however, can only be fully realized when the distributed nodes are perfectly synchronized, which is a challenge that remains largely unaddressed in current ISAC research. In this paper, we propose an over-the-air time-frequency synchronization framework for the D-ISAC system, leveraging the reciprocity of bistatic sensing channels. This approach overcomes the impractical dependency of traditional methods on a direct line-of-sight (LoS) link, enabling the estimation of time offset (TO) and carrier frequency offset (CFO) between two ISAC nodes even in non-LoS (NLOS) scenarios. To achieve this, we introduce a bistatic signal matching (BSM) technique with delay-Doppler decoupling, which exploits offset reciprocity (OR) in bistatic observations. This method compresses multiple sensing links into a single offset for estimation. We further present off-grid super-resolution estimators for TO and CFO, including the maximum likelihood estimator (MLE) and the matrix pencil (MP) method, combined with BSM processing. These estimators provide accurate offset estimation compared to spectral cross-correlation techniques. Also, we extend the pairwise synchronization leveraging OR between two nodes to the synchronization of $N$ multiple distributed nodes, referred to as centralized pairwise synchronization. We analyze the Cramer-Rao bounds (CRBs) for TO and CFO estimates and evaluate the impact of D-ISAC synchronization on the bottom-line target localization performance. Simulation results validate the effectiveness of the proposed algorithm, confirm the theoretical analysis, and demonstrate that the proposed synchronization approach can recover up to 96% of the bottom-line target localization performance of the fully-synchronous D-ISAC.

Authors:Jamie Gardner, Ben Wooding, Amy Nejati, Abolfazl Lavaei
Title: TRUST: Stability and Safety Controller Synthesis for Unknown Dynamical Models Using a Single Trajectory
Abstract:
TRUST is an open-source software tool developed for data-driven controller synthesis of dynamical systems with unknown mathematical models, ensuring either stability or safety properties. By collecting only a single input-state trajectory from the unknown system and satisfying a rank condition that ensures the system is persistently excited according to the Willems et al.'s fundamental lemma, TRUST aims to design either control Lyapunov functions (CLF) or control barrier certificates (CBC), along with their corresponding stability or safety controllers. The tool implements sum-of-squares (SOS) optimization programs solely based on data to enforce stability or safety properties across four system classes: (i) continuous-time nonlinear polynomial systems, (ii) continuous-time linear systems, (iii) discrete-time nonlinear polynomial systems, and (iv) discrete-time linear systems. TRUST is a Python-based web application featuring an intuitive, reactive graphic user interface (GUI) built with web technologies. It can be accessed at https://trust.tgo.dev or installed locally, and supports both manual data entry and data file uploads. Leveraging the power of the Python backend and a JavaScript frontend, TRUST is designed to be highly user-friendly and accessible across desktop, laptop, tablet, and mobile devices. We apply TRUST to a set of physical benchmarks with unknown dynamics, ensuring either stability or safety properties across the four supported classes of models.

Authors:Kehan Long, Ki Myung Brian Lee, Nikola Raicevic, Niyas Attasseri, Melvin Leok, Nikolay Atanasov
Title: Neural Configuration-Space Barriers for Manipulation Planning and Control
Abstract:
Planning and control for high-dimensional robot manipulators in cluttered, dynamic environments require both computational efficiency and robust safety guarantees. Inspired by recent advances in learning configuration-space distance functions (CDFs) as robot body representations, we propose a unified framework for motion planning and control that formulates safety constraints as CDF barriers. A CDF barrier approximates the local free configuration space, substantially reducing the number of collision-checking operations during motion planning. However, learning a CDF barrier with a neural network and relying on online sensor observations introduce uncertainties that must be considered during control synthesis. To address this, we develop a distributionally robust CDF barrier formulation for control that explicitly accounts for modeling errors and sensor noise without assuming a known underlying distribution. Simulations and hardware experiments on a 6-DoF xArm manipulator show that our neural CDF barrier formulation enables efficient planning and robust real-time safe control in cluttered and dynamic environments, relying only on onboard point-cloud observations.

Authors:Chiara Gabellieri, Lars Teeuwen, Yaolei Shen, Antonio Franchi
Title: Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs
Abstract:
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected through lumped-mass passive spherical joints. Sets of flat outputs are found for the systems. Numerical simulations support the findings by showing cable manipulation relying on flatness-based trajectories. Eventually, we present an experimental validation of the effectiveness of the proposed discretized cable model for a two-robot example. Moreover, a closed-loop controller based on the identified model and using cable-output feedback is experimentally tested.

Authors:Chiara Gabellieri, Antonio Franchi
Title: Coordinated Trajectories for Non-stop Flying Carriers Holding a Cable-Suspended Load
Abstract:
Multirotor UAVs have been typically considered for aerial manipulation, but their scarce endurance prevents long-lasting manipulation tasks. This work demonstrates that the non-stop flights of three or more carriers are compatible with holding a constant pose of a cable-suspended load, thus potentially enabling aerial manipulation with energy-efficient non-stop carriers. It also presents an algorithm for generating the coordinated non-stop trajectories. The proposed method builds upon two pillars: (1)~the choice of $n$ special linearly independent directions of internal forces within the $3n-6$-dimensional nullspace of the grasp matrix of the load, chosen as the edges of a Hamiltonian cycle on the graph that connects the cable attachment points on the load. Adjacent pairs of directions are used to generate $n$ forces evolving on distinct 2D affine subspaces, despite the attachment points being generically in 3D; (2)~the construction of elliptical trajectories within these subspaces by mapping, through appropriate graph coloring, each edge of the Hamiltonian cycle to a periodic coordinate while ensuring that no adjacent coordinates exhibit simultaneous zero derivatives. Combined with conditions for load statics and attachment point positions, these choices ensure that each of the $n$ force trajectories projects onto the corresponding cable constraint sphere with non-zero tangential velocity, enabling perpetual motion of the carriers while the load is still. The theoretical findings are validated through simulations and laboratory experiments with non-stopping multirotor UAVs.

Authors:Muzaffar Qureshi, Tochukwu Elijah Ogri, Humberto Ramos, Zachary I. Bell, Rushikesh Kamalapurkar
Title: Gaussian Process-Based Scalar Field Estimation in GPS-Denied Environments
Abstract:
This paper presents a methodology for an autonomous agent to map an unknown scalar field in GPS-denied regions. To reduce localization errors, the agent alternates between GPS-enabled and GPS-denied areas while collecting measurements. User-defined error bounds determine the dwell time in each region. A switching trajectory is then designed to ensure field measurements in GPS-denied regions remain within the specified error limits. A Lyapunov-based stability analysis guarantees bounded error trajectories while tracking the desired path. The effectiveness of the proposed methodology is demonstrated through simulations, with an error analysis comparing the GP-predicted scalar field model to the actual field.

Authors:Mehdi Rasti, Elaheh Ataeebojd, Shiva Kazemi Taskooh, Mehdi Monemi, Siavash Razmi, Matti Latva-aho
Title: Highly Dynamic and Flexible Spatio-Temporal Spectrum Management with AI-Driven O-RAN: A Multi-Granularity Marketplace Framework
Abstract:
Current spectrum-sharing frameworks struggle with adaptability, often being either static or insufficiently dynamic. They primarily emphasize temporal sharing while overlooking spatial and spectral dimensions. We propose an adaptive, AI-driven spectrum-sharing framework within the O-RAN architecture, integrating discriminative and generative AI (GenAI) to forecast spectrum needs across multiple timescales and spatial granularities. A marketplace model, managed by an authorized spectrum broker, enables operators to trade spectrum dynamically, balancing static assignments with real-time trading. GenAI enhances traffic prediction, spectrum estimation, and allocation, optimizing utilization while reducing costs. This modular, flexible approach fosters operator collaboration, maximizing efficiency and revenue. A key research challenge is refining allocation granularity and spatio-temporal dynamics beyond existing models.

Authors:Michael Tang, Miroslav Krstic, Jorge Poveda
Title: Stochastic Real-Time Deception in Nash Equilibrium Seeking for Games with Quadratic Payoffs
Abstract:
In multi-agent autonomous systems, deception is a fundamental concept which characterizes the exploitation of unbalanced information to mislead victims into choosing oblivious actions. This effectively alters the system's long term behavior, leading to outcomes that may be beneficial to the deceiver but detrimental to victim. We study this phenomenon for a class of model-free Nash equilibrium seeking (NES) where players implement independent stochastic exploration signals to learn the pseudogradient flow. In particular, we show that deceptive players who obtain real-time measurements of other players' stochastic perturbation can incorporate this information into their own NES action update, consequentially steering the overall dynamics to a new operating point that could potentially improve the payoffs of the deceptive players. We consider games with quadratic payoff functions, as this restriction allows us to derive a more explicit formulation of the capabilities of the deceptive players. By leveraging results on multi-input stochastic averaging for dynamical systems, we establish local exponential (in probability) convergence for the proposed deceptive NES dynamics. To illustrate our results, we apply them to a two player quadratic game.

Authors:Feng-Yi Liao, Yang Zheng
Title: A Bundle-based Augmented Lagrangian Framework: Algorithm, Convergence, and Primal-dual Principles
Abstract:
We propose a new bundle-based augmented Lagrangian framework for solving constrained convex problems. Unlike the classical (inexact) augmented Lagrangian method (ALM) that has a nested double-loop structure, our framework features a $\textit{single-loop}$ process. Motivated by the proximal bundle method (PBM), we use a $\textit{bundle}$ of past iterates to approximate the subproblem in ALM to get a computationally efficient update at each iteration. We establish sub-linear convergences for primal feasibility, primal cost values, and dual iterates under mild assumptions. With further regularity conditions, such as quadratic growth, our algorithm enjoys $\textit{linear}$ convergences. Importantly, this linear convergence can happen for a class of conic optimization problems, including semidefinite programs. Our proof techniques leverage deep connections with inexact ALM and primal-dual principles with PBM.

Authors:Xinyi Wei, Chongyang Shi, Shuo Han, Ahmed H. Hemida, Charles A. Kamhoua, Jie Fu
Title: Active Inference through Incentive Design in Markov Decision Processes
Abstract:
We present a method for active inference with partial observations in stochastic systems through incentive design, also known as the leader-follower game. Consider a leader agent who aims to infer a follower agent's type given a finite set of possible types. Different types of followers differ in either the dynamical model, the reward function, or both. We assume the leader can partially observe a follower's behavior in the stochastic system modeled as a Markov decision process, in which the follower takes an optimal policy to maximize a total reward. To improve inference accuracy and efficiency, the leader can offer side payments (incentives) to the followers such that different types of them, under the incentive design, can exhibit diverging behaviors that facilitate the leader's inference task. We show the problem of active inference through incentive design can be formulated as a special class of leader-follower games, where the leader's objective is to balance the information gain and cost of incentive design. The information gain is measured by the entropy of the estimated follower's type given partial observations. Furthermore, we demonstrate that this problem can be solved by reducing a single-level optimization through softmax temporal consistency between followers' policies and value functions. This reduction allows us to develop an efficient gradient-based algorithm. We utilize observable operators in the hidden Markov model (HMM) to compute the necessary gradients and demonstrate the effectiveness of our approach through experiments in stochastic grid world environments.

Authors:Xuewen Zhang, Kuniadi Wandy Huang, Dat-Nguyen Vo, Minghao Han, Benjamin Decardi-Nelson, Xunyuan Yin
Title: Machine learning-based hybrid dynamic modeling and economic predictive control of carbon capture process for ship decarbonization
Abstract:
Implementing carbon capture technology on-board ships holds promise as a solution to facilitate the reduction of carbon intensity in international shipping, as mandated by the International Maritime Organization. In this work, we address the energy-efficient operation of shipboard carbon capture processes by proposing a hybrid modeling-based economic predictive control scheme. Specifically, we consider a comprehensive shipboard carbon capture process that encompasses the ship engine system and the shipboard post-combustion carbon capture plant. To accurately and robustly characterize the dynamic behaviors of this shipboard plant, we develop a hybrid dynamic process model that integrates available imperfect physical knowledge with neural networks trained using process operation data. An economic model predictive control approach is proposed based on the hybrid model to ensure carbon capture efficiency while minimizing energy consumption required for the carbon capture process operation. The cross-entropy method is employed to efficiently solve the complex non-convex optimization problem associated with the proposed hybrid model-based economic model predictive control method. Extensive simulations, analyses, and comparisons are conducted to verify the effectiveness and illustrate the superiority of the proposed framework.

Authors:Seunghyun Lee, I Made Aswin Nahrendra, Dongkyu Lee, Byeongho Yu, Minho Oh, Hyun Myung
Title: DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains
Abstract:
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or traversing through rough terrains leading to locomotion failures. Although several studies have proposed fault-tolerant control methods for quadrupedal robots, there are still challenges in traversing unstructured terrains. In this paper, we propose DreamFLEX, a robust fault-tolerant locomotion controller that enables a quadrupedal robot to traverse complex environments even under joint failure conditions. DreamFLEX integrates an explicit failure estimation and modulation network that jointly estimates the robot's joint fault vector and utilizes this information to adapt the locomotion pattern to faulty conditions in real-time, enabling quadrupedal robots to maintain stability and performance in rough terrains. Experimental results demonstrate that DreamFLEX outperforms existing methods in both simulation and real-world scenarios, effectively managing hardware failures while maintaining robust locomotion performance.

Authors:Anna Scampicchio, Elena Arcari, Amon Lahr, Melanie N. Zeilinger
Title: Gaussian processes for dynamics learning in model predictive control
Abstract:
Due to its state-of-the-art estimation performance complemented by rigorous and non-conservative uncertainty bounds, Gaussian process regression is a popular tool for enhancing dynamical system models and coping with their inaccuracies. This has enabled a plethora of successful implementations of Gaussian process-based model predictive control in a variety of applications over the last years. However, despite its evident practical effectiveness, there are still many open questions when attempting to analyze the associated optimal control problem theoretically and to exploit the full potential of Gaussian process regression in view of safe learning-based control. The contribution of this review is twofold. The first is to survey the available literature on the topic, highlighting the major theoretical challenges such as (i) addressing scalability issues of Gaussian process regression; (ii) taking into account the necessary approximations to obtain a tractable MPC formulation; (iii) including online model updates to refine the dynamics description, exploiting data collected during operation. The second is to provide an extensive discussion of future research directions, collecting results on uncertainty quantification that are related to (but yet unexploited in) optimal control, among others. Ultimately, this paper provides a toolkit to study and advance Gaussian process-based model predictive control.

Authors:Enrico M. Zucchelli, Di Wu, Julia Briden, Christian Hofmann, Victor Rodriguez-Fernandez, Richard Linares
Title: Fine-Tuned Language Models as Space Systems Controllers
Abstract:
Large language models (LLMs), or foundation models (FMs), are pretrained transformers that coherently complete sentences auto-regressively. In this paper, we show that LLMs can control simplified space systems after some additional training, called fine-tuning. We look at relatively small language models, ranging between 7 and 13 billion parameters. We focus on four problems: a three-dimensional spring toy problem, low-thrust orbit transfer, low-thrust cislunar control, and powered descent guidance. The fine-tuned LLMs are capable of controlling systems by generating sufficiently accurate outputs that are multi-dimensional vectors with up to 10 significant digits. We show that for several problems the amount of data required to perform fine-tuning is smaller than what is generally required of traditional deep neural networks (DNNs), and that fine-tuned LLMs are good at generalizing outside of the training dataset. Further, the same LLM can be fine-tuned with data from different problems, with only minor performance degradation with respect to LLMs trained for a single application. This work is intended as a first step towards the development of a general space systems controller.

Authors:Ozan Baris, Yizhuo Chen, Gaofeng Dong, Liying Han, Tomoyoshi Kimura, Pengrui Quan, Ruijie Wang, Tianchen Wang, Tarek Abdelzaher, Mario Bergés, Paul Pu Liang, Mani Srivastava
Title: Foundation Models for CPS-IoT: Opportunities and Challenges
Abstract:
Methods from machine learning (ML) have transformed the implementation of Perception-Cognition-Communication-Action loops in Cyber-Physical Systems (CPS) and the Internet of Things (IoT), replacing mechanistic and basic statistical models with those derived from data. However, the first generation of ML approaches, which depend on supervised learning with annotated data to create task-specific models, faces significant limitations in scaling to the diverse sensor modalities, deployment configurations, application tasks, and operating dynamics characterizing real-world CPS-IoT systems. The success of task-agnostic foundation models (FMs), including multimodal large language models (LLMs), in addressing similar challenges across natural language, computer vision, and human speech has generated considerable enthusiasm for and exploration of FMs and LLMs as flexible building blocks in CPS-IoT analytics pipelines, promising to reduce the need for costly task-specific engineering. Nonetheless, a significant gap persists between the current capabilities of FMs and LLMs in the CPS-IoT domain and the requirements they must meet to be viable for CPS-IoT applications. In this paper, we analyze and characterize this gap through a thorough examination of the state of the art and our research, which extends beyond it in various dimensions. Based on the results of our analysis and research, we identify essential desiderata that CPS-IoT domain-specific FMs and LLMs must satisfy to bridge this gap. We also propose actions by CPS-IoT researchers to collaborate in developing key community resources necessary for establishing FMs and LLMs as foundational tools for the next generation of CPS-IoT systems.

Authors:Mehdi Monemi, Mehdi Rasti, S. Ali Mousavi, Matti Latva-aho, Martin Haenggi
Title: Higher-Order Meta Distribution Reliability Analysis of Wireless Networks
Abstract:
Communication reliability, as defined by 3GPP, refers to the probability of providing a desired quality of service (QoS). This metric is typically quantified for wireless networks by averaging the QoS success indicator over spatial and temporal random variables. Recently, the meta distribution (MD) has emerged as a two-level performance analysis tool for wireless networks, offering a detailed examination of the outer level (i.e., system-level) reliability versus the inner level (i.e., link-level) reliability thresholds. Most existing studies focus on first-order spatiotemporal MD reliability analyses, and the benefits of leveraging MD reliability for applications beyond this structure remain unexplored, a gap addressed in this paper. We propose a framework for the analysis of higher-order MD reliability of wireless networks considering different levels of temporal dynamicity of random elements in the network where the MD at each layer is leveraged to be used in calculating the MD of the higher layer. We then provide two applications for this framework and provide a detailed analytical and numerical study of the higher-order MD reliability for both examples. The results demonstrate the value of the hierarchical representation of MD reliability across three domains and the impact of the inner-layers target reliabilities on the overall MD reliability measure.

Authors:Bernardo Ávila Pires, Mark Rowland, Diana Borsa, Zhaohan Daniel Guo, Khimya Khetarpal, André Barreto, David Abel, Rémi Munos, Will Dabney
Title: Optimizing Return Distributions with Distributional Dynamic Programming
Abstract:
We introduce distributional dynamic programming (DP) methods for optimizing statistical functionals of the return distribution, with standard reinforcement learning as a special case. Previous distributional DP methods could optimize the same class of expected utilities as classic DP. To go beyond, we combine distributional DP with stock augmentation, a technique previously introduced for classic DP in the context of risk-sensitive RL, where the MDP state is augmented with a statistic of the rewards obtained since the first time step. We find that a number of recently studied problems can be formulated as stock-augmented return distribution optimization, and we show that we can use distributional DP to solve them. We analyze distributional value and policy iteration, with bounds and a study of what objectives these distributional DP methods can or cannot optimize. We describe a number of applications outlining how to use distributional DP to solve different stock-augmented return distribution optimization problems, for example maximizing conditional value-at-risk, and homeostatic regulation. To highlight the practical potential of stock-augmented return distribution optimization and distributional DP, we introduce an agent that combines DQN and the core ideas of distributional DP, and empirically evaluate it for solving instances of the applications discussed.

Authors:Mouaad Boughellaba, Soulaimane Berkane, Abdelhamid Tayebi
Title: Global Attitude Synchronization for Multi-agent Systems on SO(3)
Abstract:
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we present an almost global continuous distributed attitude synchronization scheme with rigorously proven stability guarantees. Thereafter, we propose two global distributed hybrid attitude synchronization schemes on SO(3). The first scheme is a hybrid control law that leverages angular velocities and relative orientations to achieve global alignment to a common orientation. The second scheme eliminates the dependence on angular velocities by introducing dynamic auxiliary variables, while ensuring global asymptotic attitude synchronization. This velocity-free control scheme relies exclusively on attitude information. Simulation results are provided to illustrate the effectiveness of the proposed distributed attitude synchronization schemes.

Authors:Panayiota Valianti, Kleanthis Malialis, Panayiotis Kolios, Georgios Ellinas
Title: Cooperative Search and Track of Rogue Drones using Multiagent Reinforcement Learning
Abstract:
This work considers the problem of intercepting rogue drones targeting sensitive critical infrastructure facilities. While current interception technologies focus mainly on the jamming/spoofing tasks, the challenges of effectively locating and tracking rogue drones have not received adequate attention. Solving this problem and integrating with recently proposed interception techniques will enable a holistic system that can reliably detect, track, and neutralize rogue drones. Specifically, this work considers a team of pursuer UAVs that can search, detect, and track multiple rogue drones over a sensitive facility. The joint search and track problem is addressed through a novel multiagent reinforcement learning scheme to optimize the agent mobility control actions that maximize the number of rogue drones detected and tracked. The performance of the proposed system is investigated under realistic settings through extensive simulation experiments with varying number of agents demonstrating both its performance and scalability.

Authors:Kerianne L. Hobbs, Sean Phillips, Michelle Simon, Joseph B. Lyons, Jared Culbertson, Hamilton Scott Clouse, Nathaniel Hamilton, Kyle Dunlap, Zachary S. Lippay, Joshua Aurand, Zachary I. Bell, Taleri Hammack, Dorothy Ayres, Rizza Lim
Title: The Safe Trusted Autonomy for Responsible Space Program
Abstract:
The Safe Trusted Autonomy for Responsible Space (STARS) program aims to advance autonomy technologies for space by leveraging machine learning technologies while mitigating barriers to trust, such as uncertainty, opaqueness, brittleness, and inflexibility. This paper presents the achievements and lessons learned from the STARS program in integrating reinforcement learning-based multi-satellite control, run time assurance approaches, and flexible human-autonomy teaming interfaces, into a new integrated testing environment for collaborative autonomous satellite systems. The primary results describe analysis of the reinforcement learning multi-satellite control and run time assurance algorithms. These algorithms are integrated into a prototype human-autonomy interface using best practices from human-autonomy trust literature, however detailed analysis of the effectiveness is left to future work. References are provided with additional detailed results of individual experiments.

Authors:Hanna Krasowski, Stefan Schärdinger, Murat Arcak, Matthias Althoff
Title: Intelligent Sailing Model for Open Sea Navigation
Abstract:
Autonomous vessels potentially enhance safety and reliability of seaborne trade. To facilitate the development of autonomous vessels, high-fidelity simulations are required to model realistic interactions with other vessels. However, modeling realistic interactive maritime traffic is challenging due to the unstructured environment, coarsely specified traffic rules, and largely varying vessel types. Currently, there is no standard for simulating interactive maritime environments in order to rigorously benchmark autonomous vessel algorithms. In this paper, we introduce the first intelligent sailing model (ISM), which simulates rule-compliant vessels for navigation on the open sea. An ISM vessel reacts to other traffic participants according to maritime traffic rules while at the same time solving a motion planning task characterized by waypoints. In particular, the ISM monitors the applicable rules, generates rule-compliant waypoints accordingly, and utilizes a model predictive control for tracking the waypoints. We evaluate the ISM in two environments: interactive traffic with only ISM vessels and mixed traffic where some vessel trajectories are from recorded real-world maritime traffic data or handcrafted for criticality. Our results show that simulations with many ISM vessels of different vessel types are rule-compliant and scalable. We tested 4,049 critical traffic scenarios. For interactive traffic with ISM vessels, no collisions occurred while goal-reaching rates of about 97 percent were achieved. We believe that our ISM can serve as a standard for challenging and realistic maritime traffic simulation to accelerate autonomous vessel development.

Authors:Junjie Wang, Fang Fang, Gangtao Han, Ning Wang, Xianbin Wang
Title: Joint Secrecy Rate Achieving and Authentication Enhancement via Tag-based Encoding in Chaotic UAV Communication Environment
Abstract:
Secure communication is crucial in many emerging systems enabled by unmanned aerial vehicle (UAV) communication networks. To protect legitimate communication in a chaotic UAV environment, where both eavesdropping and jamming become straightforward from multiple adversaries with line-of-sight signal propagation, a new reliable and integrated physical layer security mechanism is proposed in this paper for a massive multiple-input-multiple-output (MIMO) UAV system. Particularly, a physical layer fingerprint, also called a tag, is first embedded into each message for authentication purpose. We then propose to reuse the tag additionally as a reference to encode each message to ensure secrecy for confidentiality enhancement at a low cost. Specifically, we create a new dual-reference symmetric tag generation mechanism by inputting an encoding-insensitive feature of plaintext along with the key into a hash function. At a legitimate receiver, an expected tag, reliable for decoding, can be symmetrically regenerated based on the received ciphertext, and authentication can be performed by comparing the regenerated reference tag to the received tag. However, an illegitimate receiver can only receive the fuzzy tag which can not be used to decode the received message. Additionally, we introduce artificial noise (AN) to degrade eavesdropping to further decrease message leakage. To verify the efficiency of our proposed tag-based encoding (TBE) scheme, we formulate two optimization problems including ergodic sum secrecy rate maximization and authentication fail probability minimization. The power allocation solutions are derived by difference-of-convex (DC) programming and the Lagrange method, respectively. The simulation results demonstrate the superior performance of the proposed TBE approach compared to the prior AN-aided tag embedding scheme.

Authors:Dongkyu Lee, I Made Aswin Nahrendra, Minho Oh, Byeongho Yu, Hyun Myung
Title: TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation
Abstract:
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and reach the goal quickly and safely. In this paper, we propose a method for safe and distance-efficient path planning, leveraging Traversal Risk Graph (TRG), a novel graph representation that takes into account geometric traversability of the terrain. TRG nodes represent stability and reachability of the terrain, while edges represent relative traversal risk-weighted path candidates. Additionally, TRG is constructed in a wavefront propagation manner and managed hierarchically, enabling real-time planning even in large-scale environments. Lastly, we formulate a graph optimization problem on TRG that leads the robot to navigate by prioritizing both safe and short paths. Our approach demonstrated superior safety, distance efficiency, and fast processing time compared to the conventional methods. It was also validated in several real-world experiments using a quadrupedal robot. Notably, TRG-planner contributed as the global path planner of an autonomous navigation framework for the DreamSTEP team, which won the Quadruped Robot Challenge at ICRA 2023. The project page is available at https://trg-planner.github.io .

Authors:Josep Arevalo-Soler, Dionysios Moutevelis, Elia Mateu-Barriendos, Onur Alican, Carlos Collados-Rodriguez, Marc Cheah-Mañe, Eduardo Prieto-Araujo, Oriol Gomis-Bellmunt
Title: A Matlab-based Toolbox for Automatic EMT Modeling and Small-Signal Stability Analysis of Modern Power Systems
Abstract:
The intensive integration of power converters is changing the way that power systems operate, leading to the emergence of new types of dynamic phenomena and instabilities. At the same time, converters act as an interface between traditional AC grids and their more recent DC counterparts, giving rise to hybrid AC/DC networks. These conditions increase the necessity for stability analysis tools that can simultaneously account for the newly-introduced dynamic phenomena and can also be applied for the stability study of hybrid networks. This paper presents a Matlab-based toolbox for small-signal analysis of hybrid AC/DC power systems considering electromagnetic-transient (EMT) models. The toolbox allows the automatized modeling of the system from the input data and offers options for modal, impedance and passivity analyses. In the paper, the structure and internal processes of the toolbox are duly discussed, together with all its features, both main and complementary. Its capabilities for stability analysis are demonstrated via comprehensive case studies of converter-based system of various size and topology.

Authors:Soufiane El Yaagoubi, Keith Moffat, Eduardo Prieto Araujo, Florian Dörfler
Title: Recursive-ARX for Grid-Edge Fault Detection
Abstract:
Future electrical grids will require new ways to identify faults as inverters are not capable of supplying large fault currents to support existing fault detection methods and because distributed resources may feed faults from the edge of the grid. This paper proposes the use of real-time system identification for online power-system fault detection. Specifically, we implement Recursive ARX (rARX) system identification on a grid-connected inverter. Experiments demonstrate that the proposed rARX method is able to both detect large faults quickly, and distinguish between high-impedance faults and large load increases. These results indicate that rARX grid-edge fault detection is a promising research direction for improving the reliability and safety of modern electric grids.

Authors:Filippos Fotiadis, Ufuk Topcu
Title: Adversarial Observability and Performance Tradeoffs in Optimal Control
Abstract:
We develop a feedback controller that minimizes the observability of a set of adversarial sensors of a linear system, while adhering to strict closed-loop performance constraints. We quantify the effectiveness of adversarial sensors using the trace of their observability Gramian and its inverse, capturing both average observability and the least observable state directions of the system. We derive theoretical lower bounds on these metrics under performance constraints, characterizing the fundamental limits of observability reduction as a function of the performance tradeoff. Finally, we show that the performance-constrained optimization of the Gramian's trace can be formulated as a one-shot semidefinite program, while we address the optimization of its inverse through sequential semidefinite programming. Simulations on an aircraft show how the proposed scheme yields controllers that deteriorate adversarial observability while having near-optimal closed-loop performance.

Authors:Florian Klein-Helmkamp, Tina Möllemann, Irina Zettl, Andreas Ulbig
Title: Stability and Performance of Online Feedback Optimization for Distribution Grid Flexibility
Abstract:
The integration of distributed energy resources (DERs) into sub-transmission systems has enabled new opportunities for flexibility provision in ancillary services such as frequency and voltage support, as well as congestion management. This paper investigates the stability and performance of Online Feedback Optimization (OFO) controllers in ensuring reliable flexibility provision. A hierarchical control architecture is proposed, emphasizing safe transitions between system states within the Feasible Operating Region (FOR). We evaluate the controller's stability and performance through simulations of transitions to the vertices of the FOR, analyzing the impact of tuning parameters. The study demonstrates that controller stability is sensitive to parameter tuning, particularly gain and sensitivity approximations. Results demonstrate that improper tuning can lead to oscillatory or unstable behavior, highlighting the need for systematic parameter selection to ensure reliable operation across the full flexibility range.

Authors:Filippos Fotiadis, Aris Kanellopoulos, Kyriakos G. Vamvoudakis, Ufuk Topcu
Title: Deception Against Data-Driven Linear-Quadratic Control
Abstract:
Deception is a common defense mechanism against adversaries with an information disadvantage. It can force such adversaries to select suboptimal policies for a defender's benefit. We consider a setting where an adversary tries to learn the optimal linear-quadratic attack against a system, the dynamics of which it does not know. On the other end, a defender who knows its dynamics exploits its information advantage and injects a deceptive input into the system to mislead the adversary. The defender's aim is to then strategically design this deceptive input: it should force the adversary to learn, as closely as possible, a pre-selected attack that is different from the optimal one. We show that this deception design problem boils down to the solution of a coupled algebraic Riccati and a Lyapunov equation which, however, are challenging to tackle analytically. Nevertheless, we use a block successive over-relaxation algorithm to extract their solution numerically and prove the algorithm's convergence under certain conditions. We perform simulations on a benchmark aircraft, where we showcase how the proposed algorithm can mislead adversaries into learning attacks that are less performance-degrading.

Authors:Christian Brommer, Alessandro Fornasier, Jan Steinbrener, Stephan Weiss
Title: Sensor Model Identification via Simultaneous Model Selection and State Variable Determination
Abstract:
We present a method for the unattended gray-box identification of sensor models commonly used by localization algorithms in the field of robotics. The objective is to determine the most likely sensor model for a time series of unknown measurement data, given an extendable catalog of predefined sensor models. Sensor model definitions may require states for rigid-body calibrations and dedicated reference frames to replicate a measurement based on the robot's localization state. A health metric is introduced, which verifies the outcome of the selection process in order to detect false positives and facilitate reliable decision-making. In a second stage, an initial guess for identified calibration states is generated, and the necessity of sensor world reference frames is evaluated. The identified sensor model with its parameter information is then used to parameterize and initialize a state estimation application, thus ensuring a more accurate and robust integration of new sensor elements. This method is helpful for inexperienced users who want to identify the source and type of a measurement, sensor calibrations, or sensor reference frames. It will also be important in the field of modular multi-agent scenarios and modularized robotic platforms that are augmented by sensor modalities during runtime. Overall, this work aims to provide a simplified integration of sensor modalities to downstream applications and circumvent common pitfalls in the usage and development of localization approaches.

Authors:Jiayu Li, Masood Mortazavi, Ning Yan, Yihong Ma, Reza Zafarani
Title: Inverse Design in Distributed Circuits Using Single-Step Reinforcement Learning
Abstract:
The goal of inverse design in distributed circuits is to generate near-optimal designs that meet a desirable transfer function specification. Existing design exploration methods use some combination of strategies involving artificial grids, differentiable evaluation procedures, and specific template topologies. However, real-world design practices often require non-differentiable evaluation procedures, varying topologies, and near-continuous placement spaces. In this paper, we propose DCIDA, a design exploration framework that learns a near-optimal design sampling policy for a target transfer function. DCIDA decides all design factors in a compound single-step action by sampling from a set of jointly-trained conditional distributions generated by the policy. Utilizing an injective interdependent ``map", DCIDA transforms raw sampled design ``actions" into uniquely equivalent physical representations, enabling the framework to learn the conditional dependencies among joint ``raw'' design decisions. Our experiments demonstrate DCIDA's Transformer-based policy network achieves significant reductions in design error compared to state-of-the-art approaches, with significantly better fit in cases involving more complex transfer functions.

Authors:Xinghao Zhu, Yuxin Chen, Lingfeng Sun, Farzad Niroui, Simon Le Cleac'h, Jiuguang Wang, Kuan Fang
Title: Versatile Loco-Manipulation through Flexible Interlimb Coordination
Abstract:
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulation is often constrained to specific tasks or predetermined limb configurations. In this work, we present Reinforcement Learning for Interlimb Coordination (ReLIC), an approach that enables versatile loco-manipulation through flexible interlimb coordination. The key to our approach is an adaptive controller that seamlessly bridges the execution of manipulation motions and the generation of stable gaits based on task demands. Through the interplay between two controller modules, ReLIC dynamically assigns each limb for manipulation or locomotion and robustly coordinates them to achieve the task success. Using efficient reinforcement learning in simulation, ReLIC learns to perform stable gaits in accordance with the manipulation goals in the real world. To solve diverse and complex tasks, we further propose to interface the learned controller with different types of task specifications, including target trajectories, contact points, and natural language instructions. Evaluated on 12 real-world tasks that require diverse and complex coordination patterns, ReLIC demonstrates its versatility and robustness by achieving a success rate of 78.9% on average. Videos and code can be found at https://relic-locoman.rai-inst.com.

Authors:Zhe Shen, Yitaek Kim, Christoffer Sloth
Title: Towards Data-Driven Model-Free Safety-Critical Control
Abstract:
This paper presents a framework for enabling safe velocity control of general robotic systems using data-driven model-free Control Barrier Functions (CBFs). Model-free CBFs rely on an exponentially stable velocity controller and a design parameter (e.g. alpha in CBFs); this design parameter depends on the exponential decay rate of the controller. However, in practice, the decay rate is often unavailable, making it non-trivial to use model-free CBFs, as it requires manual tuning for alpha. To address this, a Neural Network is used to learn the Lyapunov function from data, and the maximum decay rate of the systems built-in velocity controller is subsequently estimated. Furthermore, to integrate the estimated decay rate with model-free CBFs, we derive a probabilistic safety condition that incorporates a confidence bound on the violation rate of the exponential stability condition, using Chernoff bound. This enhances robustness against uncertainties in stability violations. The proposed framework has been tested on a UR5e robot in multiple experimental settings, and its effectiveness in ensuring safe velocity control with model-free CBFs has been demonstrated.

Authors:Taoran Wu, Yiling Xue, Dejin Ren, Arvind Easwaran, Martin Fränzle, Bai Xue
Title: Controlled Reach-avoid Set Computation for Discrete-time Polynomial Systems via Convex Optimization
Abstract:
This paper addresses the computation of controlled reach-avoid sets (CRASs) for discrete-time polynomial systems subject to control inputs. A CRAS is a set encompassing initial states from which there exist control inputs driving the system into a target set while avoiding unsafe sets. However, efficiently computing CRASs remains an open problem, especially for discrete-time systems. In this paper, we propose a novel framework for computing CRASs which takes advantage of a probabilistic perspective. This framework transforms the fundamentally nonlinear problem of computing CRASs into a computationally tractable convex optimization problem. By regarding control inputs as disturbances obeying certain probability distributions, a CRAS can be equivalently treated as a 0-reach-avoid set in the probabilistic sense, which consists of initial states from which the probability of eventually entering the target set while remaining within the safe set is greater than zero. Thus, we can employ the convex optimization method of computing 0-reach-avoid sets to estimate CRASs. Furthermore, inspired by the $ε$-greedy strategy widely used in reinforcement learning, we propose an approach that iteratively updates the aforementioned probability distributions imposed on control inputs to compute larger CRASs. We demonstrate the effectiveness of the proposed method on extensive examples.

Authors:Marta Vanin, Frederik Geth, Rahmat Heidari, Dirk Van Hertem
Title: Distribution System State and Impedance Estimation Augmented with Carson's Equations
Abstract:
The impedances of cables and lines used in (multi-conductor) distribution networks are usually unknown or approximated, and may lead to problematic results for any physics-based power system calculation, e.g., (optimal) power flow. Learning parameters from time series data is one of the few available options to obtain improved impedance models. This paper presents an approach that combines statistical learning concepts with the exploitation of domain knowledge, in the form of Carson's equations, through nonlinear mathematical optimization. The proposed approach derives impedance matrices for up-to-four-wire systems, using measurement data like those obtained from smart meters. Despite the lack of phasor measurements, the low signal-to-noise ratio of smart meter measurements, and the inherent existence of multiple equivalent solutions, our method produces good quality impedance models that are fit for power system calculations, significantly improving on our previous work both in terms of accuracy and computational time.

Authors:Zhisheng Yin, Nan Cheng, Mingjie Wang, Changle Li, Wei Xiang
Title: Conceal Truth while Show Fake: T/F Frequency Multiplexing based Anti-Intercepting Transmission
Abstract:
In wireless communication adversarial scenarios, signals are easily intercepted by non-cooperative parties, exposing the transmission of confidential information. This paper proposes a true-and-false (T/F) frequency multiplexing based anti-intercepting transmission scheme capable of concealing truth while showing fake (CTSF), integrating both offensive and defensive strategies. Specifically, through multi-source cooperation, true and false signals are transmitted over multiple frequency bands using non-orthogonal frequency division multiplexing. The decoy signals are used to deceive non-cooperative eavesdropper, while the true signals are hidden to counter interception threats. Definitions for the interception and deception probabilities are provided, and the mechanism of CTSF is discussed. To improve the secrecy performance of true signals while ensuring decoy signals achieve their deceptive purpose, we model the problem as maximizing the sum secrecy rate of true signals, with constraint on the decoy effect. Furthermore, we propose a bi-stage alternating dual-domain optimization approach for joint optimization of both power allocation and correlation coefficients among multiple sources, and a Newton's method is proposed for fitting the T/F frequency multiplexing factor. In addition, simulation results verify the efficiency of anti-intercepting performance of our proposed CTSF scheme.

Authors:Sanchita Ghosh, Tanushree Roy
Title: Detecting Switching Attacks On Traffic Flow Regulation For Changing Driving Patterns
Abstract:
Modern traffic management systems increasingly adopt hierarchical control strategies for improved efficiency and scalability, where a local traffic controller mode is chosen by a supervisory controller based on the changing large-scale driving patterns. Unfortunately, such local metering controllers are also vulnerable to cyberattacks that can disrupt the controller switching, leading to undesired, inefficient, and even unsafe traffic operations. Additionally, the detection of such attacks becomes challenging when the operational mode of the traffic is uncertain and the operational mode identification is delayed. Thus, in this work, we propose a cyberattack detection scheme to detect the compromised controller switching in ramp metering for an uncertain, multimodal macroscopic traffic operation of a freeway segment. In particular, we propose a bank of detectors corresponding to each admissible traffic mode that can compensate for the uncertain traffic mode of the freeway. Furthermore, we utilize backstepping tools along with Lyapunov function theory to achieve analytical performance guarantees for the detector, such as nominal exponential stability, anomaly/uncertainty-to-residual stability, robustness, and sensitivity. Finally, we demonstrate the efficacy of the proposed detection scheme through simulations of free traffic under realistic traffic parameters, uncertainties, and commonly occurring attack scenarios.

Authors:Hamidreza Montazeri Hedesh, Moh Kamalul Wafi, Milad Siami
Title: Local Stability and Region of Attraction Analysis for Neural Network Feedback Systems under Positivity Constraints
Abstract:
We study the local stability of nonlinear systems in the Lur'e form with static nonlinear feedback realized by feedforward neural networks (FFNNs). By leveraging positivity system constraints, we employ a localized variant of the Aizerman conjecture, which provides sufficient conditions for exponential stability of trajectories confined to a compact set. Using this foundation, we develop two distinct methods for estimating the Region of Attraction (ROA): (i) a less conservative Lyapunov-based approach that constructs invariant sublevel sets of a quadratic function satisfying a linear matrix inequality (LMI), and (ii) a novel technique for computing tight local sector bounds for FFNNs via layer-wise propagation of linear relaxations. These bounds are integrated into the localized Aizerman framework to certify local exponential stability. Numerical results demonstrate substantial improvements over existing integral quadratic constraint-based approaches in both ROA size and scalability.

Authors:Damola Ajeyemi, Yiting Chen, Antonin Colot, Jorge Cortes, Emiliano Dall'Anese
Title: Learning to Pursue AC Optimal Power Flow Solutions with Feasibility Guarantees
Abstract:
This paper focuses on an AC optimal power flow (OPF) problem for distribution feeders equipped with controllable distributed energy resources (DERs). We consider a solution method that is based on a continuous approximation of the projected gradient flow - referred to as the safe gradient flow - that incorporates voltage and current information obtained either through real-time measurements or power flow computations. These two setups enable both online and offline implementations. The safe gradient flow involves the solution of convex quadratic programs (QPs). To enhance computational efficiency, we propose a novel framework that employs a neural network approximation of the optimal solution map of the QP. The resulting method has two key features: (a) it ensures that the DERs' setpoints are practically feasible, even for an online implementation or when an offline algorithm has an early termination; (b) it ensures convergence to a neighborhood of a strict local optimizer of the AC OPF. The proposed method is tested on a 93-node distribution system with realistic loads and renewable generation. The test shows that our method successfully regulates voltages within limits during periods with high renewable generation.

Authors:Hamidreza Montazeri Hedesh, Moh. Kamalul Wafi, Bahram Shafai, Milad Siami
Title: Robust Stability Analysis of Positive Lure System with Neural Network Feedback
Abstract:
This paper investigates the robustness of the Lur'e problem under positivity constraints, drawing on results from the positive Aizerman conjecture and robustness properties of Metzler matrices. Specifically, we consider a control system of Lur'e type in which not only the linear part includes parametric uncertainty but also the nonlinear sector bound is unknown. We investigate tools from positive linear systems to effectively solve the problems in complicated and uncertain nonlinear systems. By leveraging the positivity characteristic of the system, we derive an explicit formula for the stability radius of Lur'e systems. Furthermore, we extend our analysis to systems with neural network (NN) feedback loops. Building on this approach, we also propose a refinement method for sector bounds of NNs. This study introduces a scalable and efficient approach for robustness analysis of both Lur'e and NN-controlled systems. Finally, the proposed results are supported by illustrative examples.

Authors:Thomas A. Henzinger, Kaushik Mallik, Pouya Sadeghi, Đorđe Žikelić
Title: Supermartingale Certificates for Quantitative Omega-regular Verification and Control
Abstract:
We present the first supermartingale certificate for quantitative $ω$-regular properties of discrete-time infinite-state stochastic systems. Our certificate is defined on the product of the stochastic system and a limit-deterministic Büchi automaton that specifies the property of interest; hence we call it a limit-deterministic Büchi supermartingale (LDBSM). Previously known supermartingale certificates applied only to quantitative reachability, safety, or reach-avoid properties, and to qualitative (i.e., probability 1) $ω$-regular properties. We also present fully automated algorithms for the template-based synthesis of LDBSMs, for the case when the stochastic system dynamics and the controller can be represented in terms of polynomial inequalities. Our experiments demonstrate the ability of our method to solve verification and control tasks for stochastic systems that were beyond the reach of previous supermartingale-based approaches.

Authors:Zehao Wang, Han Zhang, Jingchuan Wang, Weidong Chen
Title: Optimization-Based Trajectory Planning for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing Sampling Number Method
Abstract:
In this work, we propose an optimization-based trajectory planner for tractor-trailer vehicles on curvy roads. The lack of analytical expression for the trailer's errors to the center line pose a great challenge to the trajectory planning for tractor-trailer vehicles. To address this issue, we first use geometric representations to characterize the lateral and orientation errors in Cartesian frame, where the errors would serve as the components of the cost function and the road edge constraints within our optimization process. Next, we generate a coarse trajectory to warm-start the subsequent optimization problems. On the other hand, to achieve a good approximation of the continuous-time kinematics, optimization-based methods usually discretize the kinematics with a large sampling number. This leads to an increase in the number of the variables and constraints, thus making the optimization problem difficult to solve. To address this issue, we design a Progressively Increasing Sampling Number Optimization (PISNO) framework. More specifically, we first find a nearly feasible trajectory with a small sampling number to warm-start the optimization process. Then, the sampling number is progressively increased, and the corresponding intermediate Optimal Control Problem (OCP) is solved in each iteration. Next, we further resample the obtained solution into a finer sampling period, and then use it to warm-start the intermediate OCP in next iteration. This process is repeated until reaching a threshold sampling number. Simulation and experiment results show the proposed method exhibits a good performance and less computational consumption over the benchmarks.

Authors:Yiting Chen, Francesco Bullo, Emiliano Dall'Anese
Title: Sampled-data Systems: Stability, Contractivity and Single-iteration Suboptimal MPC
Abstract:
This paper analyzes the stability of interconnected continuous-time (CT) and discrete-time (DT) systems coupled through sampling and zero-order hold mechanisms. The DT system updates its output at regular intervals $T>0$ by applying an $n$-fold composition of a given map. This setup is motivated by online and sampled-data implementations of optimization-based controllers - particularly model predictive control (MPC) - where the DT system models $n$ iterations of an algorithm approximating the solution of an optimization problem. We introduce the concept of a reduced model, defined as the limiting behavior of the sampled-data system as $T \to 0^+$ and $n \to +\infty$. Our main theoretical contribution establishes that when the reduced model is contractive, there exists a threshold duration $T(n)$ for each iteration count $n$ such that the CT-DT interconnection achieves exponential stability for all sampling periods $T < T(n)$. Finally, under the stronger condition that both the CT and DT systems are contractive, we show exponential stability of their interconnection using a small-gain argument. Our theoretical results provide new insights into suboptimal MPC stability, showing that convergence guarantees hold even when using a single iteration of the optimization algorithm - a practically significant finding for real-time control applications.

Authors:Mohamad H. Kazma, Ahmad F. Taha
Title: Partitioning and Observability in Linear Systems via Submodular Optimization
Abstract:
Network partitioning has gained recent attention as a pathway to enable decentralized operation and control in large-scale systems. This paper addresses the interplay between partitioning, observability, and sensor placement (SP) in dynamic networks. The problem, being computationally intractable at scale, is largely unexplored in the literature. To that end, the paper's objective is designing scalable partitioning of linear systems while maximizing observability metrics of the subsystems. We show that the partitioning problem can be posed as a submodular maximization problem -- and the SP problem can subsequently be solved over the partitioned network. Consequently, theoretical bounds are derived to compare observability metrics of the original network with those of the resulting partitions, highlighting the impact of partitioning on system observability. Case studies on networks of varying sizes corroborate the derived theoretical bounds.

Authors:Milad Kabirifar, Biswarup Mukherjee, S. Gokul Krishnan, Charalambos Konstantinou, Subhash Lakshminarayana
Title: A Distributed Local Energy Market Clearing Framework Using a Two-Loop ADMM Method
Abstract:
The diversity of prosumers' resources in energy communities can provide significant technical and economic benefits to both prosumers and the distribution system operator (DSO). To maximize these benefits, a coordination framework is required to address all techno-economic constraints as well as the objectives of all agents. This paper presents a fully distributed market-clearing scheme to coordinate the strategies of agents within a local energy community. In the proposed framework, prosumers, the DSO, and the local market operator (LMO) are the participating agents. The framework addresses the preferences and techno-economic constraints of all actors while preserving their privacy. The proposed model is based on a modified alternating direction method of multipliers (ADMM) method with two outer and inner loops; the outer loop models the interactions between the LMO and prosumers, while the inner loop addresses the interactions between the LMO and the DSO. The model is demonstrated on IEEE-69bus test network, showcasing its effectiveness from various perspectives.

Authors:Kanghui He, Shengling Shi, Ton van den Boom, Bart De Schutter
Title: From learning to safety: A Direct Data-Driven Framework for Constrained Control
Abstract:
Ensuring safety in the sense of constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-based setting by modifying unsafe control inputs, they typically rely on predictive models derived from physics or data. This reliance limits their applicability for advanced model-free learning control methods. To address this gap, we propose a new optimization-based control framework that determines safe control inputs directly from data. The benefit of the framework is that it can be updated through arbitrary model-free learning algorithms to pursue optimal performance. As a key component, the concept of direct data-driven safety filters (3DSF) is first proposed. The framework employs a novel safety certificate, called the state-action control barrier function (SACBF). We present three different schemes to learn the SACBF. Furthermore, based on input-to-state safety analysis, we present the error-to-state safety analysis framework, which provides formal guarantees on safety and recursive feasibility even in the presence of learning inaccuracies. The proposed control framework bridges the gap between model-free learning-based control and constrained control, by decoupling performance optimization from safety enforcement. Simulations on vehicle control illustrate the superior performance regarding constraint satisfaction and task achievement compared to model-based methods and reward shaping.

Authors:Frederik Baymler Mathiesen, Nikolaus Vertovec, Francesco Fabiano, Luca Laurenti, Alessandro Abate
Title: Certified Neural Approximations of Nonlinear Dynamics
Abstract:
Neural networks hold great potential to act as approximate models of nonlinear dynamical systems, with the resulting neural approximations enabling verification and control of such systems. However, in safety-critical contexts, the use of neural approximations requires formal bounds on their closeness to the underlying system. To address this fundamental challenge, we propose a novel, adaptive, and parallelizable verification method based on certified first-order models. Our approach provides formal error bounds on the neural approximations of dynamical systems, allowing them to be safely employed as surrogates by interpreting the error bound as bounded disturbances acting on the approximated dynamics. We demonstrate the effectiveness and scalability of our method on a range of established benchmarks from the literature, showing that it outperforms the state-of-the-art. Furthermore, we highlight the flexibility of our framework by applying it to two novel scenarios not previously explored in this context: neural network compression and an autoencoder-based deep learning architecture for learning Koopman operators, both yielding compelling results.

Authors:Rodrigo A. González, Maarten van der Hulst, Koen Classens, Tom Oomen
Title: Statistically Optimal Structured Additive MIMO Continuous-time System Identification
Abstract:
Many applications in mechanical, acoustic, and electronic engineering require estimating complex dynamical models, often represented as additive multi-input multi-output (MIMO) transfer functions with structural constraints. This paper introduces a two-stage procedure for estimating structured additive MIMO models, where structural constraints are enforced through a weighted nonlinear least-squares projection of the parameter vector initially estimated using a recently developed refined instrumental variables algorithm. The proposed approach is shown to be consistent and asymptotically efficient in open-loop scenarios. In closed-loop settings, it remains consistent despite potential noise model misspecification and achieves minimum covariance among all instrumental variable estimators. Extensive simulations are performed to validate the theoretical findings, and to show the efficacy of the proposed approach.

Authors:Filippos Fotiadis, Quentin Rommel, Brian M. Sadler, Ufuk Topcu
Title: Optimal Satellite Maneuvers for Spaceborne Jamming Attacks
Abstract:
Satellites are becoming exceedingly critical for communication, making them prime targets for cyber-physical attacks. We consider a rogue satellite in low Earth orbit that jams the uplink communication between another satellite and a ground station. To achieve maximal interference with minimal fuel consumption, the jammer carefully maneuvers itself relative to the target satellite's antenna. We cast this maneuvering objective as a two-stage optimal control problem, involving i) repositioning to an efficient jamming position before uplink communication commences; and ii) maintaining an efficient jamming position after communication has started. We obtain the optimal maneuvering trajectories for the jammer and perform simulations to show how they enable the disruption of uplink communication with reasonable fuel consumption.

Authors:Anusha Srikanthan, Hanli Zhang, Spencer Folk, Vijay Kumar, Nikolai Matni
Title: Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning
Abstract:
In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the vehicle that results in a crash. To tackle saturation, we apply a control decomposition and learn a tracking penalty from simulation data consisting of low, medium and high-cost reference trajectories. Our approach reduces crash rates by around $49\%$ compared to baselines on aggressive maneuvers in simulation. On the Crazyflie hardware platform, we demonstrate feasibility through experiments that lead to successful flights. Motivated by the growing interest in data-driven methods to quadrotor planning, we provide open-source lightweight code with an easy-to-use abstraction of hardware platforms.

Authors:Kunpeng Zhang, Lei Xu, Xinlei Yi, Guanghui Wen, Ming Cao, Karl H. Johansson, Tianyou Chai, Tao Yang
Title: Communication-Efficient Distributed Online Nonconvex Optimization with Time-Varying Constraints
Abstract:
This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents, where the nonconvex local loss and convex local constraint functions can vary arbitrarily across iterations, and the information of them is privately revealed to each agent at each iteration. For a uniformly jointly strongly connected time-varying directed graph, we propose two distributed bandit online primal--dual algorithm with compressed communication to efficiently utilize communication resources in the one-point and two-point bandit feedback settings, respectively. In nonconvex optimization, finding a globally optimal decision is often NP-hard. As a result, the standard regret metric used in online convex optimization becomes inapplicable. To measure the performance of the proposed algorithms, we use a network regret metric grounded in the first-order optimality condition associated with the variational inequality. We show that the compressed algorithms establish sublinear network regret and cumulative constraint violation bounds. Finally, a simulation example is presented to validate the theoretical results.

Authors:Aran Mohammad, Jan Piosik, Dustin Lehmann, Thomas Seel, Moritz Schappler
Title: Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration
Abstract:
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on inertial measurement units (IMUs) consisting of accelerometers and gyroscopes is advantageous for reducing delays. The acceleration estimation enables the direct calculation of external forces. For serial robots, the installation of multiple accelerometers and gyroscopes is required for dynamics modeling since the joint coordinates are the minimal coordinates. Alternatively, parallel robots (PRs) offer the potential to use only one IMU on the end-effector platform, which already presents the minimal coordinates of the PR. This work introduces a sensor-fusion method for contact detection using encoders and only one low-cost, consumer-grade IMU for a PR. The end-effector accelerations are estimated by an extended Kalman filter and incorporated into the dynamics to calculate external forces. In real-world experiments with a planar PR, we demonstrate that this approach reduces the detection duration by up to 50% compared to a momentum observer and enables the collision and clamping detection within 3-39ms.

Authors:Abdul Baseer Satti, James Saunderson, Wynita Griggs, S. M. Nawazish Ali, Nameer Al Khafaf, Saman Ahmadi, Mahdi Jalili, Jakub Marecek, Robert Shorten
Title: A Feedback Control Framework for Incentivised Suburban Parking Utilisation and Urban Core Traffic Relief
Abstract:
Urban traffic congestion, exacerbated by inefficient parking management and cruising for parking, significantly hampers mobility and sustainability in smart cities. Drivers often face delays searching for parking spaces, influenced by factors such as accessibility, cost, distance, and available services such as charging facilities in the case of electric vehicles. These inefficiencies contribute to increased urban congestion, fuel consumption, and environmental impact. Addressing these challenges, this paper proposes a feedback control incentivisation-based system that aims to better distribute vehicles between city and suburban parking facilities offering park-and-charge/-ride services. Individual driver behaviours are captured via discrete choice models incorporating factors of importance to parking location choice among drivers, such as distance to work, public transport connectivity, charging infrastructure availability, and amount of incentive offered; and are regulated through principles of ergodic control theory. The proposed framework is applied to an electric vehicle park-and-charge/-ride problem, and demonstrates how predictable long-term behaviour of the system can be guaranteed.

Authors:Max van Meer, Marijn van Noije, Koen Tiels, Enzo Evers, Lennart Blanken, Gert Witvoet, Tom Oomen
Title: Self-Calibrating Position Measurements: Applied to Imperfect Hall Sensors
Abstract:
Linear Hall sensors are a cost-effective alternative to optical encoders for measuring the rotor positions of actuators, with the main challenge being that they exhibit position-dependent inaccuracies resulting from manufacturing tolerances. This paper develops a data-driven calibration procedure for linear analog Hall sensors that enables accurate online estimates of the rotor angle without requiring expensive external encoders. The approach combines closed-loop data collection with nonlinear identification to obtain an accurate model of the sensor inaccuracies, which is subsequently used for online compensation. Simulation results show that when the flux density model structure is known, measurement errors are reduced to the sensor noise floor, and experiments on an industrial setup demonstrate a factor of 2.6 reduction in the root-mean-square measurement error. These results confirm that Hall sensor inaccuracies can be calibrated even when no external encoder is available, improving their practical applicability.

Authors:Keith Paarporn, Adel Aghajan, Jason R. Marden
Title: Allocation of Heterogeneous Resources in General Lotto Games
Abstract:
The allocation of resources plays an important role in the completion of system objectives and tasks, especially in the presence of strategic adversaries. Optimal allocation strategies are becoming increasingly more complex, given that multiple heterogeneous types of resources are at a system planner's disposal. In this paper, we focus on deriving optimal strategies for the allocation of heterogeneous resources in a well-known competitive resource allocation model known as the General Lotto game. In standard formulations, outcomes are determined solely by the players' allocation strategies of a common, single type of resource across multiple contests. In particular, a player wins a contest if it sends more resources than the opponent. Here, we propose a multi-resource extension where the winner of a contest is now determined not only by the amount of resources allocated, but also by the composition of resource types that are allocated. We completely characterize the equilibrium payoffs and strategies for two distinct formulations. The first consists of a weakest-link/best-shot winning rule, and the second considers a winning rule based on a weighted linear combination of the allocated resources. We then consider a scenario where the resource types are costly to purchase, and derive the players' equilibrium investments in each of the resource types.

Authors:Jianye Xu, Chang Che, Bassam Alrifaee
Title: A Real-Time Control Barrier Function-Based Safety Filter for Motion Planning with Arbitrary Road Boundary Constraints
Abstract:
We present a real-time safety filter for motion planning, such as learning-based methods, using Control Barrier Functions (CBFs), which provides formal guarantees for collision avoidance with road boundaries. A key feature of our approach is its ability to directly incorporate road geometries of arbitrary shape without resorting to conservative overapproximations. We formulate the safety filter as a constrained optimization problem in the form of a Quadratic Program (QP). It achieves safety by making minimal, necessary adjustments to the control actions issued by the nominal motion planner. We validate our safety filter through extensive numerical experiments across a variety of traffic scenarios featuring complex roads. The results confirm its reliable safety and high computational efficiency (execution frequency up to 40 Hz). Code & Video Demo: github.com/bassamlab/SigmaRL

Authors:Anh Tung Nguyen, Sribalaji C. Anand, André M. H. Teixeira
Title: Security Metrics for Uncertain Interconnected Systems under Stealthy Data Injection Attacks
Abstract:
This paper quantifies the security of uncertain interconnected systems under stealthy data injection attacks. In particular, we consider a large-scale system composed of a certain subsystem interconnected with an uncertain subsystem, where only the input-output channels are accessible. An adversary is assumed to inject false data to maximize the performance loss of the certain subsystem while remaining undetected. By abstracting the uncertain subsystem as a class of admissible systems satisfying an $\mathcal{L}_2$ gain constraint, the worst-case performance loss is obtained as the solution to a convex semi-definite program depending only on the certain subsystem dynamics and such an $\mathcal{L}_2$ gain constraint. This solution is proved to serve as an upper bound for the actual worst-case performance loss when the model of the entire system is fully certain. The results are demonstrated through numerical simulations of the power transmission grid spanning Sweden and Northern Denmark.

Authors:Haocheng Meng, Shaocheng Luo, Zhenyuan Liang, Qing Huang, Amir Khazraei, Miroslav Pajic
Title: MARS: Defending Unmanned Aerial Vehicles From Attacks on Inertial Sensors with Model-based Anomaly Detection and Recovery
Abstract:
Unmanned Aerial Vehicles (UAVs) rely on measurements from Inertial Measurement Units (IMUs) to maintain stable flight. However, IMUs are susceptible to physical attacks, including acoustic resonant and electromagnetic interference attacks, resulting in immediate UAV crashes. Consequently, we introduce a Model-based Anomaly detection and Recovery System (MARS) that enables UAVs to quickly detect adversarial attacks on inertial sensors and achieve dynamic flight recovery. MARS features an attack-resilient state estimator based on the Extended Kalman Filter, which incorporates position, velocity, heading, and rotor speed measurements to reconstruct accurate attitude and angular velocity information for UAV control. Moreover, a statistical anomaly detection system monitors IMU sensor data, raising a system-level alert if an attack is detected. Upon receiving the alert, a multi-stage dynamic flight recovery strategy suspends the ongoing mission, stabilizes the drone in a hovering condition, and then resumes tasks under the resilient control. Experimental results in PX4 software-in-the-loop environments as well as real-world MARS-PX4 autopilot-equipped drones demonstrate the superiority of our approach over existing IMU-defense frameworks, showcasing the ability of the UAVs to survive attacks and complete the missions.

Authors:Zihang Wei, Yunlong Zhang, Chenxi Liu, Yang Zhou
Title: Neural Networks Enabled Discovery On the Higher-Order Nonlinear Partial Differential Equation of Traffic Dynamics
Abstract:
Modeling the traffic dynamics is essential for understanding and predicting the traffic spatiotemporal evolution. However, deriving the partial differential equation (PDE) models that capture these dynamics is challenging due to their potential high order property and nonlinearity. In this paper, we introduce a novel deep learning framework, "TRAFFIC-PDE-LEARN", designed to discover hidden PDE models of traffic network dynamics directly from measurement data. By harnessing the power of the neural network to approximate a spatiotemporal fundamental diagram that facilitates smooth estimation of partial derivatives with low-resolution loop detector data. Furthermore, the use of automatic differentiation enables efficient computation of the necessary partial derivatives through the chain and product rules, while sparse regression techniques facilitate the precise identification of physically interpretable PDE components. Tested on data from a real-world traffic network, our model demonstrates that the underlying PDEs governing traffic dynamics are both high-order and nonlinear. By leveraging the learned dynamics for prediction purposes, the results underscore the effectiveness of our approach and its potential to advance intelligent transportation systems.

Authors:Heng-Sheng Chang, Prashant G. Mehta
Title: Dual Filter: A Mathematical Framework for Inference using Transformer-like Architectures
Abstract:
This paper presents a mathematical framework for causal nonlinear prediction in settings where observations are generated from an underlying hidden Markov model (HMM). Both the problem formulation and the proposed solution are motivated by the decoder-only transformer architecture, in which a finite sequence of observations (tokens) is mapped to the conditional probability of the next token. Our objective is not to construct a mathematical model of a transformer. Rather, our interest lies in deriving, from first principles, transformer-like architectures that solve the prediction problem for which the transformer is designed. The proposed framework is based on an original optimal control approach, where the prediction objective (MMSE) is reformulated as an optimal control problem. An analysis of the optimal control problem is presented leading to a fixed-point equation on the space of probability measures. To solve the fixed-point equation, we introduce the dual filter, an iterative algorithm that closely parallels the architecture of decoder-only transformers. These parallels are discussed in detail along with the relationship to prior work on mathematical modeling of transformers as transport on the space of probability measures. Numerical experiments are provided to illustrate the performance of the algorithm using parameter values used in researchscale transformer models.

Authors:Robin Ferede, Till Blaha, Erin Lucassen, Christophe De Wagter, Guido C. H. E. de Croon
Title: One Net to Rule Them All: Domain Randomization in Quadcopter Racing Across Different Platforms
Abstract:
In high-speed quadcopter racing, finding a single controller that works well across different platforms remains challenging. This work presents the first neural network controller for drone racing that generalizes across physically distinct quadcopters. We demonstrate that a single network, trained with domain randomization, can robustly control various types of quadcopters. The network relies solely on the current state to directly compute motor commands. The effectiveness of this generalized controller is validated through real-world tests on two substantially different crafts (3-inch and 5-inch race quadcopters). We further compare the performance of this generalized controller with controllers specifically trained for the 3-inch and 5-inch drone, using their identified model parameters with varying levels of domain randomization (0%, 10%, 20%, 30%). While the generalized controller shows slightly slower speeds compared to the fine-tuned models, it excels in adaptability across different platforms. Our results show that no randomization fails sim-to-real transfer while increasing randomization improves robustness but reduces speed. Despite this trade-off, our findings highlight the potential of domain randomization for generalizing controllers, paving the way for universal AI controllers that can adapt to any platform.

Authors:Ilektra Tsimpidi, Ilias Tevetzidis, Vidya Sumathy, George Nikolakopoulos
Title: Design and Evaluation of a UGV-Based Robotic Platform for Precision Soil Moisture Remote Sensing
Abstract:
This extended abstract presents the design and evaluation of AgriOne, an automated unmanned ground vehicle (UGV) platform for high precision sensing of soil moisture in large agricultural fields. The developed robotic system is equipped with a volumetric water content (VWC) sensor mounted on a robotic manipulator and utilizes a surface-aware data collection framework to ensure accurate measurements in heterogeneous terrains. The framework identifies and removes invalid data points where the sensor fails to penetrate the soil, ensuring data reliability. Multiple field experiments were conducted to validate the platform's performance, while the obtained results demonstrate the efficacy of the AgriOne robot in real-time data acquisition, reducing the need for permanent sensors and labor-intensive methods.

Authors:Koen Classens, Rodrigo A. González, Tom Oomen
Title: Recursive Identification of Structured Systems: An Instrumental-Variable Approach Applied to Mechanical Systems
Abstract:
Online system identification algorithms are widely used for monitoring, diagnostics and control by continuously adapting to time-varying dynamics. Typically, these algorithms consider a model structure that lacks parsimony and offers limited physical interpretability. The objective of this paper is to develop a real-time parameter estimation algorithm aimed at identifying time-varying dynamics within an interpretable model structure. An additive model structure is adopted for this purpose, which offers enhanced parsimony and is shown to be particularly suitable for mechanical systems. The proposed approach integrates the recursive simplified refined instrumental variable method with block-coordinate descent to minimize an exponentially-weighted output error cost function. This novel recursive identification method delivers parametric continuous-time additive models and is applicable in both open-loop and closed-loop controlled systems. Its efficacy is shown using numerical simulations and is further validated using experimental data to detect the time-varying resonance dynamics of a flexible beam system. These results demonstrate the effectiveness of the proposed approach for online and interpretable estimation for advanced monitoring and control applications.

Authors:Haoyu Li, Xiangru Zhong, Bin Hu, Huan Zhang
Title: Neural Contraction Metrics with Formal Guarantees for Discrete-Time Nonlinear Dynamical Systems
Abstract:
Contraction metrics are crucial in control theory because they provide a powerful framework for analyzing stability, robustness, and convergence of various dynamical systems. However, identifying these metrics for complex nonlinear systems remains an open challenge due to the lack of scalable and effective tools. This paper explores the approach of learning verifiable contraction metrics parametrized as neural networks (NNs) for discrete-time nonlinear dynamical systems. While prior works on formal verification of contraction metrics for general nonlinear systems have focused on convex optimization methods (e.g. linear matrix inequalities, etc) under the assumption of continuously differentiable dynamics, the growing prevalence of NN-based controllers, often utilizing ReLU activations, introduces challenges due to the non-smooth nature of the resulting closed-loop dynamics. To bridge this gap, we establish a new sufficient condition for establishing formal neural contraction metrics for general discrete-time nonlinear systems assuming only the continuity of the dynamics. We show that from a computational perspective, our sufficient condition can be efficiently verified using the state-of-the-art neural network verifier $α,\!β$-CROWN, which scales up non-convex neural network verification via novel integration of symbolic linear bound propagation and branch-and-bound. Built upon our analysis tool, we further develop a learning method for synthesizing neural contraction metrics from sampled data. Finally, our approach is validated through the successful synthesis and verification of NN contraction metrics for various nonlinear examples.

Authors:Hsin-Jung Yang, Mahsa Khosravi, Benjamin Walt, Girish Krishnan, Soumik Sarkar
Title: Zero-shot Sim-to-Real Transfer for Reinforcement Learning-based Visual Servoing of Soft Continuum Arms
Abstract:
Soft continuum arms (SCAs) soft and deformable nature presents challenges in modeling and control due to their infinite degrees of freedom and non-linear behavior. This work introduces a reinforcement learning (RL)-based framework for visual servoing tasks on SCAs with zero-shot sim-to-real transfer capabilities, demonstrated on a single section pneumatic manipulator capable of bending and twisting. The framework decouples kinematics from mechanical properties using an RL kinematic controller for motion planning and a local controller for actuation refinement, leveraging minimal sensing with visual feedback. Trained entirely in simulation, the RL controller achieved a 99.8% success rate. When deployed on hardware, it achieved a 67% success rate in zero-shot sim-to-real transfer, demonstrating robustness and adaptability. This approach offers a scalable solution for SCAs in 3D visual servoing, with potential for further refinement and expanded applications.

Authors:Pol Mestres, Arnau Marzabal, Jorge Cortés
Title: Anytime Safe Reinforcement Learning
Abstract:
This paper considers the problem of solving constrained reinforcement learning problems with anytime guarantees, meaning that the algorithmic solution returns a safe policy regardless of when it is terminated. Drawing inspiration from anytime constrained optimization, we introduce Reinforcement Learning-based Safe Gradient Flow (RL-SGF), an on-policy algorithm which employs estimates of the value functions and their respective gradients associated with the objective and safety constraints for the current policy, and updates the policy parameters by solving a convex quadratically constrained quadratic program. We show that if the estimates are computed with a sufficiently large number of episodes (for which we provide an explicit bound), safe policies are updated to safe policies with a probability higher than a prescribed tolerance. We also show that iterates asymptotically converge to a neighborhood of a KKT point, whose size can be arbitrarily reduced by refining the estimates of the value function and their gradients. We illustrate the performance of RL-SGF in a navigation example.

Authors:Kunpeng Zhang, Lei Xu, Xinlei Yi, Guanghui Wen, Lihua Xie, Tianyou Chai, Tao Yang
Title: One-Point Sampling for Distributed Bandit Convex Optimization with Time-Varying Constraints
Abstract:
This paper considers the distributed bandit convex optimization problem with time-varying constraints. In this problem, the global loss function is the average of all the local convex loss functions, which are unknown beforehand. Each agent iteratively makes its own decision subject to time-varying inequality constraints which can be violated but are fulfilled in the long run. For a uniformly jointly strongly connected time-varying directed graph, a distributed bandit online primal-dual projection algorithm with one-point sampling is proposed. We show that sublinear dynamic network regret and network cumulative constraint violation are achieved if the path-length of the benchmark also increases in a sublinear manner. In addition, an $\mathcal{O}({T^{3/4 + g}})$ static network regret bound and an $\mathcal{O}( {{T^{1 - {g}/2}}} )$ network cumulative constraint violation bound are established, where $T$ is the total number of iterations and $g \in ( {0,1/4} )$ is a trade-off parameter. Moreover, a reduced static network regret bound $\mathcal{O}( {T^{2/3 + 4g /3}} )$ is established for strongly convex local loss functions. Finally, a numerical example is presented to validate the theoretical results.

Authors:Haolin Liu, Shiliang Zhang, Shangbin Jiao, Xiaohui Zhang, Xuehui Ma, Yan Yan, Wenchuan Cui, Youmin Zhang
Title: Adaptive Fault-tolerant Control of Underwater Vehicles with Thruster Failures
Abstract:
This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop a soft-switching approach in facilitating shift of control strategies across fault scenarios. We mathematically define AUV thruster fault scenarios, and develop the fault-tolerant control that captures the fault scenario via Bayesian approach. Particularly, when the AUV fault type switches from one to another, the developed control captures the fault states and maintains the control by a linear quadratic tracking controller. With the captured fault states by Bayesian approach, we derive the control law by aggregating the control outputs for individual fault scenarios weighted by their Bayesian posterior probability. The developed fault-tolerant control works in an adaptive way and guarantees soft-switching across fault scenarios, and requires no complicated fault detection dedicated to different type of faults. The entailed soft-switching ensures stable AUV trajectory tracking when fault type shifts, which otherwise leads to reduced control under hard-switching control strategies. We conduct numerical simulations with diverse AUV thruster fault settings. The results demonstrate that the proposed control can provide smooth transition across thruster failures, and effectively sustain AUV trajectory tracking control in case of thruster failures and failure shifts.

Authors:András Sasfi, Ivan Markovsky, Alberto Padoan, Florian Dörfler
Title: Gaussian behaviors: representations and data-driven control
Abstract:
We propose a modeling framework for stochastic systems, termed Gaussian behaviors, that describes finite-length trajectories of a system as a Gaussian process. The proposed model naturally quantifies the uncertainty in the trajectories, yet it is simple enough to allow for tractable formulations. We relate the proposed model to existing descriptions of dynamical systems including deterministic and stochastic behaviors, and linear time-invariant (LTI) state-space models with Gaussian noise. Gaussian behaviors can be estimated directly from observed data as the empirical sample covariance. The distribution of future outputs conditioned on inputs and past outputs provides a predictive model that can be incorporated in predictive control frameworks. We show that subspace predictive control is a certainty-equivalence control formulation with the estimated Gaussian behavior. Furthermore, the regularized data-enabled predictive control (DeePC) method is shown to be a distributionally optimistic formulation that optimistically accounts for uncertainty in the Gaussian behavior. To mitigate the excessive optimism of DeePC, we propose a novel distributionally robust control formulation, and provide a convex reformulation allowing for efficient implementation.

Authors:Sebastiano Taddei, Mattia Piccinini, Francesco Biral
Title: Biasing the Driving Style of an Artificial Race Driver for Online Time-Optimal Maneuver Planning
Abstract:
In this work, we present a novel approach to bias the driving style of an artificial race driver (ARD) for online time-optimal trajectory planning. Our method leverages a nonlinear model predictive control (MPC) framework that combines time minimization with exit speed maximization at the end of the planning horizon. We introduce a new MPC terminal cost formulation based on the trajectory planned in the previous MPC step, enabling ARD to adapt its driving style from early to late apex maneuvers in real-time. Our approach is computationally efficient, allowing for low replan times and long planning horizons. We validate our method through simulations, comparing the results against offline minimum-lap-time (MLT) optimal control and online minimum-time MPC solutions. The results demonstrate that our new terminal cost enables ARD to bias its driving style, and achieve online lap times close to the MLT solution and faster than the minimum-time MPC solution. Our approach paves the way for a better understanding of the reasons behind human drivers' choice of early or late apex maneuvers.

Authors:Kuiyuan Ding, Caili Guo, Yang Yang, Wuxia Hu, Yonina C. Eldar
Title: A New Paradigm of User-Centric Wireless Communication Driven by Large Language Models
Abstract:
The next generation of wireless communications seeks to deeply integrate artificial intelligence (AI) with user-centric communication networks, with the goal of developing AI-native networks that more accurately address user requirements. The rapid development of large language models (LLMs) offers significant potential in realizing these goals. However, existing efforts that leverage LLMs for wireless communication often overlook the considerable gap between human natural language and the intricacies of real-world communication systems, thus failing to fully exploit the capabilities of LLMs. To address this gap, we propose a novel LLM-driven paradigm for wireless communication that innovatively incorporates the nature language to structured query language (NL2SQL) tool. Specifically, in this paradigm, user personal requirements is the primary focus. Upon receiving a user request, LLMs first analyze the user intent in terms of relevant communication metrics and system parameters. Subsequently, a structured query language (SQL) statement is generated to retrieve the specific parameter values from a high-performance real-time database. We further utilize LLMs to formulate and solve an optimization problem based on the user request and the retrieved parameters. The solution to this optimization problem then drives adjustments in the communication system to fulfill the user's requirements. To validate the feasibility of the proposed paradigm, we present a prototype system. In this prototype, we consider user-request centric semantic communication (URC-SC) system in which a dynamic semantic representation network at the physical layer adapts its encoding depth to meet user requirements. Additionally, two LLMs are employed to analyze user requests and generate SQL statements, respectively. Simulation results demonstrate the effectiveness.

Authors:Brenner S. Rego, Guilherme V. Raffo, Marco H. Terra, Joseph K. Scott
Title: Reachability Analysis of Nonlinear Discrete-Time Systems Using Polyhedral Relaxations and Constrained Zonotopes
Abstract:
This paper presents a novel algorithm for reachability analysis of nonlinear discrete-time systems. The proposed method combines constrained zonotopes (CZs) with polyhedral relaxations of factorable representations of nonlinear functions to propagate CZs through nonlinear functions, which is normally done using conservative linearization techniques. The new propagation method provides better approximations than those resulting from linearization procedures, leading to significant improvements in the computation of reachable sets in comparison to other CZ methods from the literature. Numerical examples highlight the advantages of the proposed algorithm.

Authors:Sanchita Ghosh, Tanushree Roy
Title: Transfer Learning Assisted XgBoost For Adaptable Cyberattack Detection In Battery Packs
Abstract:
Optimal charging of electric vehicle (EVs) depends heavily on reliable sensor measurements from the battery pack to the cloud-controller of the smart charging station. However, an adversary could corrupt the voltage sensor data during transmission, potentially causing local to wide-scale disruptions. Therefore, it is essential to detect sensor cyberattacks in real-time to ensure secure EV charging, and the developed algorithms must be readily adaptable to variations, including pack configurations. To tackle these challenges, we propose adaptable fine-tuning of an XgBoost-based cell-level model using limited pack-level data to use for voltage prediction and residual generation. We used battery cell and pack data from high-fidelity charging experiments in PyBaMM and `liionpack' package to train and test the detection algorithm. The algorithm's performance has been evaluated for two large-format battery packs under sensor swapping and replay attacks. The simulation results also highlight the adaptability and efficacy of our proposed detection algorithm.

Authors:Sanchita Ghosh, Tanushree Roy
Title: Secure Estimation of Battery Voltage Under Sensor Attacks: A Self-Learning Koopman Approach
Abstract:
Cloud-based battery management system (BMS) requires accurate terminal voltage measurement data to ensure optimal and safe charging of Lithium-ion batteries. Unfortunately, an adversary can corrupt the battery terminal voltage data as it passes from the local-BMS to the cloud-BMS through the communication network, with the objective of under- or over-charging the battery. To ensure accurate terminal voltage data under such malicious sensor attacks, this paper investigates a Koopman-based secure terminal voltage estimation scheme using a two-stage error-compensated self-learning feedback. During the first stage of error correction, the potential Koopman prediction error is estimated to compensate for the error accumulation due to the linear approximation of Koopman operator. The second stage of error compensation aims to recover the error amassing from the higher-order dynamics of the Lithium-ion batteries missed by the self-learning strategy. Specifically, we have proposed two different methods for this second stage error compensation. First, an interpretable empirical correction strategy has been obtained using the open circuit voltage to state-of-charge mapping for the battery. Second, a Gaussian process regression-based data-driven method has been explored. Finally, we demonstrate the efficacy of the proposed secure estimator using both empirical and data-driven corrections.

Authors:Ming Xu, Stephen Gould, Iman Shames
Title: Line-Search Filter Differential Dynamic Programming for Optimal Control with Nonlinear Equality Constraints
Abstract:
We present FilterDDP, a differential dynamic programming algorithm for solving discrete-time, optimal control problems (OCPs) with nonlinear equality constraints. Unlike prior methods based on merit functions or the augmented Lagrangian class of algorithms, FilterDDP uses a step filter in conjunction with a line search to handle equality constraints. We identify two important design choices for the step filter criteria which lead to robust numerical performance: 1) we use the Lagrangian instead of the cost as one of the filter criterion and, 2) for the stopping criteria and backward pass Hessians, we replace the value function gradient with an estimated dual variable of the dynamics constraints. Both choices are rigorously justified, for 2) in particular by a formal proof of local quadratic convergence. We validate FilterDDP on three contact implicit trajectory optimisation problems which arise in robotics.

Authors:Marco Coraggio, Davide Salzano, Mario di Bernardo
Title: Controlling Complex Systems
Abstract:
This chapter provides a comprehensive overview of controlling collective behavior in complex systems comprising large ensembles of interacting dynamical agents. Building upon traditional control theory's foundation in individual systems, we introduce tools designed to address the unique challenges of coordinating networks that exhibit emergent phenomena, including consensus, synchronization, and pattern formation. We analyze how local agent interactions generate macroscopic behaviors and investigate the fundamental role of network topology in determining system dynamics. Inspired by natural systems, we emphasize control strategies that achieve global coordination through localized interventions while considering practical implementation challenges. The chapter concludes by presenting novel frameworks for managing very large agent ensembles and leveraging interacting networks for control purposes.

Authors:Brenner S. Rego, Joseph K. Scott, Davide M. Raimondo, Marco H. Terra, Guilherme V. Raffo
Title: ZETA: a library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems
Abstract:
This paper introduces ZETA, a new MATLAB library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems. It features user-friendly implementations of set representations based on zonotopes, namely zonotopes, constrained zonotopes, and line zonotopes, in addition to a basic implementation of interval arithmetic. This library has capabilities starting from the basic set operations with these sets, including propagations through nonlinear functions using various approximation methods. The features of ZETA allow for reachability analysis and state estimation of discrete-time linear, nonlinear, and descriptor systems, in addition to active fault diagnosis of linear systems. Efficient order reduction methods are also implemented for the respective set representations. Some examples are presented in order to illustrate the functionalities of the new library.

Authors:Giacomo Bastianel, Jan Kircheis, Merijn Van Deyck, Dongyeong Lee, Geraint Chaffey, Marta Vanin, Hakan Ergun, Jef Beerten, Dirk Van Hertem
Title: Review, Definition and Challenges of Electrical Energy Hubs
Abstract:
To transition towards a carbon-neutral power system, considerable amounts of renewable energy generation capacity are being installed in the North Sea area. Consequently, projects aggregating many gigawatts of power generation capacity and transmitting renewable energy to the main load centers are being developed. Given the electrical challenges arising from having bulk power capacity in a compact geographical area with several connections to the main grid, and a lack of a robust definition identifying the type of system under study, this paper proposes a general technical definition of such projects introducing the term Electrical Energy Hub (EEH). The concept, purpose, and functionalities of EEHs are introduced in the text, emphasizing the importance of a clear technical definition for future planning procedures, grid codes, regulations, and support schemes for EEHs and multiterminal HVDC (MTDC) grids in general. Furthermore, the unique electrical challenges associated with integrating EEHs into the power system are discussed. Three research areas of concern are identified, namely control, planning, and protection. Through this analysis, insights are provided into the effective implementation of multi-GW scale EEH projects and their integration into the power grid through multiple interconnections. Finally, a list of ongoing and planned grid development projects is evaluated to assess whether they fall within the EEH category

Authors:Zhongyao Hu, Bo Chen, Chao Sun, Li Yu
Title: Covariance-Intersection-based Distributed Kalman Filtering: Stability Problems Revisited
Abstract:
This paper studies the stability of covariance-intersection (CI)-based distributed Kalman filtering in time-varying systems. For the general time-varying case, a relationship between the error covariance and the observability Gramian is established. Utilizing this relationship, we demonstrate an intuition that the stability of a node is only related to the observability of those nodes that can reach it uniformly. For the periodic time-varying case, it is proved by a monotonicity analysis method that CI-based distributed Kalman filtering converges periodically for any initial condition. The convergent point is shown to be the unique positive definite solution to a Riccati-like equation. Additionally, by constructing an intermediate difference equation, the closed-loop transition matrix of the estimation error system is proved to be Schur stable. Notably, all theoretical results are obtained without requiring network connectivity assumptions. Finally, simulations verify the effectiveness of the stability results.

Authors:Alessandro Abate, Mirco Giacobbe, Diptarko Roy
Title: Quantitative Supermartingale Certificates
Abstract:
We introduce a general methodology for quantitative model checking and control synthesis with supermartingale certificates. We show that every specification that is invariant to time shifts admits a stochastic invariant that bounds its probability from below; for systems with general state space, the stochastic invariant bounds this probability as closely as desired; for systems with finite state space, it quantifies it exactly. Our result enables the extension of every certificate for the almost-sure satisfaction of shift-invariant specifications to its quantitative counterpart, ensuring completeness up to an approximation in the general case and exactness in the finite-state case. This generalises and unifies existing supermartingale certificates for quantitative verification and control under reachability, safety, reach-avoidance, and stability specifications, as well as asymptotic bounds on accrued costs and rewards. Furthermore, our result provides the first supermartingale certificate for computing upper and lower bounds on the probability of satisfying $ω$-regular and linear temporal logic specifications. We present an algorithm for quantitative $ω$-regular verification and control synthesis based on our method and demonstrate its practical efficacy on several infinite-state examples.

Authors:Zishun Liu, Liqian Ma, Yongxin Chen
Title: Trajectory Optimization of Stochastic Systems under Chance Constraints via Set Erosion
Abstract:
We study the trajectory optimization problem under chance constraints for continuous-time stochastic systems. To address chance constraints imposed on the entire stochastic trajectory, we propose a framework based on the set erosion strategy, which converts the chance constraints into safety constraints on an eroded subset of the safe set along the corresponding deterministic trajectory. The depth of erosion is captured by the probabilistic bound on the distance between the stochastic trajectory and its deterministic counterpart, for which we utilize a novel and sharp probabilistic bound developed recently. By adopting this framework, a deterministic control input sequence can be obtained, whose feasibility and performance are demonstrated through theoretical analysis. Our framework is compatible with various deterministic optimal control techniques, offering great flexibility and computational efficiency in a wide range of scenarios. To the best of our knowledge, our method provides the first scalable trajectory optimization scheme for high-dimensional stochastic systems under trajectory level chance constraints. We validate the proposed method through two numerical experiments.

Authors:Gustavo Quiros A., Yi Peng Zhu, Tao Cui, Shaokai Lin, Marten Lohstroh, Edward A. Lee
Title: Exploration of Approaches for Robustness and Safety in a Low Code Open Environment for Factory Automation
Abstract:
This report is a compilation of technical knowledge and concepts that were produced by the authors and additional contributors in the context of the collaboration projects "Abstraction Requirements for Language of Choice in Industrial Automation" (FY21-22) and "Approaches for Robust and Safe Low-Code" (FY23-24) from Siemens Technology and the University of California, Berkeley. The primary objective of these projects was to assess Siemens Open Industrial Edge (OIE) engineering capabilities by defining a concept that ensures the satisfaction of coordination and safety requirements when using disparate OIE modules. The objective was to use the Lingua Franca (LF) coordination language to demonstrate how to address challenges in: 1. engineering modular, distributed, and flexible automation solutions that ensure, by design, robust and safe operation1; 2. the use of IEC 61499, the event driven execution model for specifying the execution order of OIE modules (defined as function blocks); 3. support large-scale distributed OIE automation solutions, and eventually 4. define optimal solutions with synchronization and time-optimal mechanisms.

Authors:Joshua A. Robbins, Jacob A. Siefert, Herschel C. Pangborn
Title: Sparsity-Promoting Reachability Analysis and Optimization of Constrained Zonotopes
Abstract:
The constrained zonotope is a polytopic set representation widely used for set-based analysis and control of dynamic systems. This paper develops methods to formulate and solve optimization problems for dynamic systems in real time using constrained zonotope reachability analysis. An alternating direction method of multipliers (ADMM) algorithm is presented that makes efficient use of the constrained zonotope structure. To increase the efficiency of the ADMM iterations, reachability calculations are presented that increase the sparsity of the matrices used to define a constrained zonotope when compared to typical methods. The developed methods are used to formulate and solve predictive control, state estimation, and safety verification problems. Numerical results show that optimization times using the proposed approach are competitive with state-of-the-art QP solvers and conventional problem formulations. A combined set-valued state estimation and moving horizon estimation algorithm is presented and experimentally demonstrated in the context of robot localization.

Authors:Sifeddine Benahmed, Soulaimane Berkane, Tarek Hamel
Title: A Geometric Approach For Pose and Velocity Estimation Using IMU and Inertial/Body-Frame Measurements
Abstract:
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding the original state space, $\so \times \R^3 \times \R^3$, within the higher-dimensional Lie group $\sefive$, we reformulate the vehicle dynamics and outputs within a structured, geometric framework. In particular, this embedding enables a decoupling of the resulting geometric error dynamics: the translational error dynamics follow a structure similar to the error dynamics of a continuous-time Kalman filter, which allows for a time-varying gain design using the Riccati equation. Under the condition of uniform observability, we establish that the proposed observer design on $\sefive$ guarantees almost global asymptotic stability. We validate the approach in simulations for two practical scenarios: stereo-aided inertial navigation systems (INS) and GPS-aided INS. The proposed method significantly simplifies the design of nonlinear geometric observers for INS, providing a generalized and robust approach to state estimation.

Authors:Zhen Zhang, M. Umar B. Niazi, Michelle S. Chong, Karl H. Johansson, Amr Alanwar
Title: Data-Driven Nonconvex Reachability Analysis using Exact Multiplication
Abstract:
This paper addresses a fundamental challenge in data-driven reachability analysis: accurately representing and propagating non-convex reachable sets. We propose a novel approach using constrained polynomial zonotopes to describe reachable sets for unknown LTI systems. Unlike constrained zonotopes commonly used in existing literature, constrained polynomial zonotopes are closed under multiplication with constrained matrix zonotopes. We leverage this property to develop an exact multiplication method that preserves the non-convex geometry of reachable sets without resorting to approximations. We demonstrate that our approach provides tighter over-approximations of reachable sets for LTI systems compared to conventional methods.

Authors:Taoran Wu, Yiling Xue, Jingduo Pan, Dejin Ren, Arvind Easwaran, Bai Xue
Title: Convex Computations for Controlled Safety Invariant Sets of Black-box Discrete-time Dynamical Systems
Abstract:
Identifying controlled safety invariant sets (CSISs) is essential in safety-critical applications. This paper tackles the problem of identifying CSISs for black-box discrete-time systems, where the model is unknown and only limited simulation data is accessible. Traditionally, a CSIS is defined as a subset of a safe set, encompassing initial states for which a control input exists that keeps the system within the set at the next time step-this is referred to as the one-step invariance property. However, the requirement for one-step invariance can be equivalently translated into a stricter condition of ``always-invariance'', meaning that there exist control inputs capable of keeping the system within this set indefinitely. Such a condition may prove overly stringent or impractical for black-box systems, where predictions can become unreliable beyond a single time step or a limited number of finite time steps. To overcome the challenges posed by black-box systems, we reformulate the one-step invariance property in a ``Probably Approximately Correct'' (PAC) sense. This approach allows us to assess the probability that a control input exists to keep the system within the CSIS at the next time step, with a predefined level of confidence. If the system successfully remains within the set at the next time step, we can then reapply the invariance evaluation to the new state, thereby facilitating a recursive assurance of invariance. Our method employs barrier functions and scenario optimization, resulting in a linear programming method to estimate PAC CSISs. Finally, the effectiveness of our approach is demonstrated on several examples.

Authors:Giannis Delimpaltadakis, Pol Mestres, Jorge Cortés, W. P. M. H. Heemels
Title: Feedback Optimization with State Constraints through Control Barrier Functions
Abstract:
Recently, there has been a surge of research on a class of methods called feedback optimization. These are methods to steer the state of a control system to an equilibrium that arises as the solution of an optimization problem. Despite the growing literature on the topic, the important problem of enforcing state constraints at all times remains unaddressed. In this work, we present the first feedback-optimization method that enforces state constraints. The method combines a class of dynamics called safe gradient flows with high-order control barrier functions. We provide a number of results on our proposed controller, including well-posedness guarantees, anytime constraint-satisfaction guarantees, equivalence between the closed-loop's equilibria and the optimization problem's critical points, and local asymptotic stability of optima.

Authors:Brenner S. Rego, Guilherme V. Raffo, Marco H. Terra, Joseph K. Scott
Title: Set-based state estimation of nonlinear discrete-time systems using constrained zonotopes and polyhedral relaxations
Abstract:
This paper presents a new algorithm for set-based state estimation of nonlinear discrete-time systems with bounded uncertainties. The novel method builds upon essential properties and computational advantages of constrained zonotopes (CZs) and polyhedral relaxations of factorable representations of nonlinear functions to propagate CZs through nonlinear functions, which is usually done using conservative linearization in the literature. The new method also refines the propagated enclosure using nonlinear measurements. To achieve this, a lifted polyhedral relaxation is computed for the composite nonlinear function of the system dynamics and measurement equations, in addition to incorporating the measured output through equality constraints. Polyhedral relaxations of trigonometric functions are enabled for the first time, allowing to address a broader class of nonlinear systems than our previous works. Additionally, an approach to obtain an equivalent enclosure with fewer generators and constraints is developed. Thanks to the advantages of the polyhedral enclosures based on factorable representations, the new state estimation method provides better approximations than those resulting from linearization procedures. This led to significant improvements in the computation of convex sets enclosing the system states consistent with measured outputs. Numerical examples highlight the advantages of the novel algorithm in comparison to existing CZ methods based on the Mean Value Theorem and DC programming principles.

Authors:Kunpeng Zhang, Lei Xu, Xinlei Yi, Ming Cao, Karl H. Johansson, Tianyou Chai, Tao Yang
Title: Distributed Constrained Online Nonconvex Optimization with Compressed Communication
Abstract:
This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents. For a time-varying graph, we propose a distributed online primal-dual algorithm with compressed communication to efficiently utilize communication resources. We show that the proposed algorithm establishes an $\mathcal{O}( {{T^{\max \{ {1 - {θ_1},{θ_1}} \}}}} )$ network regret bound and an $\mathcal{O}( {T^{1 - {θ_1}/2}} )$ network cumulative constraint violation bound, where $T$ is the number of iterations and ${θ_1} \in ( {0,1} )$ is a user-defined trade-off parameter. When Slater's condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to $\mathcal{O}( {T^{1 - {θ_1}}} )$. These bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with (time-varying) inequality constraints. Finally, a simulation example is presented to validate the theoretical results.

Authors:Wanli Ni, Zhijin Qin, Haofeng Sun, Xiaoming Tao, Zhu Han
Title: Multi-Task Semantic Communications via Large Models
Abstract:
Artificial intelligence (AI) promises to revolutionize the design, optimization and management of next-generation communication systems. In this article, we explore the integration of large AI models (LAMs) into semantic communications (SemCom) by leveraging their multi-modal data processing and generation capabilities. Although LAMs bring unprecedented abilities to extract semantics from raw data, this integration entails multifaceted challenges including high resource demands, model complexity, and the need for adaptability across diverse modalities and tasks. To overcome these challenges, we propose a LAM-based multi-task SemCom (MTSC) architecture, which includes an adaptive model compression strategy and a federated split fine-tuning approach to facilitate the efficient deployment of LAM-based semantic models in resource-limited networks. Furthermore, a retrieval-augmented generation scheme is implemented to synthesize the most recent local and global knowledge bases to enhance the accuracy of semantic extraction and content generation, thereby improving the inference performance. Finally, simulation results demonstrate the efficacy of the proposed LAM-based MTSC architecture, highlighting the performance enhancements across various downstream tasks under varying channel conditions.

Authors:Ilia Shilov, Ezzat Elokda, Sophie Hall, Heinrich H. Nax, Saverio Bolognani
Title: Welfare and Cost Aggregation for Multi-Agent Control: When to Choose Which Social Cost Function, and Why?
Abstract:
Many multi-agent socio-technical systems rely on aggregating heterogeneous agents' costs into a social cost function (SCF) to coordinate resource allocation in domains like energy grids, water allocation, or traffic management. The choice of SCF often entails implicit assumptions and may lead to undesirable outcomes if not rigorously justified. In this paper, we demonstrate that what determines which SCF ought to be used is the degree to which individual costs can be compared across agents and which axioms the aggregation shall fulfill. Drawing on the results from social choice theory, we provide guidance on how this process can be used in control applications. We demonstrate which assumptions about interpersonal utility comparability - ranging from ordinal level comparability to full cardinal comparability - together with a choice of desirable axioms, inform the selection of a correct SCF, be it the classical utilitarian sum, the Nash SCF, or maximin. We then demonstrate how the proposed framework can be applied for principled allocations of water and transportation resources.

Authors:Riccardo Cescon, Andrea Martin, Giancarlo Ferrari-Trecate
Title: Data-driven Distributionally Robust Control Based on Sinkhorn Ambiguity Sets
Abstract:
As the complexity of modern control systems increases, it becomes challenging to derive an accurate model of the uncertainty that affects their dynamics. Wasserstein Distributionally Robust Optimization (DRO) provides a powerful framework for decision-making under distributional uncertainty only using noise samples. However, while the resulting policies inherit strong probabilistic guarantees when the number of samples is sufficiently high, their performance may significantly degrade when only a few data are available. Inspired by recent results from the machine learning community, we introduce an entropic regularization to penalize deviations from a given reference distribution and study data-driven DR control over Sinkhorn ambiguity sets. We show that for finite-horizon control problems, the optimal DR linear policy can be computed via convex programming. By analyzing the relation between the ambiguity set defined in terms of Wasserstein and Sinkhorn discrepancies, we reveal that, as the regularization parameter increases, this optimal policy interpolates between the solution of the Wasserstein DR problem and that of the stochastic problem under the reference distribution. We validate our theoretical findings and the effectiveness of our approach when only scarce data are available on a numerical example.

Authors:Igor G. Vladimirov, Ian R. Petersen, Guodong Shi
Title: Decoherence time maximization and partial isolation for open quantum harmonic oscillator memory networks
Abstract:
This paper considers a network of open quantum harmonic oscillators which interact with their neighbours through direct energy and field-mediated couplings and also with external quantum fields. The position-momentum dynamic variables of the network are governed by linear quantum stochastic differential equations associated with the nodes of a graph whose edges specify the interconnection of the component oscillators. Such systems can be employed as Heisenberg picture quantum memories with an engineered ability to approximately retain initial conditions over a bounded time interval. We use the quantum memory decoherence time defined previously in terms of a fidelity threshold on a weighted mean-square deviation for a subset (or linear combinations) of network variables from their initial values. This approach is applied to maximizing a high-fidelity asymptotic approximation of the decoherence time over the direct energy coupling parameters of the network. The resulting optimality condition is a set of linear equations for blocks of a sparse matrix associated with the edges of the direct energy coupling graph of the network. We also discuss a setting where the quantum network has a subset of dynamic variables which are affected by the external fields only indirectly, through a complementary ``shielding'' system. This holds under a rank condition on the network-field coupling matrix and can be achieved through an appropriate field-mediated coupling between the component oscillators. The partially isolated subnetwork has a longer decoherence time in the high-fidelity limit, thus providing a particularly relevant candidate for a quantum memory.

Authors:James Dallas, John Talbot, Makoto Suminaka, Michael Thompson, Thomas Lew, Gabor Orosz, John Subosits
Title: Control Barrier Functions for Shared Control and Vehicle Safety
Abstract:
This manuscript presents a control barrier function based approach to shared control for preventing a vehicle from entering the part of the state space where it is unrecoverable. The maximal phase recoverable ellipse is presented as a safe set in the sideslip angle--yaw rate phase plane where the vehicle's state can be maintained. An exponential control barrier function is then defined on the maximal phase recoverable ellipse to promote safety. Simulations demonstrate that this approach enables safe drifting, that is, driving at the handling limit without spinning out. Results are then validated for shared control drifting with an experimental vehicle in a closed course. The results show the ability of this shared control formulation to maintain the vehicle's state within a safe domain in a computationally efficient manner, even in extreme drifting maneuvers.

Authors:Joshua Näf, Keith Moffat, Jaap Eising, Florian Dörfler
Title: Choose Wisely: Data-driven Predictive Control for Nonlinear Systems Using Online Data Selection
Abstract:
This paper proposes Select-Data-driven Predictive Control (Select-DPC), a new method for controlling nonlinear systems using output-feedback for which data are available but an explicit model is not. At each timestep, Select-DPC employs only the most relevant data to implicitly linearize the dynamics in "trajectory space". Then, taking user-defined output constraints into account, it makes control decisions using a convex optimization. This optimal control is applied in a receding-horizon manner. As the online data-selection is the core of Select-DPC, we propose and verify both norm-based and manifold-embedding-based selection methods. We evaluate Select-DPC on three benchmark nonlinear system simulators -- rocket-landing, a robotic arm and cart-pole inverted pendulum swing-up -- comparing them with standard Data-enabled Predictive Control (DeePC) and Time-Windowed DeePC methods, and find that Select-DPC outperforms both methods.

Authors:Siddharth Chandak, Shaan Ul Haque, Nicholas Bambos
Title: Finite-Time Bounds for Two-Time-Scale Stochastic Approximation with Arbitrary Norm Contractions and Markovian Noise
Abstract:
Two-time-scale Stochastic Approximation (SA) is an iterative algorithm with applications in reinforcement learning and optimization. Prior finite time analysis of such algorithms has focused on fixed point iterations with mappings contractive under Euclidean norm. Motivated by applications in reinforcement learning, we give the first mean square bound on non linear two-time-scale SA where the iterations have arbitrary norm contractive mappings and Markovian noise. We show that the mean square error decays at a rate of $O(1/n^{2/3})$ in the general case, and at a rate of $O(1/n)$ in a special case where the slower timescale is noiseless. Our analysis uses the generalized Moreau envelope to handle the arbitrary norm contractions and solutions of Poisson equation to deal with the Markovian noise. By analyzing the SSP Q-Learning algorithm, we give the first $O(1/n)$ bound for an algorithm for asynchronous control of MDPs under the average reward criterion. We also obtain a rate of $O(1/n)$ for Q-Learning with Polyak-averaging and provide an algorithm for learning Generalized Nash Equilibrium (GNE) for strongly monotone games which converges at a rate of $O(1/n^{2/3})$.

Authors:Brenner S. Rego, Daniel N. Cardoso, Marco. H. Terra, Guilherme V. Raffo
Title: Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation
Abstract:
This paper proposes a joint state-parameter observer-based controller for trajectory tracking of an octocopter unmanned aerial vehicle (OUAV), for transportation of a heavy load with unknown mass and size. The multi-body dynamic model of the OUAV with a rigidly attached load is obtained, effectively considering the effects of the load parameters into the dynamics of the system. A robust nonlinear W-infinity control strategy is designed for optimal trajectory tracking of the OUAV, with information of the states and load parameters provided by a joint estimation unscented Kalman filter. The effectiveness of the proposed strategy is corroborated by numerical results.

Authors:Jonah J. Glunt, Joshua A. Robbins, Jacob A. Siefert, Daniel Silvestre, Herschel C. Pangborn
Title: Sharp Hybrid Zonotopes: Set Operations and the Reformulation-linearization Technique
Abstract:
Mixed integer set representations, and specifically hybrid zonotopes, have enabled new techniques for reachability and verification of nonlinear and hybrid systems. Mixed-integer sets which have the property that their convex relaxation is equal to their convex hull are said to be sharp. This property allows the convex hull to be computed with minimal overhead, and is known to be important for improving the convergence rates of mixed-integer optimization algorithms that rely on convex relaxations. This paper examines methods for formulating sharp hybrid zonotopes and provides sharpness-preserving methods for performing several key set operations. The paper then shows how the reformulation-linearization technique can be applied to create a sharp realization of a hybrid zonotope that is initially not sharp. A numerical example applies this technique to find the convex hull of a level set of a feedforward ReLU neural network.

Authors:David E. J. van Wijk, Ersin Das, Anil Alan, Samuel Coogan, Tamas G. Molnar, Joel W. Burdick, Manoranjan Majji, Kerianne L. Hobbs
Title: Disturbance Observers for Robust Backup Control Barrier Functions
Abstract:
Designing safe controllers is crucial and notoriously challenging for input-constrained safety-critical control systems. Backup control barrier functions offer an approach for the construction of safe controllers online by considering the flow of the system under a backup controller. However, in the presence of model uncertainties, the flow cannot be accurately computed, making this method insufficient for safety assurance. To tackle this shortcoming, we integrate backup control barrier functions with a disturbance observer and estimate the flow under a reconstruction of the disturbance while refining this estimate over time. We prove that the controllers resulting from the proposed Disturbance Observer Backup Control Barrier Function (DO-bCBF) approach guarantee safety, are robust to unknown disturbances, and satisfy input constraints.

Authors:Jonah J. Glunt, Jacob A. Siefert, Andrew F. Thompson, Justin Ruths, Herschel C. Pangborn
Title: Automated Functional Decomposition for Hybrid Zonotope Over-approximations with Application to LSTM Networks
Abstract:
Functional decomposition is a powerful tool for systems analysis because it can reduce a function of arbitrary input dimensions to the sum and superposition of functions of a single variable, thereby mitigating (or potentially avoiding) the exponential scaling often associated with analyses over high-dimensional spaces. This paper presents automated methods for constructing functional decompositions used to form set-based over-approximations of nonlinear functions, with particular focus on the hybrid zonotope set representation. To demonstrate these methods, we construct a hybrid zonotope set that over-approximates the input-output graph of a long short-term memory neural network, and use functional decomposition to represent a discrete hybrid automaton via a hybrid zonotope.

Authors:Stelios Zarifis, Ioannis Kordonis, Petros Maragos
Title: Diffusion-Based Forecasting for Uncertainty-Aware Model Predictive Control
Abstract:
We propose Diffusion-Informed Model Predictive Control (D-I MPC), a generic framework for uncertainty-aware prediction and decision-making in partially observable stochastic systems by integrating diffusion-based time series forecasting models in Model Predictive Control algorithms. In our approach, a diffusion-based time series forecasting model is used to probabilistically estimate the evolution of the system's stochastic components. These forecasts are then incorporated into MPC algorithms to estimate future trajectories and optimize action selection under the uncertainty of the future. We evaluate the framework on the task of energy arbitrage, where a Battery Energy Storage System participates in the day-ahead electricity market of the New York state. Experimental results indicate that our model-based approach with a diffusion-based forecaster significantly outperforms both implementations with classical forecasting methods and model-free reinforcement learning baselines.

Authors:Jianye Xu, Bassam Alrifaee
Title: High-Order Control Barrier Functions: Insights and a Truncated Taylor-Based Formulation
Abstract:
We examine the complexity of the standard High-Order Control Barrier Function (HOCBF) approach and propose a truncated Taylor-based approach that reduces design parameters. First, we derive the explicit inequality condition for the HOCBF approach and show that the corresponding equality condition sets a lower bound on the barrier function value that regulates its decay rate. Next, we present our Truncated Taylor CBF (TTCBF), which uses a truncated Taylor series to approximate the discrete-time CBF condition. While the standard HOCBF approach requires multiple class K functions, leading to more design parameters as the constraint's relative degree increases, our TTCBF approach requires only one. We support our theoretical findings in numerical collision-avoidance experiments and show that our approach ensures safety while reducing design complexity.

Authors:Sanchita Ghosh, Tanushree Roy
Title: Assessment of Cyberattack Detection-Isolation Algorithm for CAV Platoons Using SUMO
Abstract:
A Connected Autonomous Vehicle (CAV) platoon in an evolving real-world driving environment relies strongly on accurate vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication for its safe and efficient operation. However, a cyberattack on this communication network can corrupt the appropriate control actions, tamper with system measurement, and drive the platoon to unsafe or undesired conditions. As a first step toward practicable resilience against such V2V-V2I attacks, in this paper, we implemented a unified V2V-V2I cyberattack detection scheme and a V2I isolation scheme for a CAV platoon under changing driving conditions in Simulation of Urban MObility (SUMO). The implemented algorithm utilizes vehicle-specific residual generators that are designed based on analytical disturbance-to-state stability, robustness, and sensitivity performance constraints. Our case studies include two driving scenarios where highway driving is simulated using the Next-Generation Simulation (NGSIM) data and urban driving follows the benchmark EPA Urban Dynamometer Driving Schedule (UDDS). The results validate the applicability of the algorithm to ensure CAV cybersecurity and demonstrate the promising potential for practical test-bed implementation in the future.

Authors:Beniamino Di Lorenzo, Gian Carlo Maffettone, Mario di Bernardo
Title: Decentralized Continuification Control of Multi-Agent Systems via Distributed Density Estimation
Abstract:
This paper introduces a novel decentralized implementation of a continuification-based strategy to control the density of large-scale multi-agent systems on the unit circle. While continuification methods effectively address micro-to-macro control problems by reformulating ordinary/stochastic differential equations (ODEs/SDEs) agent-based models into more tractable partial differential equations (PDEs), they traditionally require centralized knowledge of macroscopic state observables. We overcome this limitation by developing a distributed density estimation framework that combines kernel density estimation with PI consensus dynamics. Our approach enables agents to compute local density estimates and derive local control actions using only information from neighboring agents in a communication network. Numerical validations across multiple scenarios - including regulation, tracking, and time-varying communication topologies - confirm the effectiveness of the proposed approach. They also convincingly demonstrate that our decentralized implementation achieves performance comparable to centralized approaches while enhancing reliability and practical applicability.

Authors:Vincent Schorp, Frédéric Giraud, Gianluca Pargätzi, Michael Wäspe, Lorenzo von Ritter-Zahony, Marcel Wegmann, Nicola A. Cavalcanti, John Garcia Henao, Nicholas Bünger, Dominique Cachin, Sebastiano Caprara, Philipp Fürnstahl, Fabio Carrillo
Title: A Modular Edge Device Network for Surgery Digitalization
Abstract:
Future surgical care demands real-time, integrated data to drive informed decision-making and improve patient outcomes. The pressing need for seamless and efficient data capture in the OR motivates our development of a modular solution that bridges the gap between emerging machine learning techniques and interventional medicine. We introduce a network of edge devices, called Data Hubs (DHs), that interconnect diverse medical sensors, imaging systems, and robotic tools via optical fiber and a centralized network switch. Built on the NVIDIA Jetson Orin NX, each DH supports multiple interfaces (HDMI, USB-C, Ethernet) and encapsulates device-specific drivers within Docker containers using the Isaac ROS framework and ROS2. A centralized user interface enables straightforward configuration and real-time monitoring, while an Nvidia DGX computer provides state-of-the-art data processing and storage. We validate our approach through an ultrasound-based 3D anatomical reconstruction experiment that combines medical imaging, pose tracking, and RGB-D data acquisition.

Authors:Eder Baron-Prada, Adolfo Anta, Alberto Padoan, Florian Dörfler
Title: Stability results for MIMO LTI systems via Scaled Relative Graphs
Abstract:
This paper proposes a new approach for stability analysis of multi-input, multi-output (MIMO) feedback systems through Scaled Relative Graphs (SRGs). Unlike traditional methods, such as the Generalized Nyquist Criterion (GNC), which relies on a coupled analysis that requires the multiplication of models, our approach enables the evaluation of system stability in a decoupled fashion and provides an intuitive, visual representation of system behavior. Our results provide conditions for certifying the stability of feedback MIMO Linear Time-Invariant (LTI) systems.

Authors:Eder Baron-Prada, Adolfo Anta, Alberto Padoan, Florian Dörfler
Title: Mixed Small Gain and Phase Theorem: A new view using Scale Relative Graphs
Abstract:
We introduce a novel approach to feedback stability analysis for linear time-invariant (LTI) systems, overcoming the limitations of the sectoriality assumption in the small phase theorem. While phase analysis for single-input single-output (SISO) systems is well-established, multi-input multi-output (MIMO) systems lack a comprehensive phase analysis until recent advances introduced with the small-phase theorem. A limitation of the small-phase theorem is the sectorial condition, which states that an operator's eigenvalues must lie within a specified angle sector of the complex plane. We propose a framework based on Scaled Relative Graphs (SRGs) to remove this assumption. We derive two main results: a graphical set-based stability condition using SRGs and a small-phase theorem with no sectorial assumption. These results broaden the scope of phase analysis and feedback stability for MIMO systems.

Authors:Hansol Lim, Jee Won Lee, Seung-Bok Choi, Jongseong Brad Choi
Title: PD-Skygroundhook Controller for Semi-Active Suspension System Using Magnetorheological Fluid Dampers
Abstract:
This paper presents a Proportional-Derivative (PD) Skygroundhook controller for magnetorheological (MR) dampers in semi-active suspensions. Traditional skyhook, Groundhook, and hybrid Skygroundhook controllers are well-known for their ability to reduce body and wheel vibrations; however, each approach has limitations in handling a broad frequency spectrum and often relies on abrupt switching. By adding a derivative action to the classical Skygroundhook logic, the proposed PD-Skygroundhook method enhances high-frequency damping and stabilizes transition behaviors. By leveraging the fast response of MR dampers, our controller adjusts the damper force continuously in real time to match the desired damping force of PD-Skygroundhook controller with efficient computation. Experimental evaluations under bump excitations and sine-sweeping tests demonstrate a significant reduction in sprung mass acceleration and unsprung mass acceleration, outperforming standard Skygroundhook in both ride comfort and road handling. These results highlight that the derivative action effectively reduces resonance peaks and smooths out force transitions of regular Skygroundhook. Our method offers a robust alternative to more computationally demanding semi-active controllers.

Authors:Benjamin Wong, Ryan H. Lee, Tyler M. Paine, Santosh Devasia, Ashis G. Banerjee
Title: Rapidly Converging Time-Discounted Ergodicity on Graphs for Active Inspection of Confined Spaces
Abstract:
Ergodic exploration has spawned a lot of interest in mobile robotics due to its ability to design time trajectories that match desired spatial coverage statistics. However, current ergodic approaches are for continuous spaces, which require detailed sensory information at each point and can lead to fractal-like trajectories that cannot be tracked easily. This paper presents a new ergodic approach for graph-based discretization of continuous spaces. It also introduces a new time-discounted ergodicity metric, wherein early visitations of information-rich nodes are weighted more than late visitations. A Markov chain synthesized using a convex program is shown to converge more rapidly to time-discounted ergodicity than the traditional fastest mixing Markov chain. The resultant ergodic traversal method is used within a hierarchical framework for active inspection of confined spaces with the goal of detecting anomalies robustly using SLAM-driven Bayesian hypothesis testing. Both simulation and physical experiments on a ground robot show the advantages of this framework over greedy and random exploration methods for left-behind foreign object debris detection in a ballast tank.

Authors:Kaoru Teranishi, Kiminao Kogiso, Takashi Tanaka
Title: Faithful and Privacy-Preserving Implementation of Average Consensus
Abstract:
We propose a protocol based on mechanism design theory and encrypted control to solve average consensus problems among rational and strategic agents while preserving their privacy. The proposed protocol provides a mechanism that incentivizes the agents to faithfully implement the intended behavior specified in the protocol. Furthermore, the protocol runs over encrypted data using homomorphic encryption and secret sharing to protect the privacy of agents. We also analyze the security of the proposed protocol using a simulation paradigm in secure multi-party computation. The proposed protocol demonstrates that mechanism design and encrypted control can complement each other to achieve security under rational adversaries.

Authors:Yitaek Kim, Iñigo Iturrate, Christoffer Sloth, Hansoul Kim
Title: Safety-Ensured Robotic Control Framework for Cutting Task Automation in Endoscopic Submucosal Dissection
Abstract:
There is growing interest in automating surgical tasks using robotic systems, such as endoscopy for treating gastrointestinal (GI) cancer. However, previous studies have primarily focused on detecting and analyzing objects or robots, with limited attention to ensuring safety, which is critical for clinical applications, where accidents can be caused by unsafe robot motions. In this study, we propose a new control framework that can formally ensure the safety of automating the cutting task in endoscopic submucosal dissection (ESD), a representative endoscopic surgical method for the treatment of early GI cancer, by using an endoscopic robot. The proposed framework utilizes Control Barrier Functions (CBFs) to accurately identify the boundaries of individual tumors, even in close proximity within the GI tract, ensuring precise treatment and removal while preserving the surrounding normal tissue. Additionally, by adopting a model-free control scheme, safety assurance is made possible even in endoscopic robotic systems where dynamic modeling is challenging. We demonstrate the proposed framework in a simulation-based experimental environment, where the tumors to be removed are close to each other, and show that the safety constraints are enforced. We show that the model-free CBF-based controlled robot eliminates one tumor completely without damaging it, while not invading another nearby tumor.

Authors:Yunhong Che, Vivek N. Lam, Jinwook Rhyu, Joachim Schaeffer, Minsu Kim, Martin Z. Bazant, William C. Chueh, Richard D. Braatz
Title: Diagnostic-free onboard battery health assessment
Abstract:
Diverse usage patterns induce complex and variable aging behaviors in lithium-ion batteries, complicating accurate health diagnosis and prognosis. Separate diagnostic cycles are often used to untangle the battery's current state of health from prior complex aging patterns. However, these same diagnostic cycles alter the battery's degradation trajectory, are time-intensive, and cannot be practically performed in onboard applications. In this work, we leverage portions of operational measurements in combination with an interpretable machine learning model to enable rapid, onboard battery health diagnostics and prognostics without offline diagnostic testing and the requirement of historical data. We integrate mechanistic constraints within an encoder-decoder architecture to extract electrode states in a physically interpretable latent space and enable improved reconstruction of the degradation path. The health diagnosis model framework can be flexibly applied across diverse application interests with slight fine-tuning. We demonstrate the versatility of this model framework by applying it to three battery-cycling datasets consisting of 422 cells under different operating conditions, highlighting the utility of an interpretable diagnostic-free, onboard battery diagnosis and prognosis model.

Authors:Francesca Rossi, Sergi Costa Dilme, Josep Arevalo-Soler, Eduardo Prieto-Araujo, Oriol Gomis-Bellmunt
Title: Data-Driven Decision Making for Enhancing Small-Signal Stability in Hybrid AC/DC Grids Through Converter Control Role Assignment
Abstract:
Hybrid AC/DC transmission grids incorporate Modular Multilevel Converters functioning as Interconnecting Power Converters (IPCs). The control role assigned to each converter significantly influences grid dynamics. Traditionally, these converters operate with static control roles, but recent studies have proposed scheduling their roles based on day-ahead forecasts to enhance stability performance. However, in systems with high renewable energy penetration, forecast deviations can render scheduled control assignments suboptimal or even lead to instability. To address this challenge, this work proposes an online scheduling recalculation algorithm that dynamically adapts IPC control roles during system operation. The approach leverages a data-driven multi-criteria decision-making framework, integrating surrogate models of conventional small-signal stability analysis tools to enable a fast computation of system stability and stability performance indicators.

Authors:Zishun Liu, Saber Jafarpour, Yongxin Chen
Title: Safety Verification of Nonlinear Stochastic Systems via Probabilistic Tube
Abstract:
We address the problem of safety verification for nonlinear stochastic systems, specifically the task of certifying that system trajectories remain within a safe set with high probability. To tackle this challenge, we adopt a set-erosion strategy, which decouples the effects of stochastic disturbances from deterministic dynamics. This approach converts the stochastic safety verification problem on a safe set into a deterministic safety verification problem on an eroded subset of the safe set. The success of this strategy hinges on the depth of erosion, which is determined by a probabilistic tube that bounds the deviation of stochastic trajectories from their corresponding deterministic trajectories. Our main contribution is the establishment of a tight bound for the probabilistic tube of nonlinear stochastic systems. To obtain a probabilistic bound for stochastic trajectories, we adopt a martingale-based approach. The core innovation lies in the design of a novel energy function associated with the averaged moment generating function, which forms an affine martingale, a generalization of the traditional c-martingale. Using this energy function, we derive a precise bound for the probabilistic tube. Furthermore, we enhance this bound by incorporating the union-bound inequality for strictly contractive dynamics. By integrating the derived probabilistic tubes into the set-erosion strategy, we demonstrate that the safety verification problem for nonlinear stochastic systems can be reduced to a deterministic safety verification problem. Our theoretical results are validated through applications in reachability-based safety verification and safe controller synthesis, accompanied by several numerical examples that illustrate their effectiveness.

Authors:Yifeng Xu, Fan Zhu, Ye Li, Sebastian Ren, Xiaonan Huang, Yuhao Chen
Title: RGBSQGrasp: Inferring Local Superquadric Primitives from Single RGB Image for Graspability-Aware Bin Picking
Abstract:
Bin picking is a challenging robotic task due to occlusions and physical constraints that limit visual information for object recognition and grasping. Existing approaches often rely on known CAD models or prior object geometries, restricting generalization to novel or unknown objects. Other methods directly regress grasp poses from RGB-D data without object priors, but the inherent noise in depth sensing and the lack of object understanding make grasp synthesis and evaluation more difficult. Superquadrics (SQ) offer a compact, interpretable shape representation that captures the physical and graspability understanding of objects. However, recovering them from limited viewpoints is challenging, as existing methods rely on multiple perspectives for near-complete point cloud reconstruction, limiting their effectiveness in bin-picking. To address these challenges, we propose \textbf{RGBSQGrasp}, a grasping framework that leverages superquadric shape primitives and foundation metric depth estimation models to infer grasp poses from a monocular RGB camera -- eliminating the need for depth sensors. Our framework integrates a universal, cross-platform dataset generation pipeline, a foundation model-based object point cloud estimation module, a global-local superquadric fitting network, and an SQ-guided grasp pose sampling module. By integrating these components, RGBSQGrasp reliably infers grasp poses through geometric reasoning, enhancing grasp stability and adaptability to unseen objects. Real-world robotic experiments demonstrate a 92\% grasp success rate, highlighting the effectiveness of RGBSQGrasp in packed bin-picking environments.

Authors:Siddharth Chandak, Isha Thapa, Nicholas Bambos, David Scheinker
Title: Optimal Control for Remote Patient Monitoring with Multidimensional Health States
Abstract:
Selecting the right monitoring level in Remote Patient Monitoring (RPM) systems for e-healthcare is crucial for balancing patient outcomes, various resources, and patient's quality of life. A prior work has used one-dimensional health representations, but patient health is inherently multidimensional and typically consists of many measurable physiological factors. In this paper, we introduce a multidimensional health state model within the RPM framework and use dynamic programming to study optimal monitoring strategies. Our analysis reveals that the optimal control is characterized by switching curves (for two-dimensional health states) or switching hyper-surfaces (in general): patients switch to intensive monitoring when health measurements cross a specific multidimensional surface. We further study how the optimal switching curve varies for different medical conditions and model parameters. This finding of the optimal control structure provides actionable insights for clinicians and aids in resource planning. The tunable modeling framework enhances the applicability and effectiveness of RPM services across various medical conditions.

Authors:Shubham Aggarwal, Tamer Başar, Dipankar Maity
Title: Communication and Control Co-design in Non-cooperative Games
Abstract:
In this article, we revisit a communication-control co-design problem for a class of two-player stochastic differential games on an infinite horizon. Each 'player' represents two active decision makers, namely a scheduler and a remote controller, which cooperate to optimize over a global objective while competing with the other player. Each player's scheduler can only intermittently relay state information to its respective controller due to associated cost/constraint to communication. The scheduler's policy determines the information structure at the controller, thereby affecting the quality of the control inputs. Consequently, it leads to the classical communication-control trade-off problem. A high communication frequency improves the control performance of the player on account of a higher communication cost, and vice versa. Under suitable information structures of the players, we first compute the Nash controller policies for both players in terms of the conditional estimate of the state. Consequently, we reformulate the problem of computing Nash scheduler policies (within a class of parametrized randomized policies) into solving for the steady-state solution of a generalized Sylvester equation. Since the above-mentioned reformulation involves infinite sum of powers of the policy parameters, we provide a projected gradient descent-based algorithm to numerically compute a Nash equilibrium using a truncated polynomial approximation. Finally, we demonstrate the performance of the Nash control and scheduler policies using extensive numerical simulations.

Authors:Parakh M. Gupta, Ondřej Procházka, Tiago Nascimento, Martin Saska
Title: CurviTrack: Curvilinear Trajectory Tracking for High-speed Chase of a USV
Abstract:
Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for this problem using a novel drag-aware model formulation which is coupled with MPC, and therefore, enables tracking and landing during high-speed curvilinear trajectories of an USV without any communication. Compared to the state-of-the-art, our approach yields 40% decrease in prediction errors, and provides a 3-fold increase in certainty of predictions. Consequently, this leads to a 30% improvement in tracking performance and 40% higher success in landing on a moving USV even during aggressive turns that are unfeasible for conventional marine missions. We test our approach in two different real-world scenarios with marine vessels of two different sizes and further solidify our results through statistical analysis in simulation to demonstrate the robustness of our method.

Authors:Hannes Homburger, Florian Messerer, Moritz Diehl, Johannes Reuter
Title: Optimality and Suboptimality of MPPI Control in Stochastic and Deterministic Settings
Abstract:
Model predictive path integral (MPPI) control has recently received a lot of attention, especially in the robotics and reinforcement learning communities. This letter aims to make the MPPI control framework more accessible to the optimal control community. We present three classes of optimal control problems and their solutions by MPPI. Further, we investigate the suboptimality of MPPI to general deterministic nonlinear discrete-time systems. Here, suboptimality is defined as the deviation between the control provided by MPPI and the optimal solution to the deterministic optimal control problem. Our findings are that in a smooth and unconstrained setting, the growth of suboptimality in the control input trajectory is second-order with the scaling of uncertainty. The results indicate that the suboptimality of the MPPI solution can be modulated by appropriately tuning the hyperparameters. We illustrate our findings using numerical examples.

Authors:Johan Kon, Roland Tóth, Jeroen van de Wijdeven, Marcel Heertjes, Tom Oomen
Title: A Direct State-Space Realization of Discrete-Time Linear Parameter-Varying Input-Output Models
Abstract:
A minimal state-space (SS) realization of an identified linear parameter-varying (LPV) input-output (IO) model usually introduces dynamic and nonlinear dependency of the state-space coefficient functions, complicating stability analysis and controller synthesis. The aim of this paper is to introduce and analyze a direct SS realization of this IO model that avoids this nonlinear and dynamic dependency, at the cost of introducing a nonminimal state. It is shown that this direct SS realization 1) is reachable under a coprimeness condition on the coefficient functions of the IO model and a well-posedness condition on the model order, and 2) is never observable but that the unobservable directions converge to zero in a finite amount of steps, i.e., that the realization is reconstructible. The derived results are illustrated through numerical examples in both the LPV and LTI case.

Authors:Alexander J. Gallo, Sribalaji C. Anand, André M. H. Teixeira, Riccardo M. G. Ferrari
Title: Switching multiplicative watermark design against covert attacks
Abstract:
Active techniques have been introduced to give better detectability performance for cyber-attack diagnosis in cyber-physical systems (CPS). In this paper, switching multiplicative watermarking is considered, whereby we propose an optimal design strategy to define switching filter parameters. Optimality is evaluated exploiting the so-called output-to-output gain of the closed loop system, including some supposed attack dynamics. A worst-case scenario of a matched covert attack is assumed, presuming that an attacker with full knowledge of the closed-loop system injects a stealthy attack of bounded energy. Our algorithm, given watermark filter parameters at some time instant, provides optimal next-step parameters. Analysis of the algorithm is given, demonstrating its features, and demonstrating that through initialization of certain parameters outside of the algorithm, the parameters of the multiplicative watermarking can be randomized. Simulation shows how, by adopting our method for parameter design, the attacker's impact on performance diminishes.

Authors:Yuchen Zhang, Bo Chen, Zheming Wang, Wen-An Zhang, Li Yu, Lei Guo
Title: Distributed Zonotopic Fusion Estimation for Multi-sensor Systems
Abstract:
Fusion estimation is often used in multi-sensor systems to provide accurate state information which plays an important role in the design of efficient control and decision-making. This paper is concerned with the distributed zonotopic fusion estimation problem for multi-sensor systems. The objective is to propose a zonotopic fusion estimation approach using different zonotope fusion criteria. We begin by proposing a novel zonotope fusion criterion to compute a distributed zonotopic fusion estimate (DZFE). The DZFE is formulated as a zonotope enclosure for the intersection of local zonotopic estimates from individual sensors. Then, the optimal parameter matrices for tuning the DZFE are determined by the analytical solution of an optimization problem. To reduce the conservatism of the DZFE with optimal parameters, we enhance our approach with an improved zonotope fusion criterion, which further improves the estimation performance of this DZFE by constructing tight strips for the intersection. In addition, we tackle the problem of handling sequentially arrived local estimates in realistic communication environments with a sequential zonotope fusion criterion. This sequential zonotope fusion offers reduced computational complexity compared to batch zonotope fusion. Notice that the proposed zonotope fusion criteria are designed to meet the state inclusion property and demonstrate performance superiority over local zonotopic estimates. We also derive stability conditions for these DZFEs to ensure their generator matrices are ultimately bounded. Finally, two illustrative examples are employed to show the effectiveness and advantages of the proposed methods.

Authors:Nadav Cohen, Itzik Klein
Title: Gaussian Process Regression for Improved Underwater Navigation
Abstract:
Accurate underwater navigation is a challenging task due to the absence of global navigation satellite system signals and the reliance on inertial navigation systems that suffer from drift over time. Doppler velocity logs (DVLs) are typically used to mitigate this drift through velocity measurements, which are commonly estimated using a parameter estimation approach such as least squares (LS). However, LS works under the assumption of ideal conditions and does not account for sensor biases, leading to suboptimal performance. This paper proposes a data-driven alternative based on multi-output Gaussian process regression (MOGPR) to improve DVL velocity estimation. MOGPR provides velocity estimates and associated measurement covariances, enabling an adaptive integration within an error-state Extended Kalman Filter (EKF). We evaluate our proposed approach using real-world AUV data and compare it against LS and a state-of-the-art deep learning model, BeamsNet. Results demonstrate that MOGPR reduces velocity estimation errors by approximately 20% while simultaneously enhancing overall navigation accuracy, particularly in the orientation states. Additionally, the incorporation of uncertainty estimates from MOGPR enables an adaptive EKF framework, improving navigation robustness in dynamic underwater environments.

Authors:Alexandre Gemayel, Dimitrios Michael Manias, Abdallah Shami
Title: Network Resource Optimization for ML-Based UAV Condition Monitoring with Vibration Analysis
Abstract:
As smart cities begin to materialize, the role of Unmanned Aerial Vehicles (UAVs) and their reliability becomes increasingly important. One aspect of reliability relates to Condition Monitoring (CM), where Machine Learning (ML) models are leveraged to identify abnormal and adverse conditions. Given the resource-constrained nature of next-generation edge networks, the utilization of precious network resources must be minimized. This work explores the optimization of network resources for ML-based UAV CM frameworks. The developed framework uses experimental data and varies the feature extraction aggregation interval to optimize ML model selection. Additionally, by leveraging dimensionality reduction techniques, there is a 99.9% reduction in network resource consumption.

Authors:Vidya Sumathy, Jakub Haluska, George Nikolakopoulos
Title: Soft Arm-Motor Thrust Characterization for a Pneumatically Actuated Soft Morphing Quadrotor
Abstract:
In this work, an experimental characterization of the configuration space of a soft, pneumatically actuated morphing quadrotor is presented, with a focus on precise thrust characterization of its flexible arms, considering the effect of downwash. Unlike traditional quadrotors, the soft drone has pneumatically actuated arms, introducing complex, nonlinear interactions between motor thrust and arm deformation, which make precise control challenging. The silicone arms are actuated using differential pressure to achieve flexibility and thus have a variable workspace compared to their fixed counter-parts. The deflection of the soft arms during compression and expansion is controlled throughout the flight. However, in real time, the downwash from the motor attached at the tip of the soft arm generates a significant and random disturbance on the arm. This disturbance affects both the desired deflection of the arm and the overall stability of the system. To address this factor, an experimental characterization of the effect of downwash on the deflection angle of the arm is conducted.

Authors:Yun Li, Neil Yorke-Smith, Tamas Keviczky
Title: On Data-Driven Robust Optimization With Multiple Uncertainty Subsets: Unified Uncertainty Set Representation and Mitigating Conservatism
Abstract:
Constructing uncertainty sets as unions of multiple subsets has emerged as an effective approach for creating compact and flexible uncertainty representations in data-driven robust optimization (RO). This paper focuses on two separate research questions. The first concerns the computational challenge in applying these uncertainty sets in RO-based predictive control. To address this, a monolithic mixed-integer representation of the uncertainty set is proposed to uniformly describe the union of multiple subsets, enabling the computation of the worst-case uncertainty scenario across all subsets within a single mixed-integer linear programming (MILP) problem. The second research question focuses on mitigating the conservatism of conventional RO formulations by leveraging the structure of the uncertainty set. To achieve this, a novel objective function is proposed to exploit the uncertainty set structure and integrate the existing RO and distributionally robust optimization (DRO) formulations, yielding less conservative solutions than conventional RO formulations while avoiding the high-dimensional continuous uncertainty distributions and incurring high computational burden typically associated with existing DRO formulations. Given the proposed formulations, numerically efficient computation methods based on column-and-constraint generation (CCG) are also developed. Extensive simulations across three case studies are performed to demonstrate the effectiveness of the proposed schemes.

Authors:Leon Johann Brettin, Niklas Braun, Robert Graubohm, Markus Maurer
Title: Safety Blind Spot in Remote Driving: Considerations for Risk Assessment of Connection Loss Fallback Strategies
Abstract:
As part of the overall goal of driverless road vehicles, remote driving is a major emerging field of research of its own. Current remote driving concepts for public road traffic often establish a fallback strategy of immediate braking to a standstill in the event of a connection loss. This may seem like the most logical option when human control of the vehicle is lost. However, our simulation results from hundreds of scenarios based on naturalistic traffic scenes indicate high collision rates for any immediate substantial deceleration to a standstill in urban settings. We show that such a fallback strategy can result in a SOTIF relevant hazard, making it questionable whether such a design decision can be considered acceptable. Therefore, from a safety perspective, we would call this problem a safety blind spot, as safety analyses in this regard seem to be very rare. In this article, we first present a simulation on a naturalistic dataset that shows a high probability of collision in the described case. Second, we discuss the severity of the resulting potential rear-end collisions and provide an even more severe example by including a large commercial vehicle in the potential collision.

Authors:Nathan P. Lawrence, Philip D. Loewen, Michael G. Forbes, R. Bhushan Gopaluni, Ali Mesbah
Title: A view on learning robust goal-conditioned value functions: Interplay between RL and MPC
Abstract:
Reinforcement learning (RL) and model predictive control (MPC) offer a wealth of distinct approaches for automatic decision-making. Given the impact both fields have had independently across numerous domains, there is growing interest in combining the general-purpose learning capability of RL with the safety and robustness features of MPC. To this end, this paper presents a tutorial-style treatment of RL and MPC, treating them as alternative approaches to solving Markov decision processes. In our formulation, RL aims to learn a global value function through offline exploration in an uncertain environment, whereas MPC constructs a local value function through online optimization. This local-global perspective suggests new ways to design policies that combine robustness and goal-conditioned learning. Robustness is incorporated into the RL and MPC pipelines through a scenario-based approach. Goal-conditioned learning aims to alleviate the burden of engineering a reward function for RL. Combining the two leads to a single policy that unites a robust, high-level RL terminal value function with short-term, scenario-based MPC planning for reliable constraint satisfaction. This approach leverages the benefits of both RL and MPC, the effectiveness of which is demonstrated on classical control benchmarks.

Authors:Yi Zhang, Mohamadamin Rajabinezhad, Shan Zuo
Title: Distributed Resilient Asymmetric Bipartite Consensus: A Data-Driven Event-Triggered Mechanism
Abstract:
The problem of asymmetric bipartite consensus control is investigated within the context of nonlinear, discrete-time, networked multi-agent systems (MAS) subject to aperiodic denial-of-service (DoS) attacks. To address the challenges posed by these aperiodic DoS attacks, a data-driven event-triggered (DDET) mechanism has been developed. This mechanism is specifically designed to synchronize the states of the follower agents with the leader's state, even in the face of aperiodic communication disruptions and data losses. Given the constraints of unavailable agents' states and data packet loss during these attacks, the DDET control framework resiliently achieves leader-follower consensus. The effectiveness of the proposed framework is validated through two numerical examples, which showcase its ability to adeptly handle the complexities arising from aperiodic DoS attacks in nonlinear MAS settings.

Authors:Junheng Li, Ziwei Duan, Junchao Ma, Quan Nguyen
Title: Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains
Abstract:
Reduced-order-model-based optimal control techniques for humanoid locomotion struggle to adapt step duration and placement simultaneously in dynamic walking gaits due to their reliance on fixed-time discretization, which limits responsiveness to various disturbances and results in suboptimal performance in challenging conditions. In this work, we propose a Gait-Net-augmented implicit kino-dynamic model-predictive control (MPC) to simultaneously optimize step location, step duration, and contact forces for natural variable-frequency locomotion. The proposed method incorporates a Gait-Net-augmented Sequential Convex MPC algorithm to solve multi-linearly constrained variables by iterative quadratic programs. At its core, a lightweight Gait-frequency Network (Gait-Net) determines the preferred step duration in terms of variable MPC sampling times, simplifying step duration optimization to the parameter level. Additionally, it enhances and updates the spatial reference trajectory within each sequential iteration by incorporating local solutions, allowing the projection of kinematic constraints to the design of reference trajectories. We validate the proposed algorithm in high-fidelity simulations and on small-size humanoid hardware, demonstrating its capability for variable-frequency and 3-D discrete terrain locomotion with only a one-step preview of terrain data.

Authors:Immanuel Hacker, Ömer Sen, Florian Klein-Helmkamp, Andreas Ulbig
Title: Graph-based Impact Analysis of Cyber-Attacks on Behind-the-Meter Infrastructure
Abstract:
Behind-the-Meter assets are getting more interconnected to realise new applications like flexible tariffs. Cyber-attacks on the resulting control infrastructure may impact a large number of devices, which can result in severe impact on the power system. To analyse the possible impact of such attacks we developed a graph model of the cyber-physical energy system, representing interdependencies between the control infrastructure and the power system. This model is than used for an impact analysis of cyber-attacks with different attack vectors.

Authors:Rudolf Reiter, Jasper Hoffmann, Dirk Reinhardt, Florian Messerer, Katrin Baumgärtner, Shamburaj Sawant, Joschka Boedecker, Moritz Diehl, Sebastien Gros
Title: Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classification
Abstract:
The fields of MPC and RL consider two successful control techniques for Markov decision processes. Both approaches are derived from similar fundamental principles, and both are widely used in practical applications, including robotics, process control, energy systems, and autonomous driving. Despite their similarities, MPC and RL follow distinct paradigms that emerged from diverse communities and different requirements. Various technical discrepancies, particularly the role of an environment model as part of the algorithm, lead to methodologies with nearly complementary advantages. Due to their orthogonal benefits, research interest in combination methods has recently increased significantly, leading to a large and growing set of complex ideas leveraging MPC and RL. This work illuminates the differences, similarities, and fundamentals that allow for different combination algorithms and categorizes existing work accordingly. Particularly, we focus on the versatile actor-critic RL approach as a basis for our categorization and examine how the online optimization approach of MPC can be used to improve the overall closed-loop performance of a policy.

Authors:Oleksii Molodchyk, Philipp Schmitz, Alexander Engelmann, Karl Worthmann, Timm Faulwasser
Title: Towards Data-Driven Multi-Stage OPF
Abstract:
The operation of large-scale power systems is usually scheduled ahead via numerical optimization. However, this requires models of grid topology, line parameters, and bus specifications. Classic approaches first identify the network topology, i.e., the graph of interconnections and the associated impedances. The power generation schedules are then computed by solving a multi-stage optimal power flow (OPF) problem built around the model. In this paper, we explore the prospect of data-driven approaches to multi-stage optimal power flow. Specifically, we leverage recent findings from systems and control to bypass the identification step and to construct the optimization problem directly from data. We illustrate the performance of our method on a 118-bus system and compare it with the classical identification-based approach.

Authors:Nanfei Jiang, Spencer Hutchinson, Mahnoosh Alizadeh
Title: Online Nonstochastic Control with Convex Safety Constraints
Abstract:
This paper considers the online nonstochastic control problem of a linear time-invariant system under convex state and input constraints that need to be satisfied at all times. We propose an algorithm called Online Gradient Descent with Buffer Zone for Convex Constraints (OGD-BZC), designed to handle scenarios where the system operates within general convex safety constraints. We demonstrate that OGD-BZC, with appropriate parameter selection, satisfies all the safety constraints under bounded adversarial disturbances. Additionally, to evaluate the performance of OGD-BZC, we define the regret with respect to the best safe linear policy in hindsight. We prove that OGD-BZC achieves $\tilde{O} (\sqrt{T})$ regret given proper parameter choices. Our numerical results highlight the efficacy and robustness of the proposed algorithm.

Authors:Aran Mohammad, Tim-Lukas Habich, Thomas Seel, Moritz Schappler
Title: SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution
Abstract:
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However, they require methods for contact detection and reaction while avoiding singularities and self-collisions. We address this issue and present SafePR - a unified approach for the detection and localization, including the distinction between collision and clamping to perform a reaction that is safe for humans and feasible for PRs. Our approach uses information from the encoders and motor currents to estimate forces via a generalized-momentum observer. Neural networks and particle filters classify and localize the contacts. We introduce reactions with redundancy resolution to avoid type-II singularities and self-collisions. Our approach detected and terminated 72 real-world collision and clamping contacts with end-effector speeds of up to 1.5 m/s, each within 25-275 ms. The forces were below the thresholds from ISO/TS 15066. By using built-in sensors, SafePR enables safe interaction with already assembled PRs without the need for new hardware components.

Authors:Muhammad Hanif Lashari, Wafa Batayneh, Ashfaq Khokhar, Shakil Ahmed
Title: Enhanced Position Estimation in Tactile Internet-Enabled Remote Robotic Surgery Using MOESP-Based Kalman Filter
Abstract:
Accurately estimating the position of a patient's side robotic arm in real time during remote surgery is a significant challenge, especially within Tactile Internet (TI) environments. This paper presents a new and efficient method for position estimation using a Kalman Filter (KF) combined with the Multivariable Output-Error State Space (MOESP) method for system identification. Unlike traditional approaches that require prior knowledge of the system's dynamics, this study uses the JIGSAW dataset, a comprehensive collection of robotic surgical data, along with input from the Master Tool Manipulator (MTM) to derive the state-space model directly. The MOESP method allows accurate modeling of the Patient Side Manipulator (PSM) dynamics without prior system models, improving the KF's performance under simulated network conditions, including delays, jitter, and packet loss. These conditions mimic real-world challenges in Tactile Internet applications. The findings demonstrate the KF's improved resilience and accuracy in state estimation, achieving over 95 percent accuracy despite network-induced uncertainties.

Authors:Onur Alican, Dionysios Moutevelis, Josep Arevalo-Soler, Carlos Collados-Rodriguez, Jaume Amorós, Oriol Gomis-Bellmunt, Marc Cheah-Mane, Eduardo Prieto-Araujo
Title: A Dynamic Similarity Index for Assessing Voltage Source Behaviour in Power Systems
Abstract:
Due to the fundamental transition to a power electronic dominated power system, the increasing diversity of dynamic elements underscores the need to assess their similarity to mature electrical engineering models. This article addresses the concept of the Dynamic Similarity Index (DSI) for its use in, power electronics-dominated networks. The DSI is a multipurpose tool developed to be used by different stakeholders (e.g., converter manufacturers and system operators). Such an index is calculated per frequency, which serves to anticipate potential differences in particular frequency ranges of interest between the model under study and the reference model. Within the scope of this study, the dynamic similarity of inverter-based generators to an ideal voltage source behind an impedance is assessed, due to the relevance of this fundamental circuit in the representation of generation units in power system studies. The article presents two potential applications based on this mathematical framework. First, for manufacturers to evaluate control performance compared to a reference model and second, it enables operators to diagnose buses with voltage vulnerability based on a user-defined reference Short-Circuit Ratio (SCR) value. The DSI results for these two case studies are validated using Matlab Simulink simulations.

Authors:Kristóf Floch, Tamás Péni, Roland Tóth
Title: Gaussian-Process-based Adaptive Tracking Control with Dynamic Active Learning for Autonomous Ground Vehicles
Abstract:
This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and longitudinal subsystems, which are augmented with online Gaussian Processes (GPs), using measurement data. The estimated mean functions of the GPs are used to construct a feedback compensator, which, together with an LPV state feedback controller designed for the nominal system, gives the adaptive control structure. To assist exploration of the dynamics, the paper proposes a new, dynamic active learning method to collect the most informative samples to accelerate the training process. To analyze the performance of the overall learning tool-chain provided controller, a novel iterative, counterexample-based algorithm is proposed for calculating the induced L2 gain between the reference trajectory and the tracking error. The analysis can be executed for a set of possible realizations of the to-be-controlled system, giving robust performance certificate of the learning method under variation of the vehicle dynamics. The efficiency of the proposed control approach is shown on a high-fidelity physics simulator and in real experiments using a 1/10 scale F1TENTH electric car.

Authors:Muhammad Hanif Lashari, Shakil Ahmed, Wafa Batayneh, Ashfaq Khokhar
Title: Predictive Position Estimation for Remote Surgery under Packet Loss Using the Informer Framework
Abstract:
Accurate and real-time position estimation of the robotic arm on the patient's side is crucial for the success of remote robotic surgery in Tactile Internet environments. This paper proposes a predictive approach using the computationally efficient Transformer-based Informer model for position estimation, combined with a Four-State Hidden Markov Model (4-State HMM) to simulate realistic packet loss scenarios. The method effectively addresses network-induced delays, jitter, and packet loss, ensuring reliable performance in remote robotic surgery. The study evaluates the Informer model on the JIGSAWS dataset, demonstrating its capability to handle sequential data challenges caused by network uncertainties. Key features, including ProbSparse attention and a generative-style decoder, enhance prediction accuracy, computational speed, and memory efficiency. Results indicate that the proposed method achieves over 90 percent accuracy across varying network conditions. Furthermore, the Informer framework outperforms traditional models such as TCN, RNN, and LSTM, highlighting its suitability for real-time remote surgery applications.

Authors:Tommaso Grigoletto, Clément Pellegrini, Francesco Ticozzi
Title: Quantum model reduction for continuous-time quantum filters
Abstract:
The use of quantum stochastic models is widespread in dynamical reduction, simulation of open systems, feedback control and adaptive estimation. In many applications only part of the information contained in the filter's state is actually needed to reconstruct the target observable quantities; thus, filters of smaller dimensions could be in principle implemented to perform the same task.In this work, we propose a systematic method to find, when possible, reduced-order quantum filters that are capable of exactly reproducing the evolution of expectation values of interest. In contrast with existing reduction techniques, the reduced model we obtain is exact and in the form of a Belavkin filtering equation, ensuring physical interpretability.This is attained by leveraging tools from the theory of both minimal realization and non-commutative conditional expectations. The proposed procedure is tested on prototypical examples, laying the groundwork for applications in quantum trajectory simulation and quantum feedback control.

Authors:Luuk Poort, Bart Besselink, Rob H. B. Fey, Nathan van de Wouw
Title: Efficient Reduction of Interconnected Subsystem Models using Abstracted Environments
Abstract:
We present two frameworks for structure-preserving model order reduction of interconnected subsystems, improving tractability of the reduction methods while ensuring stability and accuracy bounds of the reduced interconnected model. Instead of reducing each subsystem independently, we take a low-order abstraction of its environment into account to better capture the dynamics relevant to the external input-output behaviour of the interconnected system, thereby increasing accuracy of the reduced interconnected model. This approach significantly reduces the computational costs of reduction by abstracting instead of fully retaining the environment. The two frameworks differ in how they generate these abstracted environments: one abstracts the environment as a whole, whereas the other abstracts each individual subsystem. By relating low-level errors introduced by reduction and abstraction to the resulting high-level error on the interconnected system, we are able to translate high-level accuracy requirements (on the reduced interconnected system) to low-level specifications (on abstraction and reduction errors) using techniques from robust performance analysis. By adhering to these low-level specifications, restricting the introduced low-level errors, both frameworks automatically guarantee the accuracy and stability of the reduced interconnected system. We demonstrate the effectiveness of both frameworks by applying them to a structural dynamics model of a two-stroke wafer stage, achieving improved accuracy and/or greater reduction compared to an existing method from literature.

Authors:Qianren Li, Yuncong Hong, Bojie Lv, Rui Wang
Title: A Dynamic Improvement Framework for Vehicular Task Offloading
Abstract:
In this paper, the task offloading from vehicles with random velocities is optimized via a novel dynamic improvement framework. Particularly, in a vehicular network with multiple vehicles and base stations (BSs), computing tasks of vehicles are offloaded via BSs to an edge server. Due to the random velocities, the exact trajectories of vehicles cannot be predicted in advance. Hence, instead of deterministic optimization, the cell association, uplink time and throughput allocation of multiple vehicles in a period of task offloading are formulated as a finite-horizon Markov decision process. In the proposed solution framework, we first obtain a reference scheduling scheme of cell association, uplink time and throughput allocation via deterministic optimization at the very beginning. The reference scheduling scheme is then used to approximate the value functions of the Bellman's equations, and the actual scheduling action is determined in each time slot according to the current system state and approximate value functions. Thus, the intensive computation for value iteration in the conventional solution is eliminated. Moreover, a non-trivial average cost upper bound is provided for the proposed solution framework. In the simulation, the random trajectories of vehicles are generated from a high-fidelity traffic simulator. It is shown that the performance gain of the proposed scheduling framework over the baselines is significant.

Authors:Xinze Li, Fanfan Lin, Homer Alan Mantooth, Juan José Rodríguez-Andina
Title: AI Explainability for Power Electronics: From a Lipschitz Continuity Perspective
Abstract:
Lifecycle management of power converters continues to thrive with emerging artificial intelligence (AI) solutions, yet AI mathematical explainability remains unexplored in power electronics (PE) community. The lack of theoretical rigor challenges adoption in mission-critical applications. Therefore, this letter proposes a generic framework to evaluate mathematical explainability, highlighting inference stability and training convergence from a Lipschitz continuity perspective. Inference stability governs consistent outputs under input perturbations, essential for robust real-time control and fault diagnosis. Training convergence guarantees stable learning dynamics, facilitating accurate modeling in PE contexts. Additionally, a Lipschitz-aware learning rate selection strategy is introduced to accelerate convergence while mitigating overshoots and oscillations. The feasibility of the proposed Lipschitz-oriented framework is demonstrated by validating the mathematical explainability of a state-of-the-art physics-in-architecture neural network, and substantiated through empirical case studies on dual-active-bridge converters. This letter serves as a clarion call for the PE community to embrace mathematical explainability, heralding a transformative era of trustworthy and explainable AI solutions that potentially redefine the future of power electronics.

Authors:Pol Mestres, Yiting Chen, Emiliano Dall'anese, Jorge Cortés
Title: Control Barrier Function-Based Safety Filters: Characterization of Undesired Equilibria, Unbounded Trajectories, and Limit Cycles
Abstract:
This paper focuses on safety filters designed based on Control Barrier Functions (CBFs): these are modifications of a nominal stabilizing controller typically utilized in safety-critical control applications to render a given subset of states forward invariant. The paper investigates the dynamical properties of the closed-loop systems, with a focus on characterizing undesirable behaviors that may emerge due to the use of CBF-based filters. These undesirable behaviors include unbounded trajectories, limit cycles, and undesired equilibria, which can be locally stable and even form a continuum. Our analysis offer the following contributions: (i) conditions under which trajectories remain bounded and (ii) conditions under which limit cycles do not exist; (iii) we show that undesired equilibria can be characterized by solving an algebraic equation, and (iv) we provide examples that show that asymptotically stable undesired equilibria can exist for a large class of nominal controllers and design parameters of the safety filter (even for convex safe sets). Further, for the specific class of planar systems, (v) we provide explicit formulas for the total number of undesired equilibria and the proportion of saddle points and asymptotically stable equilibria, and (vi) in the case of linear planar systems, we present an exhaustive analysis of their global stability properties. Examples throughout the paper illustrate the results.

Authors:Ihab S. Mohamed, Mahmoud Ali, Lantao Liu
Title: Chance-Constrained Sampling-Based MPC for Collision Avoidance in Uncertain Dynamic Environments
Abstract:
Navigating safely in dynamic and uncertain environments is challenging due to uncertainties in perception and motion. This letter presents the Chance-Constrained Unscented Model Predictive Path Integral (C2U-MPPI) framework, a robust sampling-based Model Predictive Control (MPC) algorithm that addresses these challenges by leveraging the U-MPPI control strategy with integrated probabilistic chance constraints, enabling more reliable and efficient navigation under uncertainty. Unlike gradient-based MPC methods, our approach (i) avoids linearization of system dynamics by directly applying non-convex and nonlinear chance constraints, enabling more accurate and flexible optimization, and (ii) enhances computational efficiency by leveraging a deterministic form of probabilistic constraints and employing a layered dynamic obstacle representation, enabling real-time handling of multiple obstacles. Extensive experiments in simulated and real-world human-shared environments validate the effectiveness of our algorithm against baseline methods, showcasing its capability to generate feasible trajectories and control inputs that adhere to system dynamics and constraints in dynamic settings, enabled by unscented-based sampling strategy and risk-sensitive trajectory evaluation. A supplementary video is available at: https://youtu.be/FptAhvJlQm8.

Authors:Xincheng Cao, Haochong Chen, Bilin Aksun Guvenc, Levent Guvenc, Shihong Fan, John Harber, Brian Link, Peter Richmond, Dokyung Yim
Title: Development of an Advisory System for Parking of a Car and Trailer
Abstract:
Trailer parking is a challenging task due to the unstable nature of the vehicle-trailer system in reverse motion and the unintuitive steering actions required at the vehicle to accomplish the parking maneuver. This paper presents a strategy to tackle this kind of maneuver with an advisory graphic aid to help the human driver with the task of manually backing up the vehicle-trailer system. A kinematic vehicle-trailer model is derived to describe the low-speed motion of the vehicle-trailer system, and its inverse kinematics is established by generating an equivalent virtual trailer axle steering command. The advisory system graphics is generated based on the inverse kinematics and displays the expected trailer orientation given the current vehicle steer angle and configuration (hitch angle). Simulation study and animation are set up to test the efficacy of the approach, where the user can select both vehicle speed and vehicle steering angle freely, which allows the user to stop the vehicle-trailer system and experiment with different steering inputs to see their effect on the predicted trailer motion before proceeding with the best one according to the advisory graphics, hence creating a series of piecewise continuous control actions similar to how manual trailer reverse parking is usually carried out. The advisory graphics proves to provide the driver with an intuitive understanding of the trailer motion at any given configuration (hitch angle).

Authors:Haochong Chen, Xincheng Cao, Levent Guvenc, Bilin Aksun Guvenc
Title: Vehicle-in-Virtual-Environment (VVE) Based Autonomous Driving Function Development and Evaluation Methodology for Vulnerable Road User Safety
Abstract:
Traditional methods for developing and evaluating autonomous driving functions, such as model-in-the-loop (MIL) and hardware-in-the-loop (HIL) simulations, heavily depend on the accuracy of simulated vehicle models and human factors, especially for vulnerable road user safety systems. Continuation of development during public road deployment forces other road users including vulnerable ones to involuntarily participate in the development process, leading to safety risks, inefficiencies, and a decline in public trust. To address these deficiencies, the Vehicle-in-Virtual-Environment (VVE) method was proposed as a safer, more efficient, and cost-effective solution for developing and testing connected and autonomous driving technologies by operating the real vehicle and multiple other actors like vulnerable road users in different test areas while being immersed within the same highly realistic virtual environment. This VVE approach synchronizes real-world vehicle and vulnerable road user motion within the same virtual scenario, enabling the safe and realistic testing of various traffic situations in a safe and repeatable manner. In this paper, we propose a new testing pipeline that sequentially integrates MIL, HIL, and VVE methods to comprehensively develop and evaluate autonomous driving functions. The effectiveness of this testing pipeline will be demonstrated using an autonomous driving path-tracking algorithm with local deep reinforcement learning modification for vulnerable road user collision avoidance.

Authors:Nathaniel Hamilton, Kyle Dunlap, Kerianne L Hobbs
Title: Investigating the Impact of Observation Space Design Choices On Training Reinforcement Learning Solutions for Spacecraft Problems
Abstract:
Recent research using Reinforcement Learning (RL) to learn autonomous control for spacecraft operations has shown great success. However, a recent study showed their performance could be improved by changing the action space, i.e. control outputs, used in the learning environment. This has opened the door for finding more improvements through further changes to the environment. The work in this paper focuses on how changes to the environment's observation space can impact the training and performance of RL agents learning the spacecraft inspection task. The studies are split into two groups. The first looks at the impact of sensors that were designed to help agents learn the task. The second looks at the impact of reference frames, reorienting the agent to see the world from a different perspective. The results show the sensors are not necessary, but most of them help agents learn more optimal behavior, and that the reference frame does not have a large impact, but is best kept consistent.

Authors:Eli Brock, Haixiang Zhang, Javad Lavaei, Somayeh Sojoudi
Title: Distributionally Robust Joint Chance-Constrained Optimal Power Flow using Relative Entropy
Abstract:
Designing robust algorithms for the optimal power flow (OPF) problem is critical for the control of large-scale power systems under uncertainty. The chance-constrained OPF (CCOPF) problem provides a natural formulation of the trade-off between the operating cost and the constraint satisfaction rate. In this work, we propose a new data-driven algorithm for the CCOPF problem, based on distributionally robust optimization (DRO). \revise{We show that the proposed reformulation of the distributionally robust chance constraints is exact, whereas other approaches in the CCOPF literature rely on conservative approximations. We establish out-of-sample robustness guarantees for the distributionally robust solution and prove that the solution is the most efficient among all approaches enjoying the same guarantees.} We apply the proposed algorithm to the the CCOPF problem and compare the performance of our approach with existing methods using simulations on IEEE benchmark power systems.

Authors:Ayush Patnaik, Nicolas Michel, Xinfan Lin
Title: Enhancing Multirotor Drone Efficiency: Exploring Minimum Energy Consumption Rate of Forward Flight under Varying Payload
Abstract:
Multirotor unmanned aerial vehicle is a prevailing type of aircraft with wide real-world applications. Energy efficiency is a critical aspect of its performance, determining the range and duration of the missions that can be performed. In this study, we show both analytically and numerically that the optimum of a key energy efficiency index in forward flight, namely energy per meter traveled per unit mass, is a constant under different vehicle mass (including payload). Note that this relationship is only true under the optimal forward velocity that minimizes the energy consumption (under different mass), but not under arbitrary velocity. The study is based on a previously developed model capturing the first-principle energy dynamics of the multirotor, and a key step is to prove that the pitch angle under optimal velocity is a constant. By employing both analytical derivation and validation studies, the research provides critical insights into the optimization of multirotor energy efficiency, and facilitate the development of flight control strategies to extend mission duration and range.

Authors:Mahdi Nazeri, Thom Badings, Sadegh Soudjani, Alessandro Abate
Title: Data-Driven Yet Formal Policy Synthesis for Stochastic Nonlinear Dynamical Systems
Abstract:
The automated synthesis of control policies for stochastic dynamical systems presents significant challenges. A standard approach is to construct a finite-state abstraction of the continuous system, typically represented as a Markov decision process (MDP). However, generating abstractions is challenging when (1) the system's dynamics are nonlinear, and/or (2) we do not have complete knowledge of the dynamics. In this work, we introduce a novel data-driven abstraction technique for nonlinear Lipschitz continuous dynamical systems with additive stochastic noise that addresses both of these issues. As a key step, we use samples of the dynamics to learn the enabled actions and transition probabilities of the abstraction. We represent abstractions as MDPs with intervals of transition probabilities, known as interval MDPs (IMDPs). These abstractions enable the synthesis of policies for the concrete nonlinear system, with probably approximately correct (PAC) guarantees on the probability of satisfying a specified control objective. Our numerical experiments illustrate the effectiveness and robustness of our approach in achieving reliable control under uncertainty.

Authors:Yichao Wang, Mohamadamin Rajabinezhad, Yi Zhang, Shan Zuo
Title: Cyber-physical Defense for Heterogeneous Multi-agent Systems Against Exponentially Unbounded Attacks on Signed Digraphs
Abstract:
Cyber-physical systems (CPSs) are subjected to attacks on both cyber and physical spaces. In reality, the attackers could launch exponentially unbounded false data injection (EU-FDI) attacks, which are more destructive and could lead to the system's collapse or instability. Existing literature generally addresses bounded attack signals and/or bounded-first-order-derivative attack signals, which exposes the CPSs to significant threats. In contrast, this paper proposes a fully-distributed attack-resilient bi-layer defense framework to address the bipartite output containment problem for heterogeneous multi-agent systems on signed digraphs, in the presence of EU-FDI attacks on both cyber-physical layer (CPL) and observer layer (OL). First, we design attack-resilient dynamic compensators that utilize data communicated on the OL to estimate the convex combinations of the states and negative states of the leaders. The attack-resilient compensators address the EU-FDI attacks on the OL and guarantee the uniformly ultimately bounded (UUB) estimation of the leaders' states. Then, by using the compensators' states, fully-distributed attack-resilient controllers are designed on the CPL to further address the EU-FDI attacks on the actuators. Rigorous mathematical proof based on Lyapunov stability analysis is provided, establishing the theoretical soundness of the proposed bi-layer resilient defense framework, by preserving the UUB consensus and stability against EU-FDI attacks on both CPL and OL. Finally, a comparative case study for heterogeneous multi-agent systems validate the enhanced resilience of the proposed defense strategies.

Authors:Yichao Wang, Mohamadamin Rajabinezhad, Dimitra Panagou, Shan Zuo
Title: Defense Strategies for Autonomous Multi-agent Systems: Ensuring Safety and Resilience Under Exponentially Unbounded FDI Attacks
Abstract:
False data injection attacks pose a significant threat to autonomous multi-agent systems (MASs). Existing attack-resilient control strategies generally have strict assumptions on the attack signals and overlook safety constraints, such as collision avoidance. In practical applications, leader agents equipped with advanced sensors or weaponry span a safe region to guide heterogeneous follower agents, ensuring coordinated operations while addressing collision avoidance to prevent financial losses and mission failures. This letter addresses these gaps by introducing and solving the safety-aware and attack-resilient (SAAR) control problem under exponentially unbounded false data injection (EU-FDI) attacks. Specifically, a novel attack-resilient observer layer (OL) is first designed to defend against EU-FDI attacks on the OL. Then, an attack-resilient compensational signal is designed to mitigate the adverse effects caused by the EU-FDI attack on control input layer (CIL). Finally, a SAAR controller is designed by solving a quadratic programming (QP) problem integrating control barrier function (CBF) certified collision-free safety constraints. Rigorous Lyapunov-based stability analysis certifies the SAAR controller's effectiveness in ensuring both safety and resilience. This study also pioneers a three-dimensional (3D) simulation of the SAAR containment control problem for heterogeneous MASs, demonstrating its applicability in realistic multi-agent scenarios.

Authors:Yi Zhang, Mohamadamin Rajabinezhad, Yichao Wang, Junbo Zhao, Shan Zuo
Title: Privacy-Preserving Distributed Defense Framework for DC Microgrids Against Exponentially Unbounded False Data Injection Attacks
Abstract:
This paper introduces a novel, fully distributed control framework for DC microgrids, enhancing resilience against exponentially unbounded false data injection (EU-FDI) attacks. Our framework features a consensus-based secondary control for each converter, effectively addressing these advanced threats. To further safeguard sensitive operational data, a privacy-preserving mechanism is incorporated into the control design, ensuring that critical information remains secure even under adversarial conditions. Rigorous Lyapunov stability analysis confirms the framework's ability to maintain critical DC microgrid operations like voltage regulation and load sharing under EU-FDI threats. The framework's practicality is validated through hardware-in-the-loop experiments, demonstrating its enhanced resilience and robust privacy protection against the complex challenges posed by quick variant FDI attacks.

Authors:Mohamadamin Rajabinezhad, Nesa Shams, Asad Ali Khan, Omar A. Beg, Shan Zuo
Title: Lyapunov-based Resilient Secondary Synchronization Strategy of AC Microgrids Under Exponentially Energy-Unbounded FDI Attacks
Abstract:
This article presents fully distributed Lyapunov-based attack-resilient secondary control strategies for islanded inverter-based AC microgrids, designed to counter a broad spectrum of energy-unbounded False Data Injection (FDI) attacks, including exponential attacks, targeting control input channels. While distributed control improves scalability and reliability, it also increases susceptibility to cyber threats. The proposed strategies, supported by rigorous Lyapunov-based proofs, ensure uniformly ultimately bounded (UUB) convergence for frequency regulation, voltage containment, and power sharing, even under severe cyber attacks. The effectiveness of the proposed approach has been demonstrated through case studies on a modified IEEE 34-bus system, leveraging simulations and real-time Hardware-in-the-Loop experiments with OPAL-RT.

Authors:Moslem Uddin, Huadong Mo, Daoyi Dong
Title: Real-Time Energy Management Strategies for Community Microgrids
Abstract:
This study presents a real-time energy management framework for hybrid community microgrids integrating photovoltaic, wind, battery energy storage systems, diesel generators, and grid interconnection. The proposed approach formulates the dispatch problem as a multi-objective optimization task that aims to minimize operational costs. Two control strategies are proposed and evaluated: a conventional rule-based control (RBC) method and an advanced deep reinforcement learning (DRL) approach utilizing proximal policy optimization (PPO). A realistic case study based on Australian load and generation profiles is used to validate the framework. Simulation results demonstrate that DRL-PPO reduces operational costs by 18%, CO_2 emissions by 20%, and improves system reliability by 87.5% compared to RBC. Beside, DRL-PPO increases renewable energy utilization by 13%, effectively reducing dependence on diesel generation and grid imports. These findings demonstrate the potential of DRL-based approaches to enable cost-effective and resilient microgrid operations, particularly in regional and remote communities.

Authors:Jelmer van der Saag, Elia Trevisan, Wouter Falkena, Javier Alonso-Mora
Title: Active Disturbance Rejection Control for Trajectory Tracking of a Seagoing USV: Design, Simulation, and Field Experiments
Abstract:
Unmanned Surface Vessels (USVs) face significant control challenges due to uncertain environmental disturbances like waves and currents. This paper proposes a trajectory tracking controller based on Active Disturbance Rejection Control (ADRC) implemented on the DUS V2500. A custom simulation incorporating realistic waves and current disturbances is developed to validate the controller's performance, supported by further validation through field tests in the harbour of Scheveningen, the Netherlands, and at sea. Simulation results demonstrate that ADRC significantly reduces cross-track error across all tested conditions compared to a baseline PID controller but increases control effort and energy consumption. Field trials confirm these findings while revealing a further increase in energy consumption during sea trials compared to the baseline.

Authors:Zeinab Salehi, Yijun Chen, Ian R. Petersen, Guodong Shi, Duncan S. Callaway, Elizabeth L. Ratnam
Title: Peer-to-Peer Energy Markets With Uniform Pricing: A Dynamic Operating Envelope Approach
Abstract:
The recent widespread adoption of rooftop solar backed by battery storage is enabling energy customers to both produce and consume electricity (i.e., prosumers of electricity). To facilitate prosumer participation in the electric grid, new market mechanisms are required. In this paper, we design peer-to-peer energy markets where prosumers trade their excess energy with peers to gain profit while satisfying the overall balance in electricity supply and demand. We first consider a market structure, considering the case where voltage and/or thermal constraints are binding. When such grid constraints are binding, market clearing prices can vary across locations. However, heterogeneous prices may be considered by regulators to lack fairness. To ensure uniform pricing, we design two peer-to-peer energy markets with dynamic operating envelopes (DOEs). DOEs enable us to decompose global voltage and thermal constraints across the power grid into local constraints for each prosumer, resulting in uniform prices across the grid. By means of numerical simulations on an IEEE 13-node feeder, we benchmark the proposed market-based approaches in the presence of binding voltage constraints.

Authors:Mehmet Fatih Ozkan, Samuel Filgueira da Silva, Faissal El Idrissi, Prashanth Ramesh, Marcello Canova
Title: Optimal Design of Experiment for Electrochemical Parameter Identification of Li-ion Battery via Deep Reinforcement Learning
Abstract:
Accurate parameter estimation in electrochemical battery models is essential for monitoring and assessing the performance of lithium-ion batteries (LiBs). This paper presents a novel approach that combines deep reinforcement learning (DRL) with an optimal experimental design (OED) framework to identify key electrochemical parameters of LiB cell models. The proposed method utilizes the twin delayed deep deterministic policy gradient (TD3) algorithm to optimize input excitation, thereby increasing the sensitivity of the system response to electrochemical parameters. The performance of this DRL-based approach is evaluated against a nonlinear model predictive control (NMPC) method and conventional tests. Results indicate that the DRL-based method provides superior information content, reflected in higher Fisher information (FI) values and lower parameter estimation errors compared to the NMPC design and conventional test practices. Additionally, the DRL approach offers a substantial reduction in experimental time and computational resources.

Authors:Paniz Foshat, Shima Poorgholam-khanjari, Valentino Seferai, Hua Feng, Susan Johny, Oleg A. Mukhanov, Matthew Hutchings, Robert H. Hadfield, Martin Weides, Kaveh Delfanazari
Title: Quasiparticle Dynamics in NbN Superconducting Microwave Resonators at Single Photon Regime
Abstract:
Exchanging energy below the superconducting gap introduces quasiparticle energy distributions in superconducting quantum circuits, which will be responsible for their decoherence. This study examines the impact of quasiparticle energy on the performance of NbN superconducting microwave coplanar waveguide resonators on silicon chips. We measured the resonance frequency and internal quality factor in response to temperature sweeps to evaluate the effect of quasiparticle dynamics. Moreover, by calculating the complex conductivity of the NbN film, we identified the contribution of quasiparticle density to the experimental results.

Authors:Liyang Yu, Tianyi Wang, Junfeng Jiao, Fengwu Shan, Hongqing Chu, Bingzhao Gao
Title: BIDA: A Bi-level Interaction Decision-making Algorithm for Autonomous Vehicles in Dynamic Traffic Scenarios
Abstract:
In complex real-world traffic environments, autonomous vehicles (AVs) need to interact with other traffic participants while making real-time and safety-critical decisions accordingly. The unpredictability of human behaviors poses significant challenges, particularly in dynamic scenarios, such as multi-lane highways and unsignalized T-intersections. To address this gap, we design a bi-level interaction decision-making algorithm (BIDA) that integrates interactive Monte Carlo tree search (MCTS) with deep reinforcement learning (DRL), aiming to enhance interaction rationality, efficiency and safety of AVs in dynamic key traffic scenarios. Specifically, we adopt three types of DRL algorithms to construct a reliable value network and policy network, which guide the online deduction process of interactive MCTS by assisting in value update and node selection. Then, a dynamic trajectory planner and a trajectory tracking controller are designed and implemented in CARLA to ensure smooth execution of planned maneuvers. Experimental evaluations demonstrate that our BIDA not only enhances interactive deduction and reduces computational costs, but also outperforms other latest benchmarks, which exhibits superior safety, efficiency and interaction rationality under varying traffic conditions.

Authors:Sangwon Kang, Hao Tu, Huazhen Fang
Title: BattBee: Equivalent Circuit Modeling and Early Detection of Thermal Runaway Triggered by Internal Short Circuits for Lithium-Ion Batteries
Abstract:
Lithium-ion batteries are the enabling power source for transportation electrification. However, in real-world applications, they remain vulnerable to internal short circuits (ISCs) and the consequential risk of thermal runaway (TR). Toward addressing the challenge of ISCs and TR, we undertake a systematic study that extends from dynamic modeling to fault detection in this paper. First, we develop {\em BattBee}, the first equivalent circuit model to specifically describe the onset of ISCs and the evolution of subsequently induced TR. Drawing upon electrochemical modeling, the model can simulate ISCs at different severity levels and predict their impact on the initiation and progression of TR events. With the physics-inspired design, this model offers strong physical interpretability and predictive accuracy, while maintaining structural simplicity to allow fast computation. Then, building upon the BattBee model, we develop fault detection observers and derive detection criteria together with decision-making logics to identify the occurrence and emergence of ISC and TR events. This detection approach is principled in design and fast in computation, lending itself to practical applications. Validation based on simulations and experimental data demonstrates the effectiveness of both the BattBee model and the ISC/TR detection approach. The research outcomes underscore this study's potential for real-world battery safety risk management.

Authors:Lingfei Wang, Yu Xing, Yuhao Yi, Ming Cao, Karl H. Johansson
Title: Adding links wisely: how an influencer seeks for leadership in opinion dynamics?
Abstract:
This paper investigates the problem of leadership development for an external influencer using the Friedkin-Johnsen (FJ) opinion dynamics model, where the influencer is modeled as a fully stubborn agent and leadership is quantified by social power. The influencer seeks to maximize her social power by strategically adding a limited number of links to regular agents. This optimization problem is shown to be equivalent to maximizing the absorbing probability to the influencer in an augmented Markov chain. The resulting objective function is both monotone and submodular, enabling the use of a greedy algorithm to compute an approximate solution. To handle large-scale networks efficiently, a random walk sampling over the Markov chain is employed to reduce computational complexity. Analytical characterizations of the solution are provided for both low and high stubbornness of regular agents. Specific network topologies are also examined: for complete graphs with rank-one weight matrices, the problem reduces to a hyperbolic 0-1 programmming problem, which is solvable in polynomial time; for symmetric ring graphs with circulant weight matrices and uniform agent stubbornness, the optimal strategy involves selecting agents that are sufficiently dispersed across the network. Numerical simulations are presented for illustration.

Authors:Hui Wei, Dong Yoon Lee, Shubham Rohal, Zhizhang Hu, Ryan Rossi, Shiwei Fang, Shijia Pan
Title: A Survey of Foundation Models for IoT: Taxonomy and Criteria-Based Analysis
Abstract:
Foundation models have gained growing interest in the IoT domain due to their reduced reliance on labeled data and strong generalizability across tasks, which address key limitations of traditional machine learning approaches. However, most existing foundation model based methods are developed for specific IoT tasks, making it difficult to compare approaches across IoT domains and limiting guidance for applying them to new tasks. This survey aims to bridge this gap by providing a comprehensive overview of current methodologies and organizing them around four shared performance objectives by different domains: efficiency, context-awareness, safety, and security & privacy. For each objective, we review representative works, summarize commonly-used techniques and evaluation metrics. This objective-centric organization enables meaningful cross-domain comparisons and offers practical insights for selecting and designing foundation model based solutions for new IoT tasks. We conclude with key directions for future research to guide both practitioners and researchers in advancing the use of foundation models in IoT applications.

Authors:Ozan Baris Mulayim, Pengrui Quan, Liying Han, Xiaomin Ouyang, Dezhi Hong, Mario Bergés, Mani Srivastava
Title: Can Time-Series Foundation Models Perform Building Energy Management Tasks?
Abstract:
Building energy management (BEM) tasks require processing and learning from a variety of time-series data. Existing solutions rely on bespoke task- and data-specific models to perform these tasks, limiting their broader applicability. Inspired by the transformative success of Large Language Models (LLMs), Time-Series Foundation Models (TSFMs), trained on diverse datasets, have the potential to change this. Were TSFMs to achieve a level of generalizability across tasks and contexts akin to LLMs, they could fundamentally address the scalability challenges pervasive in BEM. To understand where they stand today, we evaluate TSFMs across four dimensions: (1) generalizability in zero-shot univariate forecasting, (2) forecasting with covariates for thermal behavior modeling, (3) zero-shot representation learning for classification tasks, and (4) robustness to performance metrics and varying operational conditions. Our results reveal that TSFMs exhibit \emph{limited} generalizability, performing only marginally better than statistical models on unseen datasets and modalities for univariate forecasting. Similarly, inclusion of covariates in TSFMs does not yield performance improvements, and their performance remains inferior to conventional models that utilize covariates. While TSFMs generate effective zero-shot representations for downstream classification tasks, they may remain inferior to statistical models in forecasting when statistical models perform test-time fitting. Moreover, TSFMs forecasting performance is sensitive to evaluation metrics, and they struggle in more complex building environments compared to statistical models. These findings underscore the need for targeted advancements in TSFM design, particularly their handling of covariates and incorporating context and temporal dynamics into prediction mechanisms, to develop more adaptable and scalable solutions for BEM.

Authors:Alexandre Capone, Ryan Cosner, Aaaron Ames, Sandra Hirche
Title: Learning Safe Control via On-the-Fly Bandit Exploration
Abstract:
Control tasks with safety requirements under high levels of model uncertainty are increasingly common. Machine learning techniques are frequently used to address such tasks, typically by leveraging model error bounds to specify robust constraint-based safety filters. However, if the learned model uncertainty is very high, the corresponding filters are potentially invalid, meaning no control input satisfies the constraints imposed by the safety filter. While most works address this issue by assuming some form of safe backup controller, ours tackles it by collecting additional data on the fly using a Gaussian process bandit-type algorithm. We combine a control barrier function with a learned model to specify a robust certificate that ensures safety if feasible. Whenever infeasibility occurs, we leverage the control barrier function to guide exploration, ensuring the collected data contributes toward the closed-loop system safety. By combining a safety filter with exploration in this manner, our method provably achieves safety in a setting that allows for a zero-mean prior dynamics model, without requiring a backup controller. To the best of our knowledge, it is the first safe learning-based control method that achieves this.

Authors:Donglin Wang, Anjie Qiu, Qiuheng Zhou, Hans D. Schotten
Title: A Survey on the Role of Artificial Intelligence and Machine Learning in 6G-V2X Applications
Abstract:
The rapid advancement of Vehicle-to-Everything (V2X) communication is transforming Intelligent Transportation Systems (ITS), with 6G networks expected to provide ultra-reliable, low-latency, and high-capacity connectivity for Connected and Autonomous Vehicles (CAVs). Artificial Intelligence (AI) and Machine Learning (ML) have emerged as key enablers in optimizing V2X communication by enhancing network management, predictive analytics, security, and cooperative driving due to their outstanding performance across various domains, such as natural language processing and computer vision. This survey comprehensively reviews recent advances in AI and ML models applied to 6G-V2X communication. It focuses on state-of-the-art techniques, including Deep Learning (DL), Reinforcement Learning (RL), Generative Learning (GL), and Federated Learning (FL), with particular emphasis on developments from the past two years. Notably, AI, especially GL, has shown remarkable progress and emerging potential in enhancing the performance, adaptability, and intelligence of 6G-V2X systems. Despite these advances, a systematic summary of recent research efforts in this area remains lacking, which this survey aims to address. We analyze their roles in 6G-V2X applications, such as intelligent resource allocation, beamforming, intelligent traffic management, and security management. Furthermore, we explore the technical challenges, including computational complexity, data privacy, and real-time decision-making constraints, while identifying future research directions for AI-driven 6G-V2X development. This study aims to provide valuable insights for researchers, engineers, and policymakers working towards realizing intelligent, AI-powered V2X ecosystems in 6G communication.

Authors:Yongpeng Zhao, Maik Pfefferkorn, Maximilian Templer, Rolf Findeisen
Title: Efficient Learning of Vehicle Controller Parameters via Multi-Fidelity Bayesian Optimization: From Simulation to Experiment
Abstract:
Parameter tuning for vehicle controllers remains a costly and time-intensive challenge in automotive development. Traditional approaches rely on extensive real-world testing, making the process inefficient. We propose a multi-fidelity Bayesian optimization approach that efficiently learns optimal controller parameters by leveraging both low-fidelity simulation data and a very limited number of real-world experiments. Our approach significantly reduces the need for manual tuning and expensive field testing while maintaining the standard two-stage development workflow used in industry. The core contribution is the integration of an auto-regressive multi-fidelity Gaussian process model into Bayesian optimization, enabling knowledge transfer between different fidelity levels without requiring additional low-fidelity evaluations during real-world testing. We validate our approach through both simulation studies and realworld experiments. The results demonstrate that our method achieves high-quality controller performance with only very few real-world experiments, highlighting its potential as a practical and scalable solution for intelligent vehicle control tuning in industrial applications.

Authors:Michael S. Ackermann, Ion Victor Gosea, Serkan Gugercin, Steffen W. R. Werner
Title: Second-order AAA algorithms for structured data-driven modeling
Abstract:
The data-driven modeling of dynamical systems has become an essential tool for the construction of accurate computational models from real-world data. In this process, the inherent differential structures underlying the considered physical phenomena are often neglected making the reinterpretation of the learned models in a physically meaningful sense very challenging. In this work, we present three data-driven modeling approaches for the construction of dynamical systems with second-order differential structure directly from frequency domain data. Based on the second-order structured barycentric form, we extend the well-known Adaptive Antoulas-Anderson algorithm to the case of second-order systems. Depending on the available computational resources, we propose variations of the proposed method that prioritize either higher computation speed or greater modeling accuracy, and we present a theoretical analysis for the expected accuracy and performance of the proposed methods. Three numerical examples demonstrate the effectiveness of our new structured approaches in comparison to classical unstructured data-driven modeling.

Authors:Youwei Yu, Junhong Xu, Lantao Liu
Title: ADEPT: Adaptive Diffusion Environment for Policy Transfer Sim-to-Real
Abstract:
Model-free reinforcement learning has emerged as a powerful method for developing robust robot control policies capable of navigating through complex and unstructured environments. The effectiveness of these methods hinges on two essential elements: (1) the use of massively parallel physics simulations to expedite policy training, and (2) an environment generator tasked with crafting sufficiently challenging yet attainable environments to facilitate continuous policy improvement. Existing methods of outdoor environment generation often rely on heuristics constrained by a set of parameters, limiting the diversity and realism. In this work, we introduce ADEPT, a novel \textbf{A}daptive \textbf{D}iffusion \textbf{E}nvironment for \textbf{P}olicy \textbf{T}ransfer in the zero-shot sim-to-real fashion that leverages Denoising Diffusion Probabilistic Models to dynamically expand existing training environments by adding more diverse and complex environments adaptive to the current policy. ADEPT guides the diffusion model's generation process through initial noise optimization, blending noise-corrupted environments from existing training environments weighted by the policy's performance in each corresponding environment. By manipulating the noise corruption level, ADEPT seamlessly transitions between generating similar environments for policy fine-tuning and novel ones to expand training diversity. To benchmark ADEPT in off-road navigation, we propose a fast and effective multi-layer map representation for wild environment generation. Our experiments show that the policy trained by ADEPT outperforms both procedural generated and natural environments, along with popular navigation methods.

Authors:Romeo Ortega, Alexey Bobtsov, Leyan Fang, Oscar Texis-Loaiza, Johannes Schiffer
Title: Interturn Fault Detection in IPMSMs: Two Adaptive Observer-based Solutions
Abstract:
In this paper we address the problem of online detection of inter-turn short-circuit faults (ITSCFs) that occur in permanent magnet synchronous motors (PMSMs). We propose two solutions to this problem: (i) a very simple linear observer and (ii) a generalized parameter estimation based observer, that incorporates a high performance estimator -- with both observers detecting the short-circuit current and the fault intensity. Although the first solution guarantees the detection of the fault exponentially fast, the rate of convergence is fully determined by the motor parameters that, in some cases, may be too slow. The second observer, on the other hand, ensures finite convergence time under the weakest assumption of interval excitation. To make the observers adaptive, we develop a parameter estimator that, in the case of isotropic PMSMs, estimates on-line (exponentially fast) the resistance and inductance of the motor. It should be underscored that, in contrast with existing observers (including the widely popular Kalman filter) that provide indirect information of the fault current, our observers provide explicit one -- namely the amplitude of the fault current. The performance of both observers, in their linear and generalized parameter estimation-based versions, is illustrated with realistic simulation studies.

Authors:Leyan Fang, Romeo Ortega, Robert Griñó
Title: Voltage Control of the Boost Converter: PI vs. Nonlinear Passivity-based Control
Abstract:
We carry-out a detailed analysis of direct voltage control of a Boost converter feeding a simple resistive load. First, we prove that using a classical PI control to stabilize a desired equilibrium leads to a very complicated dynamic behavior consisting of two equilibrium points, one of them always unstable for all PI gains and circuit parameter values. Interestingly, the second equilibrium point may be rendered stable -- but for all tuning gains leading to an extremely large value of the circuit current and the controller integrator state. Moreover, if we neglect the resistive effect of the inductor, there is only one equilibrium and it is always unstable. From a practical point of view, it is important to note that the only useful equilibrium point is that of minimum current and that, in addition, there is always a resistive component in the inductor either by its parasitic resistance or by the resistive component of the output impedance of the previous stage. In opposition to this troublesome scenario we recall three nonlinear voltage-feedback controllers, that ensure asymptotic stability of the desired equilibrium with simple gain tuning rules, an easily defined domain of attraction and smooth transient behavior. Two of them are very simple, nonlinear, static voltage feedback rules, while the third one is a variation of the PID scheme called PID-Passivity-based Control (PBC). In its original formulation PID-PBC requires full state measurement, but we present a modified version that incorporates a current observer. All three nonlinear controllers are designed following the principles of PBC, which has had enormous success in many engineering applications.

Authors:Aniruddh Mishra, Arthur K. Barnes, Jose E. Tabarez, Adam Mate
Title: Sensitivity of DC Network Representation for GIC Analysis
Abstract:
Geomagnetic disturbances are a threat to the reliability and security of our national critical energy infrastructures. These events specifically result in geomagnetically induced currents, which can cause damage to transformers due to magnetic saturation. In order to mitigate these effects, blocker devices must be placed in optimal locations. Finding this placement requires a dc representation of the ac transmission lines, which this paper discusses. Different decisions in this process, including the method of representing the blocking devices, result in significant variations to the power loss calculations. To analyze these effects, we conclude the paper by comparing the losses on a sample network with different modeling implementations.

Authors:Poulomee Ghosh, Shubhendu Bhasin
Title: State and Input Constrained Adaptive Tracking Control of Uncertain Euler-Lagrange Systems with Robustness and Feasibility Analysis
Abstract:
This paper proposes an adaptive tracking controller for uncertain Euler-Lagrange (E-L) systems with user-defined state and input constraints in presence of bounded external disturbances. A barrier Lyapunov function (BLF) is employed for state constraint satisfaction, integrated with a saturated controller that ensures the control input remains within pre-specified bounds. To the best of the authors' knowledge, this is the first result on tracking control of state and input-constrained uncertain E-L systems that provides verifiable conditions for the existence of a feasible control policy. The efficacy of the proposed controller in terms of constraint satisfaction and tracking performance is demonstrated through simulation on a robotic manipulator system.

Authors:Poulomee Ghosh, Shubhendu Bhasin
Title: State Constrained Model Reference Adaptive Control with Input Amplitude and Rate Limits
Abstract:
This paper proposes a robust model reference adaptive controller (MRAC) for uncertain multi-input multi-output (MIMO) linear time-invariant (LTI) plants with user-defined constraints on the plant states, input amplitude, and input rate. The proposed two-layer barrier Lyapunov function (BLF)-based control design considers the input and the input rate as states that are constrained using two BLFs in the first layer, while another BLF in the second layer constrains the plant states. The adaptive control law ensures that the plant states, input amplitude, and input rate remain within the user-defined safe sets despite unmatched bounded disturbances. Sufficient conditions for the existence of a feasible control policy are also provided. To the best of the authors' knowledge, this is the first optimization-free method that imposes user-defined constraints on the state, input, and input rate and also provides verifiable feasibility conditions in the presence of parametric uncertainties and disturbances. Simulation results demonstrate the effectiveness of the proposed algorithm.

Authors:Manuel Klädtke, Moritz Schulze Darup
Title: On data usage and predictive behavior of data-driven predictive control with 1-norm regularization
Abstract:
We investigate the data usage and predictive behavior of data-driven predictive control (DPC) with 1-norm regularization. Our analysis enables the offline removal of unused data and facilitates a comparison between the identified symmetric structure and data usage against prior knowledge of the true system. This comparison helps assess the suitability of the DPC scheme for effective control.

Authors:Maonan Wang, Yirong Chen, Aoyu Pang, Yuxin Cai, Chung Shue Chen, Yuheng Kan, Man-On Pun
Title: VLMLight: Traffic Signal Control via Vision-Language Meta-Control and Dual-Branch Reasoning
Abstract:
Traffic signal control (TSC) is a core challenge in urban mobility, where real-time decisions must balance efficiency and safety. Existing methods - ranging from rule-based heuristics to reinforcement learning (RL) - often struggle to generalize to complex, dynamic, and safety-critical scenarios. We introduce VLMLight, a novel TSC framework that integrates vision-language meta-control with dual-branch reasoning. At the core of VLMLight is the first image-based traffic simulator that enables multi-view visual perception at intersections, allowing policies to reason over rich cues such as vehicle type, motion, and spatial density. A large language model (LLM) serves as a safety-prioritized meta-controller, selecting between a fast RL policy for routine traffic and a structured reasoning branch for critical cases. In the latter, multiple LLM agents collaborate to assess traffic phases, prioritize emergency vehicles, and verify rule compliance. Experiments show that VLMLight reduces waiting times for emergency vehicles by up to 65% over RL-only systems, while preserving real-time performance in standard conditions with less than 1% degradation. VLMLight offers a scalable, interpretable, and safety-aware solution for next-generation traffic signal control.

Authors:Ivan Bao, José C. Díaz Peón González Pacheco, Atharva Navsalkar, Andrew Scheffer, Sashreek Shankar, Andrew Zhao, Hongyu Zhou, Vasileios Tzoumas
Title: MorphEUS: Morphable Omnidirectional Unmanned System
Abstract:
Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we introduce MorphEUS, a morphable co-axial quadrotor that can control position and orientation independently with high efficiency. It uses a paired servo motor mechanism for each rotor arm, capable of pointing the vectored-thrust in any arbitrary direction. As compared to the \textit{state-of-the-art} OMAVs, we achieve higher and more uniform force/torque reachability with a smaller footprint and minimum thrust cancellations. The overactuated nature of the system also results in resiliency to rotor or servo-motor failures. The capabilities of this quadrotor are particularly well-suited for contact-based infrastructure inspection and close-proximity imaging of complex geometries. In the accompanying control pipeline, we present theoretical results for full controllability, almost-everywhere exponential stability, and thrust-energy optimality. We evaluate our design and controller on high-fidelity simulations showcasing the trajectory-tracking capabilities of the vehicle during various tasks. Supplementary details and experimental videos are available on the project webpage.

Authors:Runze Yan, Xun Shen, Akifumi Wachi, Sebastien Gros, Anni Zhao, Xiao Hu
Title: Offline Guarded Safe Reinforcement Learning for Medical Treatment Optimization Strategies
Abstract:
When applying offline reinforcement learning (RL) in healthcare scenarios, the out-of-distribution (OOD) issues pose significant risks, as inappropriate generalization beyond clinical expertise can result in potentially harmful recommendations. While existing methods like conservative Q-learning (CQL) attempt to address the OOD issue, their effectiveness is limited by only constraining action selection by suppressing uncertain actions. This action-only regularization imitates clinician actions that prioritize short-term rewards, but it fails to regulate downstream state trajectories, thereby limiting the discovery of improved long-term treatment strategies. To safely improve policy beyond clinician recommendations while ensuring that state-action trajectories remain in-distribution, we propose \textit{Offline Guarded Safe Reinforcement Learning} ($\mathsf{OGSRL}$), a theoretically grounded model-based offline RL framework. $\mathsf{OGSRL}$ introduces a novel dual constraint mechanism for improving policy with reliability and safety. First, the OOD guardian is established to specify clinically validated regions for safe policy exploration. By constraining optimization within these regions, it enables the reliable exploration of treatment strategies that outperform clinician behavior by leveraging the full patient state history, without drifting into unsupported state-action trajectories. Second, we introduce a safety cost constraint that encodes medical knowledge about physiological safety boundaries, providing domain-specific safeguards even in areas where training data might contain potentially unsafe interventions. Notably, we provide theoretical guarantees on safety and near-optimality: policies that satisfy these constraints remain in safe and reliable regions and achieve performance close to the best possible policy supported by the data.

Authors:Changhong Li, Shashwat Khandelwal, Shreejith Shanker
Title: FAV-NSS: An HIL Framework for Accelerating Validation of Automotive Network Security Strategies
Abstract:
Complex electronic control unit (ECU) architectures, software models and in-vehicle networks are consistently improving safety and comfort functions in modern vehicles. However, the extended functionality and increased connectivity introduce new security risks and vulnerabilities that can be exploited on legacy automotive networks such as the controller area network (CAN). With the rising complexity of vehicular systems and attack vectors, the need for a flexible hardware-in-the-loop (HIL) test fixture that can inject attacks and validate the performance of countermeasures in near-real-world conditions in real time is vital. This paper presents an FPGA-based HIL framework tailored towards validating network security approaches (IDS, IPS) and smart integration strategies of such capabilities for an automotive CAN bus. FAV-NSS replicates an actual vehicular system environment with functional ECUs and network infrastructure on an FPGA, allowing functional validation of IDS/IPS algorithms, accelerator designs and integration schemes (software task on ECU, dedicated accelerator). To show the efficacy of FAV-NSS, we evaluate an IDS accelerator integration problem, both as a traditional coupled accelerator (to the ECU), and secondly close to the CAN controller (mimicking an extended CAN controller). We show that the latter strategy can be fully validated by our framework, which would otherwise require integration of specialised CAN modules into otherwise standard HIL fixtures with ability to instrument internal signals for characterising timing performance. The tests demonstrate a promising latency reduction of 6.3x when compared to the traditional coupled accelerator. Our case study demonstrates the potential of FAV-NSS for accelerating the optimisation, integration and verification of smart ECUs and communication controllers in current and future vehicular systems.

Authors:Shashwat Khandelwal, Shreejith Shanker
Title: SecCAN: An Extended CAN Controller with Embedded Intrusion Detection
Abstract:
Recent research has highlighted the vulnerability of in-vehicle network protocols such as controller area networks (CAN) and proposed machine learning-based intrusion detection systems (IDSs) as an effective mitigation technique. However, their efficient integration into vehicular architecture is non-trivial, with existing methods relying on electronic control units (ECUs)-coupled IDS accelerators or dedicated ECUs as IDS accelerators. Here, initiating IDS requires complete reception of a CAN message from the controller, incurring data movement and software overheads. In this paper, we present SecCAN, a novel CAN controller architecture that embeds IDS capability within the datapath of the controller. This integration allows IDS to tap messages directly from within the CAN controller as they are received from the bus, removing overheads incurred by existing ML-based IDSs. A custom-quantised machine-learning accelerator is developed as the IDS engine and embedded into SecCAN's receive data path, with optimisations to overlap the IDS inference with the protocol's reception window. We implement SecCAN on AMD XCZU7EV FPGA to quantify its performance and benefits in hardware, using multiple attack datasets. We show that SecCAN can completely hide the IDS latency within the CAN reception window for all CAN packet sizes and detect multiple attacks with state-of-the-art accuracy with zero software overheads on the ECU and low energy overhead (73.7 uJ per message) for IDS inference. Also, SecCAN incurs limited resource overhead compared to a standard CAN controller (< 30% LUT, < 1% FF), making it ideally suited for automotive deployment.

Authors:Filippo Badalamenti, Sampath Kumar Mulagaleti, Mario Eduardo Villanueva, Boris Houska, Alberto Bemporad
Title: Efficient Configuration-Constrained Tube MPC via Variables Restriction and Template Selection
Abstract:
Configuration-Constrained Tube Model Predictive Control (CCTMPC) offers flexibility by using a polytopic parameterization of invariant sets and the optimization of an associated vertex control law. This flexibility, however, often demands computational trade-offs between set parameterization accuracy and optimization complexity. This paper proposes two innovations that help the user tackle this trade-off. First, a structured framework is proposed, which strategically limits optimization degrees of freedom, significantly reducing online computation time while retaining stability guarantees. This framework aligns with Homothetic Tube MPC (HTMPC) under maximal constraints. Second, a template refinement algorithm that iteratively solves quadratic programs is introduced to balance polytope complexity and conservatism. Simulation studies on an illustrative benchmark problem as well as a high-dimensional ten-state system demonstrate the approach's efficiency, achieving robust performance with minimal computational overhead. The results validate a practical pathway to leveraging CCTMPC's adaptability without sacrificing real-time viability.

Authors:Shenghua Hu, Guangyang Zeng, Wenchao Xue, Haitao Fang, Junfeng Wu, Biqiang Mu
Title: RSS-Based Localization: Ensuring Consistency and Asymptotic Efficiency
Abstract:
We study the problem of signal source localization using received signal strength measurements. We begin by presenting verifiable geometric conditions for sensor deployment that ensure the model's asymptotic localizability. Then we establish the consistency and asymptotic efficiency of the maximum likelihood (ML) estimator. However, computing the ML estimator is challenging due to its reliance on solving a non-convex optimization problem. To overcome this, we propose a two-step estimator that retains the same asymptotic properties as the ML estimator while offering low computational complexity, linear in the number of measurements. The main challenge lies in obtaining a consistent estimator in the first step. To address this, we construct two linear least-squares estimation problems by applying algebraic transformations to the nonlinear measurement model, leading to closed-form solutions. In the second step, we perform a single Gauss-Newton iteration using the consistent estimator from the first step as the initialization, achieving the same asymptotic efficiency as the ML estimator. Finally, simulation results validate the theoretical property and practical effectiveness of the proposed two-step estimator.

Authors:Jihun Kim, Yuchen Fang, Javad Lavaei
Title: On the Sharp Input-Output Analysis of Nonlinear Systems under Adversarial Attacks
Abstract:
This paper is concerned with learning the input-output mapping of general nonlinear dynamical systems. While the existing literature focuses on Gaussian inputs and benign disturbances, we significantly broaden the scope of admissible control inputs and allow correlated, nonzero-mean, adversarial disturbances. With our reformulation as a linear combination of basis functions, we prove that the $l_1$-norm estimator overcomes the challenges as long as the probability that the system is under adversarial attack at a given time is smaller than a certain threshold. We provide an estimation error bound that decays with the input memory length and prove its optimality by constructing a problem instance that suffers from the same bound under adversarial attacks. Our work provides a sharp input-output analysis for a generic nonlinear and partially observed system under significantly generalized assumptions compared to existing works.

Authors:Shubham Rohal, Dong Yoon Lee, Phuc Nguyen, Shijia Pan
Title: Can On Body Sensing Be Spatial Adaptive?
Abstract:
Wearable sensors are typically affixed to specific locations on the human body, and their position remains static, only changing unintentionally due to motion artifacts. This static configuration introduces significant limitations. As a result, current systems miss the opportunity to capture dynamic physiological data from diverse body regions. This research investigates the potential of developing movable sensors that adaptively reposition themselves to sample different areas of interest on the body, addressing gaps in spatial coverage. We designed, developed, and fabricated a 3 x 3 matrix platform to support moving sensors from one location to another. We validated the feasibility through simulations on a matrix of up to 9 x 9 locations with up to 16 concurrent sensors and real-world prototype characterization.

Authors:MirSaleh Bahavarnia, Muhammad Nadeem, Ahmad F. Taha
Title: Improving Power Systems Controllability via Edge Centrality Measures
Abstract:
Improving the controllability of power networks is crucial as they are highly complex networks operating in synchrony; even minor perturbations can cause desynchronization and instability. To that end, one needs to assess the criticality of key network components (buses and lines) in terms of their impact on system performance. Traditional methods to identify the key nodes/edges in power networks often rely on static centrality measures based on the network's topological structure ignoring the network's dynamic behavior. In this paper, using multi-machine power network models and a new control-theoretic edge centrality matrix (ECM) approach, we: (i) quantify the influence of edges (i.e., the line susceptances) in terms of controllability performance metrics, (ii) identify the most influential lines, and (iii) compute near-optimal edge modifications that improve the power network controllability. Employing various IEEE power network benchmarks, we validate the effectiveness of the ECM-based algorithm and demonstrate improvements in system reachability, control, and damping performance.

Authors:Michelle Ho, Arec Jamgochian, Mykel J. Kochenderfer
Title: Model Identification Adaptive Control with $ρ$-POMDP Planning
Abstract:
Accurate system modeling is crucial for safe, effective control, as misidentification can lead to accumulated errors, especially under partial observability. We address this problem by formulating informative input design and model identification adaptive control (MIAC) as belief space planning problems, modeled as partially observable Markov decision processes with belief-dependent rewards ($ρ$-POMDPs). We treat system parameters as hidden state variables that must be localized while simultaneously controlling the system. We solve this problem with an adapted belief-space iterative Linear Quadratic Regulator (BiLQR). We demonstrate it on fully and partially observable tasks for cart-pole and steady aircraft flight domains. Our method outperforms baselines such as regression, filtering, and local optimal control methods, even under instantaneous disturbances to system parameters.

Authors:Georg Schäfer, Raphael Seliger, Jakob Rehrl, Stefan Huber, Simon Hirlaender
Title: Multi-Objective Reinforcement Learning for Energy-Efficient Industrial Control
Abstract:
Industrial automation increasingly demands energy-efficient control strategies to balance performance with environmental and cost constraints. In this work, we present a multi-objective reinforcement learning (MORL) framework for energy-efficient control of the Quanser Aero 2 testbed in its one-degree-of-freedom configuration. We design a composite reward function that simultaneously penalizes tracking error and electrical power consumption. Preliminary experiments explore the influence of varying the Energy penalty weight, alpha, on the trade-off between pitch tracking and energy savings. Our results reveal a marked performance shift for alpha values between 0.0 and 0.25, with non-Pareto optimal solutions emerging at lower alpha values, on both the simulation and the real system. We hypothesize that these effects may be attributed to artifacts introduced by the adaptive behavior of the Adam optimizer, which could bias the learning process and favor bang-bang control strategies. Future work will focus on automating alpha selection through Gaussian Process-based Pareto front modeling and transitioning the approach from simulation to real-world deployment.

Authors:Sampath Kumar Mulagaleti, Alberto Bemporad
Title: Learning Quasi-LPV Models and Robust Control Invariant Sets with Reduced Conservativeness
Abstract:
We present an approach to identify a quasi Linear Parameter Varying (qLPV) model of a plant, with the qLPV model guaranteed to admit a robust control invariant (RCI) set. It builds upon the concurrent synthesis framework presented in [1], in which the requirement of existence of an RCI set is modeled as a control-oriented regularization. Here, we reduce the conservativeness of the approach by bounding the qLPV system with an uncertain LTI system, which we derive using bound propagation approaches. The resulting regularization function is the optimal value of a nonlinear robust optimization problem that we solve via a differentiable algorithm. We numerically demonstrate the benefits of the proposed approach over two benchmark approaches.

Authors:Gilbert Bahati, Ryan M. Bena, Aaron D. Ames
Title: Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
Abstract:
Synthesizing safe sets for robotic systems operating in complex and dynamically changing environments is a challenging problem. Solving this problem can enable the construction of safety filters that guarantee safe control actions -- most notably by employing Control Barrier Functions (CBFs). This paper presents an algorithm for generating safe sets from perception data by leveraging elliptic partial differential equations, specifically Poisson's equation. Given a local occupancy map, we solve Poisson's equation subject to Dirichlet boundary conditions, with a novel forcing function. Specifically, we design a smooth guidance vector field, which encodes gradient information required for safety. The result is a variational problem for which the unique minimizer -- a safety function -- characterizes the safe set. After establishing our theoretical result, we illustrate how safety functions can be used in CBF-based safety filtering. The real-time utility of our synthesis method is highlighted through hardware demonstrations on quadruped and humanoid robots navigating dynamically changing obstacle-filled environments.

Authors:Yang Lu, Sha Luo, Pengming Zhu, Weijia Yao, Hector Garcia de Marina, Xinglong Zhang, Xin Xu
Title: Versatile Distributed Maneuvering with Generalized Formations using Guiding Vector Fields
Abstract:
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independent components, i.e., interception and enclosing, which are parameterized by two independent virtual coordinates. Treating these two virtual coordinates as dimensions of an abstract manifold, we derive the corresponding singularity-free guiding vector field (GVF), which, along with a distributed coordination mechanism based on the consensus theory, guides robots to achieve various motions (i.e., versatile maneuvering), including (a) formation tracking, (b) target enclosing, and (c) circumnavigation. Additional motion parameters can generate more complex cooperative robot motions. Based on GVFs, we design a controller for a nonholonomic robot model. Besides the theoretical results, extensive simulations and experiments are performed to validate the effectiveness of the approach.

Authors:Peiyan Hu, Haodong Feng, Yue Wang, Zhiming Ma
Title: Model-Based Closed-Loop Control Algorithm for Stochastic Partial Differential Equation Control
Abstract:
Neural operators have demonstrated promise in modeling and controlling systems governed by Partial Differential Equations (PDEs). Beyond PDEs, Stochastic Partial Differential Equations (SPDEs) play a critical role in modeling systems influenced by randomness, with applications in finance, physics, and beyond. However, controlling SPDE-governed systems remains a significant challenge. On the one hand, the regularity of the system's state (which can be intuitively understood as smoothness) deteriorates, making modeling and generalization more challenging. On the other hand, this stochasticity also renders control more unstable and thus less accurate. To address this gap, we propose the Model-Based Closed-Loop Control Algorithm (MB-CC), the first model-based closed-loop control method for SPDEs. MB-CC introduces two key innovations to enhance control robustness and efficiency: a Regularity Feature (RF) block and a closed-loop strategy with an operator-encoded policy network. The RF block, inspired by the regularity structure theory of SPDEs, addresses noise-induced irregularities by transforming the network's input, including the system state and noise-perturbed external forces, into a refined feature space for improved forward prediction. Compared to previous works using regularity features, we introduce a new parameterization, data augmentation, and extend the RF block as a plug-and-play component. Additionally, to achieve closed-loop control, we introduce an operator-encoded policy network to map the current state to optimal control, which integrates physical priors and swiftly makes decisions based on states returned by the environment. We conduct a systematic evaluation of MB-CC on two notable SPDEs, showcasing its effectiveness and efficiency. The ablation studies show its ability to handle stochasticity more effectively.

Authors:Lei Xin, Baike She, Qi Dou, George Chiu, Shreyas Sundaram
Title: Learning Linearized Models from Nonlinear Systems under Initialization Constraints with Finite Data
Abstract:
The identification of a linear system model from data has wide applications in control theory. The existing work that provides finite sample guarantees for linear system identification typically uses data from a single long system trajectory under i.i.d. random inputs, and assumes that the underlying dynamics is truly linear. In contrast, we consider the problem of identifying a linearized model when the true underlying dynamics is nonlinear, given that there is a certain constraint on the region where one can initialize the experiments. We provide a multiple trajectories-based deterministic data acquisition algorithm followed by a regularized least squares algorithm, and provide a finite sample error bound on the learned linearized dynamics. Our error bound shows that one can consistently learn the linearized dynamics, and demonstrates a trade-off between the error due to nonlinearity and the error due to noise. We validate our results through numerical experiments, where we also show the potential insufficiency of linear system identification using a single trajectory with i.i.d. random inputs, when nonlinearity does exist.

Authors:Sean Reiter, Ion Victor Gosea, Igor Pontes Duff, Serkan Gugercin
Title: $\mathcal{H}_2$-optimal model reduction of linear quadratic-output systems by multivariate rational interpolation
Abstract:
This paper addresses the $\mathcal{H}_2$-optimal approximation of linear dynamical systems with quadratic-output functions, also known as linear quadratic-output systems. Our major contributions are threefold. First, we derive interpolation-based first-order optimality conditions for the linear quadratic-output $\mathcal{H}_2$ minimization problem. These conditions correspond to the mixed-multipoint tangential interpolation of the full-order linear- and quadratic-output transfer functions, and generalize the Meier-Luenberger optimality framework for the $\mathcal{H}_2$-optimal model reduction of linear time-invariant systems. Second, given the interpolation data, we show how to enforce these mixed-multipoint tangential interpolation conditions explicitly by Petrov-Galerkin projection of the full-order model matrices. Third, to find the optimal interpolation data, we build on this projection framework and propose a generalization of the iterative rational Krylov algorithm for the $\mathcal{H}_2$-optimal model reduction of linear quadratic-output systems, called LQO-IRKA. Upon convergence, LQO-IRKA produces a reduced linear quadratic-output system that satisfies the interpolatory optimality conditions. The method only requires solving shifted linear systems and matrix-vector products, thus making it suitable for large-scale problems. Numerical examples are included to illustrate the effectiveness of the proposed method.

Authors:Ahrar N. Hamad, Ahmad Adnan Qidan, Taisir E. H. El-Gorashi, Jaafar M. H. Elmirghani
Title: Adaptive DRL for IRS Mirror Orientation in Dynamic OWC Networks
Abstract:
Intelligent reflecting surfaces (IRSs) have emerged as a promising solution to mitigate line-of-sight (LoS) blockages and enhance signal coverage in optical wireless communication (OWC) systems. In this work, we consider a mirror-based IRS to assist a dynamic indoor visible light communication (VLC) environment. We formulate an optimization problem that aims to maximize the sum rate by adjusting the orientation of the IRS mirrors. To enable real-time adaptability, the problem is modelled as a Markov decision process (MDP), and a deep reinforcement learning (DRL) algorithm, specifically deep deterministic policy gradient (DDPG), is employed to optimize mirror orientation toward mobile users under blockage and mobility constraints. Simulation results demonstrate that the proposed DDPG-based approach outperforms conventional DRL algorithms and achieves substantial improvements in sum rate compared to fixed-orientation IRS configurations.

Authors:Yanlin Jiang, Xinliang Dai, Frederik Zahn, Veit Hagenmeyer
Title: Enhanced Flexibility Aggregation Using LinDistFlow Model with Loss Compensation
Abstract:
With the increasing integration of renewable energy resources and the growing need for data privacy between system operators, flexibility aggregation methods have emerged as a promising solution to coordinate integrated transmissiondistribution (ITD) systems with limited information exchange. However, existing methods face significant challenges due to the nonlinearity of AC power flow models, and therefore mostly rely on linearized models. This paper examines the inherent errors in the LinDistFlow model, a linearized approximation, and demonstrates their impact on flexibility aggregation. To address these issues, we propose an intuitive compensation approach to refine the LinDistFlow-based flexibility set. Simulation results demonstrate the effectiveness of the proposed method in efficiently coordinating ITD systems.

Authors:Heisei Yonezawa, Ansei Yonezawa, Itsuro Kajiwara
Title: Model-based controller assisted domain randomization in deep reinforcement learning: application to nonlinear powertrain control
Abstract:
Complex mechanical systems such as vehicle powertrains are inherently subject to multiple nonlinearities and uncertainties arising from parametric variations. Modeling and calibration errors are therefore unavoidable, making the transfer of control systems from simulation to real-world systems a critical challenge. Traditional robust controls have limitations in handling certain types of nonlinearities and uncertainties, requiring a more practical approach capable of comprehensively compensating for these various constraints. This study proposes a new robust control approach using the framework of deep reinforcement learning (DRL). The key strategy lies in the synergy among domain randomization-based DRL, long short-term memory (LSTM)-based actor and critic networks, and model-based control (MBC). The problem setup is modeled via the latent Markov decision process (LMDP), a set of vanilla MDPs, for a controlled system subject to uncertainties and nonlinearities. In LMDP, the dynamics of an environment simulator is randomized during training to improve the robustness of the control system to real testing environments. The randomization increases training difficulties as well as conservativeness of the resultant control system; therefore, progress is assisted by concurrent use of a model-based controller based on a nominal system model. Compared to traditional DRL-based controls, the proposed controller design is smarter in that we can achieve a high level of generalization ability with a more compact neural network architecture and a smaller amount of training data. The proposed approach is verified via practical application to active damping for a complex powertrain system with nonlinearities and parametric variations. Comparative tests demonstrate the high robustness of the proposed approach.

Authors:Yinlong Dai, Robert Ramirez Sanchez, Ryan Jeronimus, Shahabedin Sagheb, Cara M. Nunez, Heramb Nemlekar, Dylan P. Losey
Title: CIVIL: Causal and Intuitive Visual Imitation Learning
Abstract:
Today's robots learn new tasks by imitating human examples. However, this standard approach to visual imitation learning is fundamentally limited: the robot observes what the human does, but not why the human chooses those behaviors. Without understanding the features that factor into the human's decisions, robot learners often misinterpret the data and fail to perform the task when the environment changes. We therefore propose a shift in perspective: instead of asking human teachers just to show what actions the robot should take, we also enable humans to indicate task-relevant features using markers and language prompts. Our proposed algorithm, CIVIL, leverages this augmented data to filter the robot's visual observations and extract a feature representation that causally informs human actions. CIVIL then applies these causal features to train a transformer-based policy that emulates human behaviors without being confused by visual distractors. Our simulations, real-world experiments, and user study demonstrate that robots trained with CIVIL can learn from fewer human demonstrations and perform better than state-of-the-art baselines, especially in previously unseen scenarios. See videos at our project website: https://civil2025.github.io

Authors:Mirko Fiacchini, Martina Mammarella, Fabrizio Dabbene
Title: Recursive feasibility for stochastic MPC and the rationale behind fixing flat tires
Abstract:
In this paper, we address the problem of designing stochastic model predictive control (SMPC) schemes for linear systems affected by unbounded disturbances. The contribution of the paper is rooted in a measured-state initialization strategy. First, due to the nonzero probability of violating chance-constraints in the case of unbounded noise, we introduce ellipsoidal-based probabilistic reachable sets and we include constraint relaxations to recover recursive feasibility conditioned to the measured state. Second, we prove that the solution of this novel SMPC scheme guarantees closed-loop chance constraints satisfaction under minimum relaxation. Last, we demonstrate that, in expectation, the need of relaxing the constraints vanishes over time, which leads the closed-loop trajectories steered towards the unconstrained LQR invariant region. This novel SMPC scheme is proven to satisfy the recursive feasibility conditioned to the state realization, and its superiority with respect to open-loop initialization schemes is shown through numerical examples.

Authors:Hongyu Zhou, Vasileios Tzoumas
Title: No-Regret Model Predictive Control with Online Learning of Koopman Operators
Abstract:
We study a problem of simultaneous system identification and model predictive control of nonlinear systems. Particularly, we provide an algorithm for systems with unknown residual dynamics that can be expressed by Koopman operators. Such residual dynamics can model external disturbances and modeling errors, such as wind and wave disturbances to aerial and marine vehicles, or inaccurate model parameters. The algorithm has finite-time near-optimality guarantees and asymptotically converges to the optimal non-causal controller. Specifically, the algorithm enjoys sublinear \textit{dynamic regret}, defined herein as the suboptimality against an optimal clairvoyant controller that knows how the unknown dynamics will adapt to its states and actions. To this end, we assume the algorithm is given Koopman observable functions such that the unknown dynamics can be approximated by a linear dynamical system. Then, it employs model predictive control based on the current learned model of the unknown residual dynamics. This model is updated online using least squares in a self-supervised manner based on the data collected while controlling the system. We validate our algorithm in physics-based simulations of a cart-pole system aiming to maintain the pole upright despite inaccurate model parameters.

Authors:Alexis M. H. Teter, Wenqing Wang, Sachin Shivakumar, Abhishek Halder
Title: Markov Kernels, Distances and Optimal Control: A Parable of Linear Quadratic Non-Gaussian Distribution Steering
Abstract:
For a controllable linear time-varying (LTV) pair $(\boldsymbol{A}_t,\boldsymbol{B}_t)$ and $\boldsymbol{Q}_{t}$ positive semidefinite, we derive the Markov kernel for the Itô diffusion ${\mathrm{d}}\boldsymbol{x}_{t}=\boldsymbol{A}_{t}\boldsymbol{x}_t {\mathrm{d}} t + \sqrt{2}\boldsymbol{B}_{t}{\mathrm{d}}\boldsymbol{w}_{t}$ with an accompanying killing of probability mass at rate $\frac{1}{2}\boldsymbol{x}^{\top}\boldsymbol{Q}_{t}\boldsymbol{x}$. This Markov kernel is the Green's function for an associated linear reaction-advection-diffusion partial differential equation. Our result generalizes the recently derived kernel for the special case $\left(\boldsymbol{A}_t,\boldsymbol{B}_t\right)=\left(\boldsymbol{0},\boldsymbol{I}\right)$, and depends on the solution of an associated Riccati matrix ODE. A consequence of this result is that the linear quadratic non-Gaussian Schrödinger bridge is exactly solvable. This means that the problem of steering a controlled LTV diffusion from a given non-Gaussian distribution to another over a fixed deadline while minimizing an expected quadratic cost can be solved using dynamic Sinkhorn recursions performed with the derived kernel. Our derivation for the $\left(\boldsymbol{A}_t,\boldsymbol{B}_t,\boldsymbol{Q}_t\right)$-parametrized kernel pursues a new idea that relies on finding a state-time dependent distance-like functional given by the solution of a deterministic optimal control problem. This technique breaks away from existing methods, such as generalizing Hermite polynomials or Weyl calculus, which have seen limited success in the reaction-diffusion context. Our technique uncovers a new connection between Markov kernels, distances, and optimal control. This connection is of interest beyond its immediate application in solving the linear quadratic Schrödinger bridge problem.

Authors:Ian Mikesell, Samuel Filgueira da Silva, Mehmet Fatih Ozkan, Faissal El Idrissi, Prashanth Ramesh, Marcello Canova
Title: Real-Time Optimal Design of Experiment for Parameter Identification of Li-Ion Cell Electrochemical Model
Abstract:
Accurately identifying the parameters of electrochemical models of li-ion battery (LiB) cells is a critical task for enhancing the fidelity and predictive ability. Traditional parameter identification methods often require extensive data collection experiments and lack adaptability in dynamic environments. This paper describes a Reinforcement Learning (RL) based approach that dynamically tailors the current profile applied to a LiB cell to optimize the parameters identifiability of the electrochemical model. The proposed framework is implemented in real-time using a Hardware-in-the-Loop (HIL) setup, which serves as a reliable testbed for evaluating the RL-based design strategy. The HIL validation confirms that the RL-based experimental design outperforms conventional test protocols used for parameter identification in terms of both reducing the modeling errors on a verification test and minimizing the duration of the experiment used for parameter identification.

Authors:Shenghan Mei, Ziqin He, Yidan Mei, Xin Mao, Anqi Dong, Ren Wang, Can Chen
Title: Data-driven model order reduction for T-Product-Based dynamical systems
Abstract:
Model order reduction plays a crucial role in simplifying complex systems while preserving their essential dynamic characteristics, making it an invaluable tool in a wide range of applications, including robotic systems, signal processing, and fluid dynamics. However, traditional model order reduction techniques like balanced truncation are not designed to handle tensor data directly and instead require unfolding the data, which may lead to the loss of important higher-order structural information. In this article, we introduce a novel framework for data-driven model order reduction of T-product-based dynamical systems (TPDSs), which are often used to capture the evolution of third-order tensor data such as images and videos through the T-product. Specifically, we develop advanced T-product-based techniques, including T-balanced truncation, T-balanced proper orthogonal decomposition, and the T-eigensystem realization algorithm for input-output TPDSs by leveraging the unique properties of T-singular value decomposition. We demonstrate that these techniques offer significant memory and computational savings while achieving reduction errors that are comparable to those of conventional methods. The effectiveness of the proposed framework is further validated through synthetic and real-world examples.

Authors:Chongyang Shi, Michael R. Dorothy, Jie Fu
Title: Integrated Control and Active Perception in POMDPs for Temporal Logic Tasks and Information Acquisition
Abstract:
This paper studies the synthesis of a joint control and active perception policy for a stochastic system modeled as a partially observable Markov decision process (POMDP), subject to temporal logic specifications. The POMDP actions influence both system dynamics (control) and the emission function (perception). Beyond task completion, the planner seeks to maximize information gain about certain temporal events (the secret) through coordinated perception and control. To enable active information acquisition, we introduce minimizing the Shannon conditional entropy of the secret as a planning objective, alongside maximizing the probability of satisfying the temporal logic formula within a finite horizon. Using a variant of observable operators in hidden Markov models (HMMs) and POMDPs, we establish key properties of the conditional entropy gradient with respect to policy parameters. These properties facilitate efficient policy gradient computation. We validate our approach through graph-based examples, inspired by common security applications with UAV surveillance.

Authors:Donggeon David Oh, Justin Lidard, Haimin Hu, Himani Sinhmar, Elle Lazarski, Deepak Gopinath, Emily S. Sumner, Jonathan A. DeCastro, Guy Rosman, Naomi Ehrich Leonard, Jaime Fernández Fisac
Title: Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports
Abstract:
We propose a human-centered safety filter (HCSF) for shared autonomy that significantly enhances system safety without compromising human agency. Our HCSF is built on a neural safety value function, which we first learn scalably through black-box interactions and then use at deployment to enforce a novel state-action control barrier function (Q-CBF) safety constraint. Since this Q-CBF safety filter does not require any knowledge of the system dynamics for both synthesis and runtime safety monitoring and intervention, our method applies readily to complex, black-box shared autonomy systems. Notably, our HCSF's CBF-based interventions modify the human's actions minimally and smoothly, avoiding the abrupt, last-moment corrections delivered by many conventional safety filters. We validate our approach in a comprehensive in-person user study using Assetto Corsa-a high-fidelity car racing simulator with black-box dynamics-to assess robustness in "driving on the edge" scenarios. We compare both trajectory data and drivers' perceptions of our HCSF assistance against unassisted driving and a conventional safety filter. Experimental results show that 1) compared to having no assistance, our HCSF improves both safety and user satisfaction without compromising human agency or comfort, and 2) relative to a conventional safety filter, our proposed HCSF boosts human agency, comfort, and satisfaction while maintaining robustness.

Authors:Quentin Rommel, Michael Hibbard, Pavan Shukla, Himanshu Save, Srinivas Bettadpur, Ufuk Topcu
Title: Verifiable Mission Planning For Space Operations
Abstract:
As space missions become more complex, planning methods must maximize mission performance while rigorously enforcing safety. We develop a probabilistic approach based on a finite-horizon Markov decision process to optimize spacecraft operations planning with safety guarantees. In the model, states capture essential mission parameters, and actions represent the operational adjustments needed to meet mission objectives. By directly incorporating uncertainties from environmental conditions and spacecraft dynamics, an optimal sequence of actions is computed that maximizes expected rewards and strictly enforces safety constraints. Numerical experiments on the GRACE-FO mission demonstrate robust performance under uncertainties while providing probabilistic safety guarantees, offering a reliable solution for autonomous spacecraft operations.

Authors:Dieter Teichrib, Moritz Schulze Darup
Title: A mixed-integer framework for analyzing neural network-based controllers for piecewise affine systems with bounded disturbances
Abstract:
We present a method for representing the closed-loop dynamics of piecewise affine (PWA) systems with bounded additive disturbances and neural network-based controllers as mixed-integer (MI) linear constraints. We show that such representations enable the computation of robustly positively invariant (RPI) sets for the specified system class by solving MI linear programs. These RPI sets can subsequently be used to certify stability and constraint satisfaction. Furthermore, the approach allows to handle non-linear systems based on suitable PWA approximations and corresponding error bounds, which can be interpreted as the bounded disturbances from above.

Authors:Orhan Eren Akgün, Sarper Aydın, Stephanie Gil, Angelia Nedić
Title: Multi-Agent Trustworthy Consensus under Random Dynamic Attacks
Abstract:
In this work, we study the consensus problem in which legitimate agents send their values over an undirected communication network in the presence of an unknown subset of malicious or faulty agents. In contrast to former works, we generalize and characterize the properties of consensus dynamics with dependent sequences of malicious transmissions with dynamic (time-varying) rates, based on not necessarily independent trust observations. We consider a detection algorithm utilizing stochastic trust observations available to legitimate agents. Under these conditions, legitimate agents almost surely classify their neighbors and form their trusted neighborhoods correctly with decaying misclassification probabilities. We further prove that the consensus process converges almost surely despite the existence of malicious agents. For a given value of failure probability, we characterize the deviation from the nominal consensus value ideally occurring when there are no malicious agents in the system. We also examine the convergence rate of the process in finite time. Numerical simulations show the convergence among agents and indicate the deviation under different attack scenarios.

Authors:T. J. Meijer, M. Wind, V. S. Dolk, W. P. M. H. Heemels
Title: Leveraging Non-Steady-State Frequency-Domain Data in Willems' Fundamental Lemma
Abstract:
Willems' fundamental lemma enables data-driven analysis and control by characterizing an unknown system's behavior directly in terms of measured data. In this work, we extend a recent frequency-domain variant of this result--previously limited to steady-state data--to incorporate non-steady-state data including transient phenomena. This approach eliminates the need to wait for transients to decay during data collection, significantly reducing the experiment duration. Unlike existing frequency-domain system identification methods, our approach integrates transient data without preprocessing, making it well-suited for direct data-driven analysis and control. We demonstrate its effectiveness by isolating transients in the collected data and performing FRF evaluation at arbitrary frequencies in a numerical case study including noise.

Authors:Mengbang Zou, Yun Tang, Weisi Guo
Title: Data-driven Method to Ensure Cascade Stability of Traffic Load Balancing in O-RAN Based Networks
Abstract:
Load balancing in open radio access networks (O-RAN) is critical for ensuring efficient resource utilization, and the user's experience by evenly distributing network traffic load. Current research mainly focuses on designing load-balancing algorithms to allocate resources while overlooking the cascade stability of load balancing, which is critical to prevent endless handover. The main challenge to analyse the cascade stability lies in the difficulty of establishing an accurate mathematical model to describe the process of load balancing due to its nonlinearity and high-dimensionality. In our previous theoretical work, a simplified general dynamic function was used to analyze the stability. However, it is elusive whether this function is close to the reality of the load balance process. To solve this problem, 1) a data-driven method is proposed to identify the dynamic model of the load balancing process according to the real-time traffic load data collected from the radio units (RUs); 2) the stability condition of load balancing process is established for the identified dynamics model. Based on the identified dynamics model and the stability condition, the RAN Intelligent Controller (RIC) can control RUs to achieve a desired load-balancing state while ensuring cascade stability.

Authors:Adrien Janssens, Adrien Banse, Julien Calbert, Raphaël M. Jungers
Title: Agile Temporal Discretization for Symbolic Optimal Control
Abstract:
As control systems grow in complexity, abstraction-based methods have become essential for designing controllers with formal guarantees. However, a key limitation of these methods is their reliance on discrete-time models, typically obtained by discretizing continuous-time systems with a fixed timestep. This discretization leads to two major problems: when the timestep is small, the abstraction includes numerous stuttering and spurious trajectories, making controller synthesis suboptimal or even infeasible; conversely, a large time step may also render control design infeasible due to a lack of flexibility. In this work, drawing inspiration from Reinforcement Learning concepts, we introduce temporal abstractions, which allow for a flexible timestep. We provide a method for constructing such abstractions and formally establish their correctness in controller design. Furthermore we show how to apply these to optimal control under reachability specifications. Finally we showcase our methods on two numerical examples, highlighting that our approach leads to controllers that achieve a lower worst-case control cost.

Authors:Anthony Couthures, Anastasia Bizyaeva, Vineeth S. Varma, Alessio Franci, Irinel-Constantin Morarescu
Title: Bifurcation analysis of an opinion dynamics model coupled with an environmental dynamics
Abstract:
We consider an opinion dynamics model coupled with an environmental dynamics. Based on a forward invariance argument, we can simplify the analysis of the asymptotic behavior to the case when all the opinions in the social network are synchronized. Our goal is to emphasize the role of the trust given to the environmental signal in the asymptotic behavior of the opinion dynamics and implicitly of the coupled system. To do that, we conduct a bifurcation analysis of the system around the origin when the trust parameter is varying. Specific conditions are presented for both pitchfork and Hopf bifurcation. Numerical illustration completes the theoretical findings.

Authors:Aashi Shrinate, Twinkle Tripathy
Title: Leveraging Network Topology in a Two-way Competition for Influence in the Friedkin-Johnsen Model
Abstract:
In this paper, we consider two stubborn agents who compete for `influence' over a strongly connected group of agents. This framework represents real-world contests, such as competition among firms, two-party elections, and sports rivalries, among others. Considering stubbornness of agents to be an immutable property, we utilise the network topology alone to increase the influence of a preferred stubborn agent. We demonstrate this on a special class of strongly connected networks by identifying the supporters of each of the stubborn agents in such networks. Thereafter, we present sufficient conditions under which a network perturbation always increases the influence of the preferred stubborn agent. A key advantage of the proposed topology-based conditions is that they hold independent of the edge weights in the network. Most importantly, we assert that there exists a sequence of perturbations that can make the lesser influential stubborn agent more influential. Finally, we demonstrate our results over the Sampson's Monastery dataset.

Authors:Tohid Kargar Tasooji, Sakineh Khodadadi
Title: Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty
Abstract:
This paper addresses the problem of distributed coordination control for multi-robot systems (MRSs) in the presence of localization uncertainty using a Linear Quadratic Gaussian (LQG) approach. We introduce a stochastic LQG control strategy that ensures the coordination of mobile robots while optimizing a performance criterion. The proposed control framework accounts for the inherent uncertainty in localization measurements, enabling robust decision-making and coordination. We analyze the stability of the system under the proposed control protocol, deriving conditions for the convergence of the multi-robot network. The effectiveness of the proposed approach is demonstrated through experimental validation using Robotrium simulation experiments, showcasing the practical applicability of the control strategy in real-world scenarios with localization uncertainty.

Authors:Tohid Kargar Tasooji, Sakineh Khodadadi
Title: Event-Based Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty
Abstract:
This paper addresses the problem of event-based distributed Linear Quadratic Gaussian (LQG) control for multirobot coordination under localization uncertainty. An event-triggered LQG rendezvous control strategy is proposed to ensure coordinated motion while reducing communication overhead. The design framework decouples the LQG controller from the event-triggering mechanism, although the scheduler parameters critically influence rendezvous performance. We establish stochastic stability for the closed-loop multi-robot system and demonstrate that a carefully tuned event-triggering scheduler can effectively balance rendezvous accuracy with communication efficiency by limiting the upper bound of the rendezvous error while minimizing the average transmission rate. Experimental results using a group of Robotarium mobile robots validate the proposed approach, confirming its efficacy in achieving robust coordination under uncertainty.

Authors:Tohid Kargar Tasooji, Sakineh Khodadadi, Guangjun Liu
Title: Event-Triggered Nonlinear Model Predictive Control for Cooperative Cable-Suspended Payload Transportation with Multi-Quadrotors
Abstract:
Autonomous Micro Aerial Vehicles (MAVs), particularly quadrotors, have shown significant potential in assisting humans with tasks such as construction and package delivery. These applications benefit greatly from the use of cables for manipulation mechanisms due to their lightweight, low-cost, and simple design. However, designing effective control and planning strategies for cable-suspended systems presents several challenges, including indirect load actuation, nonlinear configuration space, and highly coupled system dynamics. In this paper, we introduce a novel event-triggered distributed Nonlinear Model Predictive Control (NMPC) method specifically designed for cooperative transportation involving multiple quadrotors manipulating a cable-suspended payload. This approach addresses key challenges such as payload manipulation, inter-robot separation, obstacle avoidance, and trajectory tracking, all while optimizing the use of computational and communication resources. By integrating an event-triggered mechanism, our NMPC method reduces unnecessary computations and communication, enhancing energy efficiency and extending the operational range of MAVs. The proposed method employs a lightweight state vector parametrization that focuses on payload states in all six degrees of freedom, enabling efficient planning of trajectories on the SE(3) manifold. This not only reduces planning complexity but also ensures real-time computational feasibility. Our approach is validated through extensive simulation, demonstrating its efficacy in dynamic and resource-constrained environments.

Authors:Taekyung Kim, Randal W. Beard, Dimitra Panagou
Title: How to Adapt Control Barrier Functions? A Learning-Based Approach with Applications to a VTOL Quadplane
Abstract:
In this paper, we present a novel theoretical framework for online adaptation of Control Barrier Function (CBF) parameters, i.e., of the class K functions included in the CBF condition, under input constraints. We introduce the concept of locally validated CBF parameters, which are adapted online to guarantee finite-horizon safety, based on conditions derived from Nagumo's theorem and tangent cone analysis. To identify these parameters online, we integrate a learning-based approach with an uncertainty-aware verification process that account for both epistemic and aleatoric uncertainties inherent in neural network predictions. Our method is demonstrated on a VTOL quadplane model during challenging transition and landing maneuvers, showcasing enhanced performance while maintaining safety.

Authors:Jan Lorenz Svensen, Wilson Ricardo Leal da Silva, Zhanhao Zhang, Steen Hørsholt, John Bagterp Jørgensen
Title: Dynamical Simulation Model of the Pyro-Process in Cement Clinker Production
Abstract:
This study presents a dynamic simulation model for the pyro-process of clinker production in cement plants. The study aims to construct a simulation model capable of replicating the real-world dynamics of the pyro-process to facilitate research into the improvements of operation, i.e., the development of alternative strategies for reducing CO2 emissions and ensuring clinker quality, production, and lowering fuel consumption. The presented model is an index-1 differential-algebraic equation (DAE) model based on first engineering principles and modular approaches. Using a systematic approach, the model is described on a detailed level that integrates geometric aspects, thermo-physical properties, transport phenomena, stoichiometry and kinetics, mass and energy balances, and algebraic volume and energy conservations. By manually calibrating the model to a steady-state reference, we provide dynamic simulation results that match the expected reference performance and the expected dynamic behavior from the industrial practices.

Authors:Luca Furieri, Sucheth Shenoy, Danilo Saccani, Andrea Martin, Giancarlo Ferrari Trecate
Title: MAD: A Magnitude And Direction Policy Parametrization for Stability Constrained Reinforcement Learning
Abstract:
We introduce magnitude and direction (MAD) policies, a policy parameterization for reinforcement learning (RL) that preserves Lp closed-loop stability for nonlinear dynamical systems. Although complete in their ability to describe all stabilizing controllers, methods based on nonlinear Youla and system-level synthesis are significantly affected by the difficulty of parameterizing Lp-stable operators. In contrast, MAD policies introduce explicit feedback on state-dependent features - a key element behind the success of RL pipelines - without compromising closed-loop stability. This is achieved by describing the magnitude of the control input with a disturbance-feedback Lp-stable operator, while selecting its direction based on state-dependent features through a universal function approximator. We further characterize the robust stability properties of MAD policies under model mismatch. Unlike existing disturbance-feedback policy parameterizations, MAD policies introduce state-feedback components compatible with model-free RL pipelines, ensuring closed-loop stability without requiring model information beyond open-loop stability. Numerical experiments show that MAD policies trained with deep deterministic policy gradient (DDPG) methods generalize to unseen scenarios, matching the performance of standard neural network policies while guaranteeing closed-loop stability by design.

Authors:Hongqian Chen, Yun Tang, Antonios Tsourdos, Weisi Guo
Title: Contextualized Autonomous Drone Navigation using LLMs Deployed in Edge-Cloud Computing
Abstract:
Autonomous navigation is usually trained offline in diverse scenarios and fine-tuned online subject to real-world experiences. However, the real world is dynamic and changeable, and many environmental encounters/effects are not accounted for in real-time due to difficulties in describing them within offline training data or hard to describe even in online scenarios. However, we know that the human operator can describe these dynamic environmental encounters through natural language, adding semantic context. The research is to deploy Large Language Models (LLMs) to perform real-time contextual code adjustment to autonomous navigation. The challenge not evaluated in literature is what LLMs are appropriate and where should these computationally heavy algorithms sit in the computation-communication edge-cloud computing architectures. In this paper, we evaluate how different LLMs can adjust both the navigation map parameters dynamically (e.g., contour map shaping) and also derive navigation task instruction sets. We then evaluate which LLMs are most suitable and where they should sit in future edge-cloud of 6G telecommunication architectures.

Authors:Jihun Kim, Javad Lavaei
Title: System Identification from Partial Observations under Adversarial Attacks
Abstract:
This paper is concerned with the partially observed linear system identification, where the goal is to obtain reasonably accurate estimation of the balanced truncation of the true system up to order $k$ from output measurements. We consider the challenging case of system identification under adversarial attacks, where the probability of having an attack at each time is $Θ(1/k)$ while the value of the attack is arbitrary. We first show that the $\ell_1$-norm estimator exactly identifies the true Markov parameter matrix for nilpotent systems under any type of attack. We then build on this result to extend it to general systems and show that the estimation error exponentially decays as $k$ grows. The estimated balanced truncation model accordingly shows an exponentially decaying error for the identification of the true system up to a similarity transformation. This work is the first to provide the input-output analysis of the system with partial observations under arbitrary attacks.

Authors:Ruohan Wang, Zhiyong Sun, Sofie Haesaert
Title: Unraveling tensor structures in correct-by-design controller synthesis
Abstract:
Formal safety guarantees on the synthesis of controllers for stochastic systems can be obtained using correct-by-design approaches. These approaches often use abstractions as finite-state Markov Decision Processes. As the state space of these MDPs grows, the curse of dimensionality makes the computational and memory cost of the probabilistic guarantees, quantified with dynamic programming, scale exponentially. In this work, we leverage decoupled dynamics and unravel, via dynamic programming operations, a tree structure in the Canonical Polyadic Decomposition (CPD) of the value functions. For discrete-time stochastic systems with syntactically co-safe linear temporal logic (scLTL) specifications, we provide provable probabilistic safety guarantees and significantly alleviate the computational burden. We provide an initial validation of the theoretical results on several typical case studies and showcase that the uncovered tree structure enables efficient reductions in the computational burden.

Authors:Tohid Kargar Tasooji, Sakineh Khodadadi
Title: Design and Analysis of a Robust Control System for Triple Inverted Pendulum Stabilization
Abstract:
The design of robust controllers for triple inverted pendulum systems presents significant challenges due to their inherent instability and nonlinear dynamics. Furthermore, uncertainties in system parameters further complicate the control design. This paper investigates a robust control strategy for triple inverted pendulums under parameter uncertainty. Two control approaches, namely the $H_\infty$ controller and the $μ$-synthesis controller, are compared in terms of their ability to achieve reference tracking and disturbance rejection. Simulation results demonstrate that the $H_\infty$ controller provides superior transient performance, making it a promising solution for the robust stabilization of such complex systems.

Authors:Sakineh Khodadadi, Tohid Kargar Tasooji, Afshin Shariat-Mohayman, Navid Kalantari
Title: A Multi-Objective Simultaneous Routing, Facility Location and Allocation Model for Earthquake Emergency Logistics
Abstract:
Emergency preparedness reduces the severity and impact of major disasters. In the case of earthquakes, a rapid and efficient emergency response is essential to reduce the number of fatalities. Therefore, the design and planning of an adequate emergency transportation network are crucial in earthquake-prone locations. In the context of emergency transportation modeling, the aim of emergency routing is to find the network with the minimum length that can provide access between the maximum number of Emergency Response Centers (ERCs) and damaged areas. Meanwhile, the goal of the facility location and allocation problem is to optimize the placement of temporary hospitals to increase coverage and accessibility, particularly in remote or severely impacted areas. This paper proposes a multi-objective, robust, multi-modal, and multi-time-period optimization problem that simultaneously optimizes routing, facility location, and hospital allocation. The objective function is to minimize unmet commodity demand, unserved injuries, and economic costs. We adopt a fuzzy goal programming approach to solve the multi-objective simultaneous routing, facility location, and allocation model.

Authors:Weicai Li, Tiejun Lv, Wei Ni, Jingbo Zhao, Ekram Hossain, H. Vincent Poor
Title: Route-and-Aggregate Decentralized Federated Learning Under Communication Errors
Abstract:
Decentralized federated learning (D-FL) allows clients to aggregate learning models locally, offering flexibility and scalability. Existing D-FL methods use gossip protocols, which are inefficient when not all nodes in the network are D-FL clients. This paper puts forth a new D-FL strategy, termed Route-and-Aggregate (R&A) D-FL, where participating clients exchange models with their peers through established routes (as opposed to flooding) and adaptively normalize their aggregation coefficients to compensate for communication errors. The impact of routing and imperfect links on the convergence of R&A D-FL is analyzed, revealing that convergence is minimized when routes with the minimum end-to-end packet error rates are employed to deliver models. Our analysis is experimentally validated through three image classification tasks and two next-word prediction tasks, utilizing widely recognized datasets and models. R&A D-FL outperforms the flooding-based D-FL method in terms of training accuracy by 35% in our tested 10-client network, and shows strong synergy between D-FL and networking. In another test with 10 D-FL clients, the training accuracy of R&A D-FL with communication errors approaches that of the ideal C-FL without communication errors, as the number of routing nodes (i.e., nodes that do not participate in the training of D-FL) rises to 28.

Authors:Manuel Klädtke, Moritz Schulze Darup
Title: Towards explainable data-driven predictive control with regularizations
Abstract:
Data-driven predictive control (DPC), using linear combinations of recorded trajectory data, has recently emerged as a popular alternative to traditional model predictive control (MPC). Without an explicitly enforced prediction model, the effects of commonly used regularization terms (and the resulting predictions) can be opaque. This opacity may lead to practical challenges, such as reliance on empirical tuning of regularization parameters based on closed-loop performance, and potentially misleading heuristic interpretations of norm-based regularizations. However, by examining the structure of the underlying optimal control problem (OCP), more precise and insightful interpretations of regularization effects can be derived. In this paper, we demonstrate how to analyze the predictive behavior of DPC through implicit predictors and the trajectory-specific effects of quadratic regularization. We further extend these results to cover typical DPC modifications, including DPC for affine systems, offset regularizations, slack variables, and terminal constraints. Additionally, we provide a simple but general result on (recursive) feasibility in DPC. This work aims to enhance the explainability and reliability of DPC by providing a deeper understanding of these regularization mechanisms.

Authors:Shaoxuan Cui, Guofeng Zhang, Hildeberto Jardon-Kojakhmetov, Ming Cao
Title: On Tensor-based Polynomial Hamiltonian Systems
Abstract:
It is known that a linear system with a system matrix A constitutes a Hamiltonian system with a quadratic Hamiltonian if and only if A is a Hamiltonian matrix. This provides a straightforward method to verify whether a linear system is Hamiltonian or whether a given Hamiltonian function corresponds to a linear system. These techniques fundamentally rely on the properties of Hamiltonian matrices. Building on recent advances in tensor algebra, this paper generalizes such results to a broad class of polynomial systems. As the systems of interest can be naturally represented in tensor forms, we name them tensor-based polynomial systems. Our main contribution is that we formally define Hamiltonian cubical tensors and characterize their properties. Crucially, we demonstrate that a tensor-based polynomial system is a Hamiltonian system with a polynomial Hamiltonian if and only if all associated system tensors are Hamiltonian cubical tensors-a direct parallel to the linear case. Additionally, we establish a computationally tractable stability criterion for tensor-based polynomial Hamiltonian systems. Finally, we validate all theoretical results through numerical examples and provide a further intuitive discussion.

Authors:Tohid Kargar Tasooji, Sakineh Khodadadi
Title: Cubature Kalman Filter as a Robust State Estimator Against Model Uncertainty and Cyber Attacks in Power Systems
Abstract:
It is known that the conventional estimators such as extended Kalman filter (EKF) and unscented Kalman filter (UKF) may provide favorable performance; However, they may not guarantee the robustness against model uncertainty and cyber attacks. In this paper, we compare the performance of cubature Kalman filter (CKF) to the conventional nonlinear estimator, the EKF, under the affect of model uncertainty and cyber-attack. We show that the CKF has better estimation accuracy than the EKF under some conditions. In order to verify our claim, we have tested the performance various nonlinear estimators on the single machine infinite-bus (SMIB) system under different scenarios. We show that (1) the CKF provides better estimation results than the EKF; (2) the CKF is able to detect different types of cyber attacks reliably which is superior to the EKF.

Authors:Georg Schäfer, Tatjana Krau, Jakob Rehrl, Stefan Huber, Simon Hirlaender
Title: The Crucial Role of Problem Formulation in Real-World Reinforcement Learning
Abstract:
Reinforcement Learning (RL) offers promising solutions for control tasks in industrial cyber-physical systems (ICPSs), yet its real-world adoption remains limited. This paper demonstrates how seemingly small but well-designed modifications to the RL problem formulation can substantially improve performance, stability, and sample efficiency. We identify and investigate key elements of RL problem formulation and show that these enhance both learning speed and final policy quality. Our experiments use a one-degree-of-freedom (1-DoF) helicopter testbed, the Quanser Aero~2, which features non-linear dynamics representative of many industrial settings. In simulation, the proposed problem design principles yield more reliable and efficient training, and we further validate these results by training the agent directly on physical hardware. The encouraging real-world outcomes highlight the potential of RL for ICPS, especially when careful attention is paid to the design principles of problem formulation. Overall, our study underscores the crucial role of thoughtful problem formulation in bridging the gap between RL research and the demands of real-world industrial systems.

Authors:Daniel Engelsman, Itzik Klein
Title: Inertial-Based LQG Control: A New Look at Inverted Pendulum Stabilization
Abstract:
Linear quadratic Gaussian (LQG) control is a well-established method for optimal control through state estimation, particularly in stabilizing an inverted pendulum on a cart. In standard laboratory setups, sensor redundancy enables direct measurement of configuration variables using displacement sensors and rotary encoders. However, in outdoor environments, dynamically stable mobile platforms-such as Segways, hoverboards, and bipedal robots-often have limited sensor availability, restricting state estimation primarily to attitude stabilization. Since the tilt angle cannot be directly measured, it is typically estimated through sensor fusion, increasing reliance on inertial sensors and necessitating a lightweight, self-contained perception module. Prior research has not incorporated accelerometer data into the LQG framework for stabilizing pendulum-like systems, as jerk states are not explicitly modeled in the Newton-Euler formalism. In this paper, we address this gap by leveraging local differential flatness to incorporate higher-order dynamics into the system model. This refinement enhances state estimation, enabling a more robust LQG controller that predicts accelerations for dynamically stable mobile platforms.

Authors:Erick Silva, Tadeu Freitas, Rehana Yasmin, Ali Shoker, Paulo Esteves-Verissimo
Title: EVOLVE: a Value-Added Services Platform for Electric Vehicle Charging Stations
Abstract:
A notable challenge in Electric Vehicle (EV) charging is the time required to fully charge the battery, which can range from 15 minutes to 2-3 hours. This idle period, however, presents an opportunity to offer time-consuming or data-intensive services such as vehicular software updates. ISO 15118 referred to the concept of Value-Added Services (VAS) in the charging scenario, but it remained underexplored in the literature. Our paper addresses this gap by proposing \acronym, the first EV charger compute architecture that supports secure on-charger universal applications with upstream and downstream communication. The architecture covers the end-to-end hardware/software stack, including standard API for vehicles and IT infrastructure. We demonstrate the feasibility and advantages of \acronym by employing and evaluating three suggested value-added services: vehicular software updates, security information and event management (SIEM), and secure payments. The results demonstrate significant reductions in bandwidth utilization and latency, as well as high throughput, which supports this novel concept and suggests a promising business model for Electric Vehicle charging station operation.

Authors:Xin Mao, Anqi Dong, Ziqin He, Yidan Mei, Shenghan Mei, Can Chen
Title: Tensor-based homogeneous polynomial dynamical system analysis from data
Abstract:
Numerous complex real-world systems, such as those in biological, ecological, and social networks, exhibit higher-order interactions that are often modeled using polynomial dynamical systems or homogeneous polynomial dynamical systems (HPDSs). However, identifying system parameters and analyzing key system-theoretic properties remain challenging due to their inherent nonlinearity and complexity, particularly for large-scale systems. To address these challenges, we develop an innovative computational framework in this article that leverages advanced tensor decomposition techniques, namely tensor train and hierarchical Tucker decompositions, to facilitate efficient identification and analysis of HPDSs that can be equivalently represented by tensors. Specifically, we introduce memory-efficient system identification techniques for directly estimating system parameters represented through tensor decompositions from time-series data. Additionally, we develop necessary and sufficient conditions for determining controllability and observability using the tensor decomposition-based representations of HPDSs, accompanied by detailed complexity analyses that demonstrate significant reductions in computational demands. The effectiveness and efficiency of our framework are validated through numerical examples.

Authors:Tadeu Freitas, Erick Silva, Rehana Yasmin, Ali Shoker, Manuel E. Correia, Rolando Martins, Paulo Esteves-Verissimo
Title: EVSOAR: Security Orchestration, Automation and Response via EV Charging Stations
Abstract:
Vehicle cybersecurity has emerged as a critical concern, driven by the innovation in the automotive industry, e.g., automomous, electric, or connnected vehicles. Current efforts to address these challenges are constrained by the limited computational resources of vehicles and the reliance on connected infrastructures. This motivated the foundation of Vehicle Security Operations Centers (VSOCs) that extend IT-based Security Operations Centers (SOCs) to cover the entire automotive ecosystem, both the in-vehicle and off-vehicle scopes. Security Orchestration, Automation, and Response (SOAR) tools are considered key for impelementing an effective cybersecurity solution. However, existing state-of-the-art solutions depend on infrastructure networks such as 4G, 5G, and WiFi, which often face scalability and congestion issues. To address these limitations, we propose a novel SOAR architecture EVSOAR that leverages the EV charging stations for connectivity and computing to enhance vehicle cybersecurity. Our EV-specific SOAR architecture enables real-time analysis and automated responses to cybersecurity threats closer to the EV, reducing the cellular latency, bandwidth, and interference limitations. Our experimental results demonstrate a significant improvement in latency, stability, and scalability through the infrastructure and the capacity to deploy computationally intensive applications, that are otherwise infeasible within the resource constraints of individual vehicles.

Authors:Yingrui Zhuang, Lin Cheng, Can Wan, Rui Xie, Ning Qi, Yue Chen
Title: A Weighted Predict-and-Optimize Framework for Power System Operation Considering Varying Impacts of Uncertainty
Abstract:
Integrating prediction and optimization enhances decision-making quality by yielding near optimal solutions. Given that prediction errors associated with multiple uncertainties have varying impacts on downstream decision-making, improving the prediction accuracy of critical uncertainties with significant impacts on decision-making quality yields better optimization results. Inspired by this observation, this paper proposes a novel weighted predict-and-optimize (WPO) framework for decision-making under uncertainty. Specifically, we introduce an uncertainty-aware weighting mechanism into the predictive model to capture the relative importance of each uncertainty for specific optimization tasks, and introduce a problem-driven prediction loss (PDPL) to quantify the suboptimality of weighted predictions for downstream optimization as compared to perfect predictions. By optimizing the uncertainty weights to minimize the PDPL, WPO framework enables adaptive uncertainty impact assessment and integrated learning of prediction and optimization. Furthermore, to facilitate weight optimization, we construct a surrogate model to establish the mapping between weights and PDPL, where multi-task learning and enhanced graph convolutional networks are adopted for efficient surrogate model construction and training. Numerical experiments on modified IEEE 33-bus and 123-bus systems demonstrate that the proposed WPO framework outperforms traditional methods by achieving a much smaller PDPL within acceptable computational time.

Authors:Moslem Uddin, Huadong Mo, Daoyi Dong
Title: A review on modelling, evaluation, and optimization of cyber-physical system reliability
Abstract:
The aim of this study is to present an overview of current research on modelling, evaluation, and optimization methods for improving the reliability of Cyber-Physical System (CPS). Three major modelling approaches, namely analytical, simulation, and hybrid models, are discussed. Various evaluation techniques, including fault tree analysis, Markov models, and availability measures, are reviewed and compared. Optimization strategies for CPS reliability, including fault tolerance, dynamic reconfiguration, and resource allocation, are also reviewed and briefly discussed. Besides, emerging trends and research opportunities in this field are highlighted and explained. Finally, the possible challenges are outlined and then future research are directed for CPS. This study can provide a systematic and in-dept introduction to CPS for researchers, practitioners, and policymakers.

Authors:Kaiyang Huang, Yang Liu, Kai Sun, Feng Qiu
Title: PI-Controlled Variable Time-Step Power System Simulation Using an Adaptive Order Differential Transformation Method
Abstract:
Dynamic simulation plays a crucial role in power system transient stability analysis, but traditional numerical integration-based methods are time-consuming due to the small time step sizes. Other semi-analytical solution methods, such as the Differential Transformation method, often struggle to select proper orders and steps, leading to slow performance and numerical instability. To address these challenges, this paper proposes a novel adaptive dynamic simulation approach for power system transient stability analysis. The approach adds feedback control and optimization to selecting the step and order, utilizing the Differential Transformation method and a proportional-integral control strategy to control truncation errors. Order selection is formulated as an optimization problem resulting in a variable-step-optimal-order method that achieves significantly larger time step sizes without violating numerical stability. It is applied to three systems: the IEEE 9-bus, 3-generator system, IEEE 39-bus, 10-generator system, and a Polish 2383-bus, 327-generator system, promising computational efficiency and numerical robustness for large-scale power system is demonstrated in comprehensive case studies.

Authors:Kaiyang Huang, Min Xiong, Yang Liu, Kai Sun
Title: A Heterogeneous Multiscale Method for Efficient Simulation of Power Systems with Inverter-Based Resources
Abstract:
As inverter-based resources (IBRs) penetrate power systems, the dynamics become more complex, exhibiting multiple timescales, including electromagnetic transient (EMT) dynamics of power electronic controllers and electromechanical dynamics of synchronous generators. Consequently, the power system model becomes highly stiff, posing a challenge for efficient simulation using existing methods that focus on dynamics within a single timescale. This paper proposes a Heterogeneous Multiscale Method for highly efficient multi-timescale simulation of a power system represented by its EMT model. The new method alternates between the microscopic EMT model of the system and an automatically reduced macroscopic model, varying the step size accordingly to achieve significant acceleration while maintaining accuracy in both fast and slow dynamics of interests. It also incorporates a semi-analytical solution method to enable a more adaptive variable-step mechanism. The new simulation method is illustrated using a two-area system and is then tested on a detailed EMT model of the IEEE 39-bus system.

Authors:Moslem Uddin, Huadong Mo, Daoyi Dong
Title: Integrated Energy Management for Operational Cost Optimization in Community Microgrids
Abstract:
This study presents an integrated energy management strategy for cost optimization in multi-energy community microgrids (MGs). The proposed approach combines storage-based peak shaving, economic dispatch of diesel generators, and efficient utilization of renewable energy sources to enhance energy management in community MGs. The efficacy of the energy management system (EMS) was validated through a simulation case study for a rural Australian community. The results demonstrate that the proposed EMS effectively reduces the peak energy demand by up to 43%, lowers operational costs by 84.63% (from $189,939/year to $29,188/year), and achieves a renewable energy utilization of 92.3%, up from 47.8% in the base system. Furthermore, the levelized cost of energy was reduced by 14.21% to $0.163/kWh. The strategy ensures an uninterrupted power supply during grid outages by utilizing DGs and battery energy storage systems. The environmental benefits included a 196.4% reduction in CO2 emissions and 100% reductions in CO, unburned hydrocarbons, and particulate matter. These findings validate the feasibility of the proposed EMS in achieving cost-effective, reliable, and sustainable energy management in community MGs. These findings contribute to the field by introducing a novel approach and demonstrating the practical feasibility of multi-energy MGs.

Authors:Moslem Uddin, Huadong Mo, Daoyi Dong
Title: Cost-Effective Design of Grid-tied Community Microgrid
Abstract:
This study aims to develop a cost-effective microgrid design that optimally balances the economic feasibility, reliability, efficiency, and environmental impact in a grid-tied community microgrid. A multi-objective optimization framework is employed, integrating HOMER Pro for system sizing with deep reinforcement learning (DRL). Sensitivity analyses are conducted to evaluate the system performance under varying load demand and renewable energy fluctuations, while an economic sensitivity assessment examines the impact of electricity prices and capital costs on the Levelized Cost of Energy (LCOE). The proposed microgrid configuration achieves high reliability, satisfying 100% of the load, even under adverse weather conditions. The proposed framework attains an efficiency of 91.99% while maintaining a carbon footprint of 302,747 kg/year, which is approximately 95% lower than that of the grid system. The economic analysis indicates a net present cost (NPC) of $4.83M with a competitive LCOE of $0.208/kWh. In addition, the operation cost is $201,473 per year with a capital investment of $1.42M, rendering it a financially viable alternative to conventional grid-dependent systems.This work can be valuable in identifying effective solutions for supplying reliable and cost-effective power to regional and remote areas.

Authors:Yuzhou Xiao, Senchun Chai, Li Dai, Yuanqing Xia, Runqi Chai
Title: Stochastic Tube-based Model Predictive Control for Cyber-Physical Systems under False Data Injection Attacks with Bounded Probability
Abstract:
This paper addresses the challenge of amplitude-unbounded false data injection (FDI) attacks targeting the sensor-to-controller (S-C) channel in cyber-physical systems (CPSs). We introduce a resilient tube-based model predictive control (MPC) scheme. This scheme incorporates a threshold-based attack detector and a control sequence buffer to enhance system security. We mathematically model the common FDI attacks and derive the maximum duration of such attacks based on the hypothesis testing principle. Following this, the minimum feasible sequence length of the control sequence buffer is obtained. The system is proven to remain input-to-state stable (ISS) under bounded external disturbances and amplitude-unbounded FDI attacks. Moreover, the feasible region under this scenario is provided in this paper. Finally, the proposed algorithm is validated by numerical simulations and shows superior control performance compared to the existing methods.

Authors:Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
Title: Communication-aware Multi-agent Systems Control Based on $k$-hop Distributed Observers
Abstract:
We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a finite time convergent state and input observer that exploits only the communication with the 1-hop neighbors to reconstruct the information regarding those agents at a 2-hop distance or more. We then demonstrate that if the k-hop based control strategy is set-Input to State Stable with respect to the set describing the goal, then the observer information can be adopted to achieve the team objective with stability guarantees.

Authors:Shuichi Yahagi, Ansei Yonezawa, Hiroki Seto, Heisei Yonezawa, Itsuro Kajiwara
Title: Sparse identification of nonlinear dynamics with high accuracy and reliability under noisy conditions for applications to industrial systems
Abstract:
This paper proposes a sparse identification of nonlinear dynamics (SINDy) with control and exogenous inputs for highly accurate and reliable prediction. The method is applied to the diesel engine airpath systems, which are known as a nonlinear complicated industrial system. Although SINDy is recognized as a remarkable approach for identifying nonlinear systems, several challenges remain. Its application to industrial systems remains limited, and multi-step predictions are not guaranteed due to overfitting and noisy data. This phenomenon is often caused by the increase in basis functions resulting from the extension of coordinates, such as time-delay embedding. To address these problems, we propose an emphasized SINDy by incorporating ensemble learning, elite gathering, and classification techniques while keeping convex calculation. The proposed method employs library bagging and extracts elites with an R-squared greater than 90%. Then, clustering is performed on the surviving elites because physically motivated basis functions are not always available, and the elites obtained do not always show the same trends. After the classification, discrete model candidates are obtained by taking the mean of each classified elite. Finally, the best model is selected. The simulation results show that the proposed method realizes multi-step prediction for the airpath system, which is known to be a complicated industrial system under noisy conditions.

Authors:Chiao Hsieh, Masaki Waga, Kohei Suenaga
Title: Certifying Lyapunov Stability of Black-Box Nonlinear Systems via Counterexample Guided Synthesis (Extended Version)
Abstract:
Finding Lyapunov functions to certify the stability of control systems has been an important topic for verifying safety-critical systems. Most existing methods on finding Lyapunov functions require access to the dynamics of the system. Accurately describing the complete dynamics of a control system however remains highly challenging in practice. Latest trend of using learning-enabled control systems further reduces the transparency. Hence, a method for black-box systems would have much wider applications. Our work stems from the recent idea of sampling and exploiting Lipschitz continuity to approximate the unknown dynamics. Given Lipschitz constants, one can derive a non-statistical upper bounds on approximation errors; hence a strong certification on this approximation can certify the unknown dynamics. We significantly improve this idea by directly approximating the Lie derivative of Lyapunov functions instead of the dynamics. We propose a framework based on the learner-verifier architecture from Counterexample-Guided Inductive Synthesis (CEGIS). Our insight of combining regional verification conditions and counterexample-guided sampling enables a guided search for samples to prove stability region-by-region. Our CEGIS algorithm further ensures termination. Our numerical experiments suggest that it is possible to prove the stability of 2D and 3D systems with a few thousands of samples. Our visualization also reveals the regions where the stability is difficult to prove. In comparison with the existing black-box approach, our approach at the best case requires less than 0.01% of samples.

Authors:Jianwei Tan, Jimin Wang, Ji-Feng Zhang
Title: Differentially Private Recursive Least Squares Estimation for ARX Systems with Multi-Participants
Abstract:
This paper proposes a differentially private recursive least squares algorithm to estimate the parameter of autoregressive systems with exogenous inputs and multi-participants (MP-ARX systems) and protect each participant's sensitive information from potential attackers. We first give a rigorous differential privacy analysis of the algorithm, and establish the quantitative relationship between the added noises and the privacy-preserving level when the system is asymptotically stable. The asymptotic stability of the system is necessary for ensuring the differential privacy of the algorithm. We then give an estimation error analysis of the algorithm under the general and possible weakest excitation condition without requiring the boundedness, independence and stationarity on the regression vectors. Particularly, when there is no regression term in the system output and the differential privacy only on the system output is considered, $\varepsilon$-differential privacy and almost sure convergence of the algorithm can be established simultaneously. To minimize the estimation error of the algorithm with $\varepsilon$-differential privacy, the existence of the noise intensity is proved. Finally, two examples are given to show the efficiency of the algorithm.

Authors:Mehmet Fatih Ozkan, Jeff Chrstos, Marcello Canova, Stephanie Stockar
Title: Modeling Driver Behavior in Speed Advisory Systems: Koopman-based Approach with Online Update
Abstract:
Accurate driver behavior modeling is essential for improving the interaction and cooperation of the human driver with the driver assistance system. This paper presents a novel approach for modeling the response of human drivers to visual cues provided by a speed advisory system using a Koopman-based method with online updates. The proposed method utilizes the Koopman operator to transform the nonlinear dynamics of driver-speed advisory system interactions into a linear framework, allowing for efficient real-time prediction. An online update mechanism based on Recursive Least Squares (RLS) is integrated into the Koopman-based model to ensure continuous adaptation to changes in driver behavior over time. The model is validated using data collected from a human-in-the-loop driving simulator, capturing diverse driver-specific trajectories. The results demonstrate that the offline learned Koopman-based model can closely predict driver behavior and its accuracy is further enhanced through an online update mechanism with the RLS method.

Authors:Zhitao Wang, Zhe Chen, Mingyang Jiang, Tong Qin, Ming Yang
Title: RL-OGM-Parking: Lidar OGM-Based Hybrid Reinforcement Learning Planner for Autonomous Parking
Abstract:
Autonomous parking has become a critical application in automatic driving research and development. Parking operations often suffer from limited space and complex environments, requiring accurate perception and precise maneuvering. Traditional rule-based parking algorithms struggle to adapt to diverse and unpredictable conditions, while learning-based algorithms lack consistent and stable performance in various scenarios. Therefore, a hybrid approach is necessary that combines the stability of rule-based methods and the generalizability of learning-based methods. Recently, reinforcement learning (RL) based policy has shown robust capability in planning tasks. However, the simulation-to-reality (sim-to-real) transfer gap seriously blocks the real-world deployment. To address these problems, we employ a hybrid policy, consisting of a rule-based Reeds-Shepp (RS) planner and a learning-based reinforcement learning (RL) planner. A real-time LiDAR-based Occupancy Grid Map (OGM) representation is adopted to bridge the sim-to-real gap, leading the hybrid policy can be applied to real-world systems seamlessly. We conducted extensive experiments both in the simulation environment and real-world scenarios, and the result demonstrates that the proposed method outperforms pure rule-based and learning-based methods. The real-world experiment further validates the feasibility and efficiency of the proposed method.

Authors:Subhankar Banerjee, Sennur Ulukus
Title: Equidistant-Sample or Wait-and-Sample to Minimize Age Under Sampling Constraint?
Abstract:
We study a status update system with a source, a sampler, a transmitter, and a monitor. The source governs a stochastic process that the monitor wants to observe in a timely manner. To achieve this, the sampler samples fresh update packets which the transmitter transmits via an error prone communication channel to the monitor. The transmitter can transmit without any constraint, i.e., it can transmit whenever an update packet is available to the transmitter. However, the sampler is imposed with a sampling rate constraint. The goal of the sampler is to devise an optimal policy that satisfies the resource constraint while minimizing the age of the monitor. We formulate this problem as a constrained Markov decision process (CMDP). We find several structures of an optimal policy. We leverage the optimal structures to find a low complexity optimal policy in an explicit manner, without resorting to complex iterative schemes or techniques that require bounding the age.

Authors:Davide Peron, Victor Nan Fernandez-Ayala, Eleftherios E. Vlahakis, Dimos V. Dimarogonas
Title: Efficient Coordination and Synchronization of Multi-Robot Systems Under Recurring Linear Temporal Logic
Abstract:
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online coordination, dynamically adjusting plans via real-time communication. To address action delays, we introduce a synchronization mechanism ensuring coordinated task execution, leading to a multi-agent coordination and synchronization framework that is adaptable to a wide range of multi-robot applications. The software package is developed in Python and ROS2 for broad deployment. We validate our findings through lab experiments involving nine robots showing enhanced adaptability compared to previous methods. Additionally, we conduct simulations with up to ninety agents to demonstrate the reduced computational complexity and the scalability features of our work.

Authors:Subhankar Banerjee, Sennur Ulukus
Title: Tracking and Assigning Jobs to a Markov Machine
Abstract:
We consider a time-slotted communication system with a machine, a cloud server, and a sampler. Job requests from the users are queued on the server to be completed by the machine. The machine has two states, namely, a busy state and a free state. The server can assign a job to the machine in a first-in-first-served manner. If the machine is free, it completes the job request from the server; otherwise, it drops the request. Upon dropping a job request, the server is penalized. When the machine is in the free state, the machine can get into the busy state with an internal job. When the server does not assign a job request to the machine, the state of the machine evolves as a symmetric Markov chain. If the machine successfully accepts the job request from the server, the state of the machine goes to the busy state and follows a different dynamics compared to the dynamics when the machine goes to the busy state due to an internal job. The sampler samples the state of the machine and sends it to the server via an error-free channel. Thus, the server can estimate the state of the machine, upon receiving an update from the source. If the machine is in the free state but the estimated state at the server is busy, the sampler pays a cost. We incorporate the concept of the age of incorrect information to model the cost of the sampler. We aim to find an optimal sampling policy such that the cost of the sampler plus the penalty on the machine gets minimized. We formulate this problem in a Markov decision process framework and find how an optimal policy changes with several associated parameters. We show that a threshold policy is optimal for this problem. We show a necessary and sufficient condition for a threshold policy to be optimal. Finally, we find the optimal threshold without bounding the state space.

Authors:Ziqin He, Yidan Mei, Shenghan Mei, Xin Mao, Anqi Dong, Ren Wang, Can Chen
Title: Data-driven Control of T-Product-based Dynamical Systems
Abstract:
Data-driven control is a powerful tool that enables the design and implementation of control strategies directly from data without explicitly identifying the underlying system dynamics. While various data-driven control techniques, such as stabilization, linear quadratic regulation, and model predictive control, have been extensively developed, these methods are not inherently suited for multi-linear dynamical systems, where the states are represented as higher-order tensors. In this article, we propose a novel framework for data-driven control of T-product-based dynamical systems (TPDSs), where the system evolution is governed by the T-product between a third-order dynamic tensor and a third-order state tensor. In particular, we offer necessary and sufficient conditions to determine the data informativity for system identification, stabilization by state feedback, and T-product quadratic regulation of TPDSs with detailed complexity analyses. Finally, we validate our framework through numerical examples.

Authors:Bohan Cui, Xinyi Yu, Alessandro Giua, Xiang Yin
Title: A Stackelberg Game Approach for Signal Temporal Logic Control Synthesis with Uncontrollable Agents
Abstract:
In this paper, we investigate the control synthesis problem for Signal Temporal Logic (STL) specifications in the presence of uncontrollable agents. Existing works mainly address this problem in a robust control setting by assuming the uncontrollable agents are adversarial and accounting for the worst-case scenario. While this approach ensures safety, it can be overly conservative in scenarios where uncontrollable agents have their own objectives that are not entirely opposed to the system's goals. Motivated by this limitation, we propose a new framework for STL control synthesis within the Stackelberg game setting. Specifically, we assume that the system controller, acting as the leader, first commits to a plan, after which the uncontrollable agents, acting as followers, take a best response based on the committed plan and their own objectives. Our goal is to synthesize a control sequence for the leader such that, for any rational followers producing a best response, the leader's STL task is guaranteed to be satisfied. We present an effective solution to this problem by transforming it into a single-stage optimization problem and leveraging counter-example guided synthesis techniques. We demonstrate that the proposed approach is sound and identify conditions under which it is optimal. Simulation results are also provided to illustrate the effectiveness of the proposed framework.

Authors:Yuan Zhang, Ranbo Cheng, Ziyuan Luo, Yuanqing Xia
Title: A Note on Structural Controllability and Observability Indices
Abstract:
In this note, we investigate the structural controllability and observability indices of structured systems. We provide counter-examples showing that an existing graph-theoretic characterization for the structural controllability index (SCOI) may not hold, even for systems with self-loop at every state node. We further demonstrate that this characterization actually provides upper bounds, and extend them to new graph-theoretic characterizations applicable to systems that are not necessarily structurally controllable. Additionally, we reveal that an existing method may fail to obtain the exact SCOI. Consequently, complete graph-theoretic characterizations and polynomial-time computation of SCOI remain open. Given this, we present an efficiently computable tight lower bound, whose tightness is validated by numerical simulations. All these results apply to the structural observability index by the duality between controllability and observability.

Authors:Michele Grimaldi, Patryk Cieslak, Eduardo Ochoa, Vibhav Bharti, Hayat Rajani, Ignacio Carlucho, Maria Koskinopoulou, Yvan R. Petillot, Nuno Gracias
Title: Stonefish: Supporting Machine Learning Research in Marine Robotics
Abstract:
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of real-world trials, simulators capable of capturing the operational conditions of subsea environments have become key in developing and refining algorithms for remotely-operated and autonomous underwater vehicles. This paper highlights recent enhancements to the Stonefish simulator, an advanced open-source platform supporting development and testing of marine robotics solutions. Key updates include a suite of additional sensors, such as an event-based camera, a thermal camera, and an optical flow camera, as well as, visual light communication, support for tethered operations, improved thruster modelling, more flexible hydrodynamics, and enhanced sonar accuracy. These developments and an automated annotation tool significantly bolster Stonefish's role in marine robotics research, especially in the field of machine learning, where training data with a known ground truth is hard or impossible to collect.

Authors:Yuhan Suo, Runqi Chai, Kaiyuan Chen, Senchun Chai, Wannian Liang, Yuanqing Xia
Title: Robust Set Partitioning Strategy for Malicious Information Detection in Large-Scale Internet of Things
Abstract:
With the rapid development of the Internet of Things (IoT), the risks of data tampering and malicious information injection have intensified, making efficient threat detection in large-scale distributed sensor networks a pressing challenge. To address the decline in malicious information detection efficiency as network scale expands, this paper investigates a robust set partitioning strategy and, on this basis, develops a distributed attack detection framework with theoretical guarantees. Specifically, we introduce a gain mutual influence metric to characterize the inter-subset interference arising during gain updates, thereby revealing the fundamental reason for the performance gap between distributed and centralized algorithms. Building on this insight, the set partitioning strategy based on Grassmann distance is proposed, which significantly reduces the computational cost of gain updates while maintaining detection performance, and ensures that the distributed setting under subset partitioning preserves the same theoretical performance bound as the baseline algorithm. Unlike conventional clustering methods, the proposed set partitioning strategy leverages the intrinsic observational features of sensors for robust partitioning, thereby enhancing resilience to noise and interference. Simulation results demonstrate that the proposed method limits the performance gap between distributed and centralized detection to no more than 1.648$\%$, while the computational cost decreases at an order of $O(1/m)$ with the number of subsets $m$. Therefore, the proposed algorithm effectively reduces computational overhead while preserving detection accuracy, offering a practical low-cost and highly reliable security detection solution for edge nodes in large-scale IoT systems.

Authors:Sumukha Udupa, Chongyang Shi, Jie Fu
Title: Synthesis of Dynamic Masks for Information-Theoretic Opacity in Stochastic Systems
Abstract:
In this work, we investigate the synthesis of dynamic information releasing mechanisms, referred to as ''masks'', to minimize information leakage from a stochastic system to an external observer. Specifically, for a stochastic system, an observer aims to infer whether the final state of the system trajectory belongs to a set of secret states. The dynamic mask seeks to regulate sensor information in order to maximize the observer's uncertainty about the final state, a property known as final-state opacity. While existing supervisory control literature on dynamic masks primarily addresses qualitative opacity, we propose quantifying opacity in stochastic systems by conditional entropy, which is a measure of information leakage in information security. We then formulate a constrained optimization problem to synthesize a dynamic mask that maximizes final-state opacity under a total cost constraint on masking. To solve this constrained optimal dynamic mask synthesis problem, we develop a novel primal-dual policy gradient method. Additionally, we present a technique for computing the gradient of conditional entropy with respect to the masking policy parameters, leveraging observable operators in hidden Markov models. To demonstrate the effectiveness of our approach, we apply our method to an illustrative example and a stochastic grid world scenario, showing how our algorithm optimally enforces final-state opacity under cost constraints.

Authors:Cesare Donati, Martina Mammarella, Fabrizio Dabbene, Carlo Novara, Constantino Lagoa
Title: Recovering nonlinear dynamics from non-uniform observations: A physics-based identification approach with practical case studies
Abstract:
Uniform and smooth data collection is often infeasible in real-world scenarios. In this paper, we propose an identification framework to effectively handle the so-called non-uniform observations, i.e., data scenarios that include missing measurements, multiple runs, or aggregated observations. The goal is to provide a general approach for accurately recovering the overall dynamics of possibly nonlinear systems, allowing the capture of the system behavior over time from non-uniform observations. The proposed approach exploits prior knowledge by integrating domain-specific, interpretable, physical principles with black-box approximators, proving significant flexibility and adaptability in handling different types of non-uniform measurements, and addressing the limitations of traditional linear and black-box methods. The description of this novel framework is supported by a theoretical study on the effect of non-uniform observations on the accuracy of parameter estimation. Specifically, we demonstrate the existence of upper bounds on the parametric error resulting from missing measurements and aggregated observations. Then, the effectiveness of the approach is demonstrated through two case studies. These include a practical application with missing samples, i.e., the identification of a continuous stirred-tank reactor using real data, and a simulated Lotka-Volterra system under aggregated observations. The results highlight the ability of the framework to robustly estimate the system parameters and to accurately reconstruct the model dynamics despite the availability of non-uniform measurements.

Authors:Shaoxuan Cui, Chencheng Zhang, Bin Jiang, Hildeberto Jardón Kojakhmetov, Ming Cao
Title: Higher-order Laplacian dynamics on hypergraphs with cooperative and antagonistic interactions
Abstract:
Laplacian dynamics on a signless graph characterize a class of linear interactions, where pairwise cooperative interactions between all agents lead to the convergence to a common state. On a structurally balanced signed graph, the agents converge to values of the same magnitude but opposite signs (bipartite consensus), as illustrated by the well-known Altafini model. These interactions have been modeled using traditional graphs, where the relationships between agents are always pairwise. In comparison, higher-order networks (such as hypergraphs), offer the possibility to capture more complex, group-wise interactions among agents. This raises a natural question: can collective behavior be analyzed by using hypergraphs? The answer is affirmative. In this paper, higher-order Laplacian dynamics on signless hypergraphs are first introduced and various collective convergence behaviors are investigated, in the framework of homogeneous and non-homogeneous polynomial systems. Furthermore, by employing gauge transformations and leveraging tensor similarities, we extend these dynamics to signed hypergraphs, drawing parallels to the Altafini model. Moreover, we explore non-polynomial interaction functions within this framework. The theoretical results are demonstrated through several numerical examples.

Authors:Chunxiang Song, Yanan Liu, Guofeng Zhang, Huadong Mo, Daoyi Dong
Title: Learning-Based Design of LQG Controllers in Quantum Coherent Feedback
Abstract:
In this paper, we propose a differential evolution (DE) algorithm specifically tailored for the design of Linear-Quadratic-Gaussian (LQG) controllers in quantum systems. Building upon the foundational DE framework, the algorithm incorporates specialized modules, including relaxed feasibility rules, a scheduled penalty function, adaptive search range adjustment, and the ``bet-and-run'' initialization strategy. These enhancements improve the algorithm's exploration and exploitation capabilities while addressing the unique physical realizability requirements of quantum systems. The proposed method is applied to a quantum optical system, where three distinct controllers with varying configurations relative to the plant are designed. The resulting controllers demonstrate superior performance, achieving lower LQG performance indices compared to existing approaches. Additionally, the algorithm ensures that the designs comply with physical realizability constraints, guaranteeing compatibility with practical quantum platforms. The proposed approach holds significant potential for application to other linear quantum systems in performance optimization tasks subject to physically feasible constraints.

Authors:Qi Xiao, Jongha Woo, Lidong Song, Ning Lu, Victor Paduani
Title: Design and Implementation of Scalable Communication Interfaces for Reliable and Stable Real-time Co-Simulation of Power Systems
Abstract:
Co-simulation offers an integrated approach for modeling the large-scale integration of inverter-based resources (IBRs) into transmission and distribution grids. This paper presents a scalable communication interface design and implementation to enable reliable and stable real-time co-simulation of power systems with high IBR penetration. The communication interface is categorized into two types: local and remote. In local scenarios, where subsystems are connected within a single local area network (LAN), low-latency communication facilitates the seamless integration of electromagnetic transient (EMT) and phasor-domain models, enabling efficient interactions with power and energy management algorithms. For remote scenarios, data exchange is achieved via internet-based file sharing or VPN-enabled communication. The performance of both methods is evaluated using OPAL-RT as a real-time simulator, demonstrating scalability, effectiveness, and challenges specific to real-time co-simulation applications. To mitigate instability arising from data resolution mismatches in time-sensitive co-simulations, a real-time data extrapolation method is proposed. This approach significantly enhances stability and reliability, ensuring more accurate simulation outcomes. The implementation code is available on GitHub, providing researchers the tools to replicate and expand upon this work.

Authors:Siyuan Wang, Wenchuan Wu, Chenhui Lin, Qi Wang, Shuwei Xu, Binbin Chen
Title: Physics-Informed Recurrent Network for State-Space Modeling of Gas Pipeline Networks
Abstract:
As a part of the integrated energy system (IES), gas pipeline networks can provide additional flexibility to power systems through coordinated optimal dispatch. An accurate pipeline network model is critical for the optimal operation and control of IESs. However, inaccuracies or unavailability of accurate pipeline parameters often introduce errors in the state-space models of such networks. This paper proposes a physics-informed recurrent network (PIRN) to identify the state-space model of gas pipelines. It fuses sparse measurement data with fluid-dynamic behavior expressed by partial differential equations. By embedding the physical state-space model within the recurrent network, parameter identification becomes an end-to-end PIRN training task. The model can be realized in PyTorch through modifications to a standard RNN backbone. Case studies demonstrate that our proposed PIRN can accurately estimate gas pipeline models from sparse terminal node measurements, providing robust performance and significantly higher parameter efficiency. Furthermore, the identified state-space model of the pipeline network can be seamlessly integrated into optimization frameworks.

Authors:Ioannis Karampinis, Petros Ellinas, Ignasi Ventura Nadal, Rahul Nellikkath, Spyros Chatzivasileiadis
Title: Toolbox for Developing Physics Informed Neural Networks for Power Systems Components
Abstract:
This paper puts forward the vision of creating a library of neural-network-based models for power system simulations. Traditional numerical solvers struggle with the growing complexity of modern power systems, necessitating faster and more scalable alternatives. Physics-Informed Neural Networks (PINNs) offer promise to solve fast the ordinary differential equations (ODEs) governing power system dynamics. This is vital for the reliability, cost optimization, and real-time decision-making in the electricity grid. Despite their potential, standardized frameworks to train PINNs remain scarce. This poses a barrier for the broader adoption and reproducibility of PINNs; it also does not allow the streamlined creation of a PINN-based model library. This paper addresses these gaps. It introduces a Python-based toolbox for developing PINNs tailored to power system components, available on GitHub https://github. com/radiakos/PowerPINN. Using this framework, we capture the dynamic characteristics of a 9th-order system, which is probably the most complex power system component trained with a PINN to date, demonstrating the toolbox capabilities, limitations, and potential improvements. The toolbox is open and free to use by anyone interested in creating PINN-based models for power system components.

Authors:Fares Fourati, Salma Kharrat, Vaneet Aggarwal, Mohamed-Slim Alouini
Title: Every Call is Precious: Global Optimization of Black-Box Functions with Unknown Lipschitz Constants
Abstract:
Optimizing expensive, non-convex, black-box Lipschitz continuous functions presents significant challenges, particularly when the Lipschitz constant of the underlying function is unknown. Such problems often demand numerous function evaluations to approximate the global optimum, which can be prohibitive in terms of time, energy, or resources. In this work, we introduce Every Call is Precious (ECP), a novel global optimization algorithm that minimizes unpromising evaluations by strategically focusing on potentially optimal regions. Unlike previous approaches, ECP eliminates the need to estimate the Lipschitz constant, thereby avoiding additional function evaluations. ECP guarantees no-regret performance for infinite evaluation budgets and achieves minimax-optimal regret bounds within finite budgets. Extensive ablation studies validate the algorithm's robustness, while empirical evaluations show that ECP outperforms 10 benchmark algorithms including Lipschitz, Bayesian, bandits, and evolutionary methods across 30 multi-dimensional non-convex synthetic and real-world optimization problems, which positions ECP as a competitive approach for global optimization.

Authors:Adrien Banse, Giannis Delimpaltadakis, Luca Laurenti, Manuel Mazo, Raphaël M. Jungers
Title: Memory-dependent abstractions of stochastic systems through the lens of transfer operators
Abstract:
With the increasing ubiquity of safety-critical autonomous systems operating in uncertain environments, there is a need for mathematical methods for formal verification of stochastic models. Towards formally verifying properties of stochastic systems, methods based on discrete, finite Markov approximations -- abstractions -- thereof have surged in recent years. These are found in contexts where: either a) one only has partial, discrete observations of the underlying continuous stochastic process, or b) the original system is too complex to analyze, so one partitions the continuous state-space of the original system to construct a handleable, finite-state model thereof. In both cases, the abstraction is an approximation of the discrete stochastic process that arises precisely from the discretization of the underlying continuous process. The fact that the abstraction is Markov and the discrete process is not (even though the original one is) leads to approximation errors. Towards accounting for non-Markovianity, we introduce memory-dependent abstractions for stochastic systems, capturing dynamics with memory effects. Our contribution is twofold. First, we provide a formalism for memory-dependent abstractions based on transfer operators. Second, we quantify the approximation error by upper bounding the total variation distance between the true continuous state distribution and its discrete approximation.

Authors:T. J. Meijer, K. J. A. Scheres, S. A. N. Nouwens, V. S. Dolk, W. P. M. H. Heemels
Title: From a Frequency-Domain Willems' Lemma to Data-Driven Predictive Control
Abstract:
Willems' fundamental lemma has recently received an impressive amount of attention from the (data-driven) control community. In this paper, we formulate a version of this celebrated result based on frequency-domain data. In doing so, we bridge the gap between recent developments in data-driven analysis and control, and the readily-available techniques and extensive expertise for non-parametric frequency-domain identification in academia and industry. In addition, we generalize our results to allow multiple frequency-domain data sets to be carefully combined to form a sufficiently rich data set. Building on these results, we propose a data-driven predictive control scheme based on measured frequency-domain data of the plant. This novel scheme provides a frequency-domain counterpart of the well-known data-enabled predictive control scheme DeePC based on time-domain data. We prove that, under appropriate conditions, the new frequency-domain data-driven predictive control (FreePC) scheme is equivalent to the corresponding DeePC scheme, and we demonstrate the benefits of FreePC and the use of frequency-domain data in a numerical case study. These benefits include the ability to collect data in closed loop with a pre-stabilizing controller, dealing with noisy data, without increasing computational complexity, and intuitively visualizing the uncertainty in the frequency-domain data. In addition, we further showcase the potential of our frequency-domain Willems' fundamental lemma in applications to data-driven simulation, and the linear-quadratic regulator (LQR) problem. Finally, we show that our results can be used to evaluate the transfer function of the system at a desired frequency based on a finite amount of frequency-domain data.

Authors:Amogh Joshi, Sourav Sanyal, Kaushik Roy
Title: Neuro-LIFT: A Neuromorphic, LLM-based Interactive Framework for Autonomous Drone FlighT at the Edge
Abstract:
The integration of human-intuitive interactions into autonomous systems has been limited. Traditional Natural Language Processing (NLP) systems struggle with context and intent understanding, severely restricting human-robot interaction. Recent advancements in Large Language Models (LLMs) have transformed this dynamic, allowing for intuitive and high-level communication through speech and text, and bridging the gap between human commands and robotic actions. Additionally, autonomous navigation has emerged as a central focus in robotics research, with artificial intelligence (AI) increasingly being leveraged to enhance these systems. However, existing AI-based navigation algorithms face significant challenges in latency-critical tasks where rapid decision-making is critical. Traditional frame-based vision systems, while effective for high-level decision-making, suffer from high energy consumption and latency, limiting their applicability in real-time scenarios. Neuromorphic vision systems, combining event-based cameras and spiking neural networks (SNNs), offer a promising alternative by enabling energy-efficient, low-latency navigation. Despite their potential, real-world implementations of these systems, particularly on physical platforms such as drones, remain scarce. In this work, we present Neuro-LIFT, a real-time neuromorphic navigation framework implemented on a Parrot Bebop2 quadrotor. Leveraging an LLM for natural language processing, Neuro-LIFT translates human speech into high-level planning commands which are then autonomously executed using event-based neuromorphic vision and physics-driven planning. Our framework demonstrates its capabilities in navigating in a dynamic environment, avoiding obstacles, and adapting to human instructions in real-time.

Authors:Candice Chambers, Summer Mueller, Parth Ganeriwala, Chiradeep Sen, Siddhartha Bhattacharyya
Title: Automating Physics-Based Reasoning for SysML Model Validation
Abstract:
System and software design benefits greatly from formal modeling, allowing for automated analysis and verification early in the design phase. Current methods excel at checking information flow and component interactions, ensuring consistency, and identifying dependencies within Systems Modeling Language (SysML) models. However, these approaches often lack the capability to perform physics-based reasoning about a system's behavior represented in SysML models, particularly in the electromechanical domain. This significant gap critically hinders the ability to automatically and effectively verify the correctness and consistency of the model's behavior against well-established underlying physical principles. Therefore, this paper presents an approach that leverages existing research on function representation, including formal languages, graphical representations, and reasoning algorithms, and integrates them with physics-based verification techniques. Four case studies (coffeemaker, vacuum cleaner, hairdryer, and wired speaker) are inspected to illustrate the model's practicality and effectiveness in performing physics-based reasoning on systems modeled in SysML. This automated physics-based reasoning is broken into two main categories: (i) structural, which is performed on BDD and IBD, and (ii) functional, which is then performed on activity diagrams. This work advances the field of automated reasoning by providing a framework for verifying structural and functional correctness and consistency with physical laws within SysML models.

Authors:Jiaqi Hu, Jie Qi, Jing Zhang
Title: Neural Operator based Reinforcement Learning for Control of first-order PDEs with Spatially-Varying State Delay
Abstract:
Control of distributed parameter systems affected by delays is a challenging task, particularly when the delays depend on spatial variables. The idea of integrating analytical control theory with learning-based control within a unified control scheme is becoming increasingly promising and advantageous. In this paper, we address the problem of controlling an unstable first-order hyperbolic PDE with spatially-varying delays by combining PDE backstepping control strategies and deep reinforcement learning (RL). To eliminate the assumption on the delay function required for the backstepping design, we propose a soft actor-critic (SAC) architecture incorporating a DeepONet to approximate the backstepping controller. The DeepONet extracts features from the backstepping controller and feeds them into the policy network. In simulations, our algorithm outperforms the baseline SAC without prior backstepping knowledge and the analytical controller.

Authors:Ignasi Ventura Nadal, Rahul Nellikkath, Spyros Chatzivasileiadis
Title: Physics-Informed Neural Networks in Power System Dynamics: Improving Simulation Accuracy
Abstract:
The importance and cost of time-domain simulations when studying power systems have exponentially increased in the last decades. With the growing share of renewable energy sources, the slow and predictable responses from large turbines are replaced by the fast and unpredictable dynamics from power electronics. The current existing simulation tools require new solutions designed for faster dynamics. Physics-Informed Neural Networks (PINNs) have recently emerged in power systems to accelerate such simulations. By incorporating knowledge during the up-front training, PINNs provide more accurate results over larger time steps than traditional numerical methods. This paper introduces PINNs as an alternative approximation method that seamlessly integrates with the current simulation framework. We replace a synchronous machine for a trained PINN in the IEEE 9-, 14-, and 30-bus systems and simulate several network disturbances. Including PINNs systematically boosts the simulations' accuracy, providing more accurate results for both the PINN-modeled component and the whole multi-machine system states.

Authors:Jiping Luo, George Stamatakis, Osvaldo Simeone, Nikolaos Pappas
Title: Remote State Estimation over a Wearing Channel: Information Freshness vs. Channel Aging
Abstract:
We study the remote estimation of a linear Gaussian system over a nonstationary channel that wears out over time and with every use. The sensor can either transmit a fresh measurement in the current time slot, restore the channel quality at the cost of downtime, or remain silent. More frequent transmissions yield accurate estimates but incur significant wear on the channel. Renewing the channel too often improves channel conditions but results in poor estimation quality. What is the optimal timing to transmit measurements and restore the channel? We formulate the problem as a Markov decision process (MDP) and show the monotonicity properties of an optimal policy. A structured policy iteration algorithm is proposed to find the optimal policy.

Authors:Wouter Weekers, Alessandro Saccon, Nathan van de Wouw
Title: Data-Efficient Extremum-Seeking Control Using Kernel-Based Function Approximation
Abstract:
Existing extremum-seeking control (ESC) approaches typically rely on applying repeated perturbations to input parameters and performing measurements of the corresponding performance output. The required separation between the different timescales in the ESC loop means that performing these measurements can be time-consuming. Moreover, performing these measurements can be costly in practice, e.g., due to the use of resources. With these challenges in mind, it is desirable to reduce the number of measurements needed to optimize performance. Therefore, in this work, we present a sampled-data ESC approach aimed at reducing the number of measurements that need to be performed. In the proposed approach, we use input-output data obtained during regular operation of the extremum-seeking controller to construct online an approximation of the system's underlying cost function. By using this approximation to perform parameter updates when a decrease in the cost can be guaranteed, instead of performing additional measurements to perform this update, we make more efficient use of data collected during regular operation of the extremum-seeking controller. As a result, we indeed obtain a reduction in the required number of measurements to achieve optimization. We provide a stability analysis of the novel sampled-data ESC approach, and demonstrate the benefits of the synergy between kernel-based function approximation and standard ESC in simulation on a multi-input dynamical system.

Authors:Dirk Reinhardt, Katrin Baumgärnter, Jonathan Frey, Moritz Diehl, Sebastien Gros
Title: MPC4RL -- A Software Package for Reinforcement Learning based on Model Predictive Control
Abstract:
In this paper, we present an early software integrating Reinforcement Learning (RL) with Model Predictive Control (MPC). Our aim is to make recent theoretical contributions from the literature more accessible to both the RL and MPC communities. We combine standard software tools developed by the RL community, such as Gymnasium, stable-baselines3, or CleanRL with the acados toolbox, a widely-used software package for efficient MPC algorithms. Our core contribution is MPC4RL, an open-source Python package that supports learning-enhanced MPC schemes for existing acados implementations. The package is designed to be modular, extensible, and user-friendly, facilitating the tuning of MPC algorithms for a broad range of control problems. It is available on GitHub.

Authors:Shashank Verma, Mohammad Almuhaihi, Dennis S. Bernstein
Title: What is a Relevant Signal-to-Noise Ratio for Numerical Differentiation?
Abstract:
In applications that involve sensor data, a useful measure of signal-to-noise ratio (SNR) is the ratio of the root-mean-squared (RMS) signal to the RMS sensor noise. The present paper shows that, for numerical differentiation, the traditional SNR is ineffective. In particular, it is shown that, for a harmonic signal with harmonic sensor noise, a natural and relevant SNR is given by the ratio of the RMS of the derivative of the signal to the RMS of the derivative of the sensor noise. For a harmonic signal with white sensor noise, an effective SNR is derived. Implications of these observations for signal processing are discussed.

Authors:Huisheng Wang, H. Vicky Zhao
Title: Optimal Investment under Mutual Strategy Influence among Agents
Abstract:
In financial markets, agents often mutually influence each other's investment strategies and adjust their strategies to align with others. However, there is limited quantitative study of agents' investment strategies in such scenarios. In this work, we formulate the optimal investment differential game problem to study the mutual influence among agents. We derive the analytical solutions for agents' optimal strategies and propose a fast algorithm to find approximate solutions with low computational complexity. We theoretically analyze the impact of mutual influence on agents' optimal strategies and terminal wealth. When the mutual influence is strong and approaches infinity, we show that agents' optimal strategies converge to the asymptotic strategy. Furthermore, in general cases, we prove that agents' optimal strategies are linear combinations of the asymptotic strategy and their rational strategies without others' influence. We validate the performance of the fast algorithm and verify the correctness of our analysis using numerical experiments. This work is crucial to comprehend mutual influence among agents and design effective mechanisms to guide their strategies in financial markets.

Authors:Christian Fiedler, Johanna Menn, Sebastian Trimpe
Title: Safety in safe Bayesian optimization and its ramifications for control
Abstract:
A recurring and important task in control engineering is parameter tuning under constraints, which conceptually amounts to optimization of a blackbox function accessible only through noisy evaluations. For example, in control practice parameters of a pre-designed controller are often tuned online in feedback with a plant, and only safe parameter values should be tried, avoiding for example instability. Recently, machine learning methods have been deployed for this important problem, in particular, Bayesian optimization (BO). To handle safety constraints, algorithms from safe BO have been utilized, especially SafeOpt-type algorithms, which enjoy considerable popularity in learning-based control, robotics, and adjacent fields. However, we identify two significant obstacles to practical safety. First, SafeOpt-type algorithms rely on quantitative uncertainty bounds, and most implementations replace these by theoretically unsupported heuristics. Second, the theoretically valid uncertainty bounds crucially depend on a quantity - the reproducing kernel Hilbert space norm of the target function - that at present is impossible to reliably bound using established prior engineering knowledge. By careful numerical experiments we show that these issues can indeed cause safety violations. To overcome these problems, we propose Lipschitz-only Safe Bayesian Optimization (LoSBO), a safe BO algorithm that relies only on a known Lipschitz bound for its safety. Furthermore, we propose a variant (LoS-GP-UCB) that avoids gridding of the search space and is therefore applicable even for moderately high-dimensional problems.

Authors:Neal Ma, Ningkun Zheng, Ning Qi, Bolun Xu
Title: Comparative Withholding Behavior Analysis of Historical Energy Storage Bids in California
Abstract:
The rapid growth of battery energy storage in wholesale electricity markets calls for a deeper understanding of storage operators' bidding strategies and their market impacts. This study examines energy storage bidding data from the California Independent System Operator (CAISO) between July 1, 2023, and October 1, 2024, with a primary focus on economic withholding strategies. Our analysis reveals that storage bids are closely aligned with day-ahead and real-time market clearing prices, with notable bid inflation during price spikes. Statistical tests demonstrate a strong correlation between price spikes and capacity withholding, indicating that operators can anticipate price surges and use market volatility to increase profitability. Comparisons with optimal hindsight bids further reveal a clear daily periodic bidding pattern, highlighting extensive economic withholding. These results underscore potential market inefficiencies and highlight the need for refined regulatory measures to address economic withholding as storage capacity in the market continues to grow.

Authors:Elizabeth Dietrich, Emir Cem Gezer, Bingzhuo Zhong, Murat Arcak, Majid Zamani, Roger Skjetne, Asgeir Johan Sørensen
Title: Symbolic Control for Autonomous Docking of Marine Surface Vessels
Abstract:
We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat the vessel's desired surge, sway, and yaw velocities as control inputs and synthesize a symbolic controller in real-time. The desired velocities are then executed by the vessel's low-level velocity feedback control loop. We next investigate methods to optimize the performance of the proposed control scheme. The results are evaluated on a simulation model of a marine surface vessel in the presence of static obstacles and, for the first time, through physical experiments on a scale model vessel.

Authors:Yongjie Fu, Mehmet K. Turkcan, Mahshid Ghasemi, Zhaobin Mo, Chengbo Zang, Abhishek Adhikari, Zoran Kostic, Gil Zussman, Xuan Di
Title: AI-Powered CPS-Enabled Urban Transportation Digital Twin: Methods and Applications
Abstract:
We present methods and applications for the development of digital twins (DT) for urban traffic management. While the majority of studies on the DT focus on its ``eyes," which is the emerging sensing and perception like object detection and tracking, what really distinguishes the DT from a traditional simulator lies in its ``brain," the prediction and decision making capabilities of extracting patterns and making informed decisions from what has been seen and perceived. In order to add value to urban transportation management, DTs need to be powered by artificial intelligence and complement with low-latency high-bandwidth sensing and networking technologies, in other words, cyberphysical systems (CPS). We will first review the DT pipeline enabled by CPS and propose our DT architecture deployed on a real-world testbed in New York City. This paper can be a pointer to help researchers and practitioners identify challenges and opportunities for the development of DTs; a bridge to initiate conversations across disciplines; and a road map to exploiting potentials of DTs for diverse urban transportation applications.

Authors:S. Ali Mousavi, Mehdi Monemi, Reza Mohseni, Matti Latva-aho
Title: A Federated Deep Learning Framework for Cell-Free RSMA Networks
Abstract:
Next-generation wireless networks are poised to benefit significantly from the integration of three key technologies (KTs): Rate-Splitting Multiple Access (RSMA), cell-free architectures, and federated learning. Each of these technologies offers distinct advantages in terms of security, robustness, and distributed structure. In this paper, we propose a novel cell-free network architecture that incorporates RSMA and employs machine learning techniques within a federated framework. This combination leverages the strengths of each KT, creating a synergistic effect that maximizes the benefits of security, robustness, and distributed structure. We formally formulate the access point (AP) selection and precoder design for max-min rate optimization in a cell-free MIMO RSMA network. Our proposed solution scheme involves a three-block procedure. The first block trains deep reinforcement learning (DRL) neural networks to obtain RSMA precoders, assuming full connectivity between APs and user equipments (UEs). The second block uses these precoders and principal component analysis (PCA) to assign APs to UEs by removing a subset of AP-UE connections. The final block fine-tunes the RSMA precoders by incorporating the associated APs into a second DRL network. To leverage the distributed nature of the cell-free network, this process is implemented in a Federated Deep Reinforcement Learning (FDRL) structure operating through the cooperation of APs and a central processing unit (CPU). Simulation results demonstrate that the proposed FDRL approach performs comparably to a benchmark centralized DRL scheme. Our FDRL approach, provides a balanced trade-off, maintaining high performance with enhanced security and reduced processing demands.

Authors:Jialong Chen, Jimin Wang, Ji-Feng Zhang
Title: Differentially Private Gradient-Tracking-Based Distributed Stochastic Optimization over Directed Graphs
Abstract:
This paper proposes a differentially private gradient-tracking-based distributed stochastic optimization algorithm over directed graphs. In particular, privacy noises are incorporated into each agent's state and tracking variable to mitigate information leakage, after which the perturbed states and tracking variables are transmitted to neighbors. We design two novel schemes for the step-sizes and the sampling number within the algorithm. The sampling parameter-controlled subsampling method employed by both schemes enhances the differential privacy level, and ensures a finite cumulative privacy budget even over infinite iterations. The algorithm achieves both almost sure and mean square convergence for nonconvex objectives. Furthermore, when nonconvex objectives satisfy the Polyak-Lojasiewicz condition, Scheme (S1) achieves a polynomial mean square convergence rate, and Scheme (S2) achieves an exponential mean square convergence rate. The trade-off between privacy and convergence is presented. The effectiveness of the algorithm and its superior performance compared to existing works are illustrated through numerical examples of distributed training on the benchmark datasets "MNIST" and "CIFAR-10".

Authors:Ibai Coria, Mikel Abasolo, Imanol Olaskoaga, Arkaitz Etxezarreta, Josu Aguirrebeitia
Title: A new methodology for the optimization of bolt tightening sequences for ring type joints
Abstract:
Achieving uniform bolt load distribution is critical to obtain leak-free service in pressure vessel gasketed joints used in offshore pipelines. This is a difficult task due to bolt load variations during the assembly process. In this sense, the Elastic Interaction Coefficients Method has been developed in previous works to define tightening sequences that provide the target load at the end of the sequence in one or two passes. The method is very costly because a complete sequence must be simulated and the load of every bolt must be measured after each tightening operation. The present work validates this method for Ring Type Joints and further develops a numerically and experimentally validated new methodology that provides highly satisfactory results with a significantly lower cost.

Authors:Shashank Verma, Juan Augusto Paredes Salazar, Jhon Manuel Portella Delgado, Ankit Goel, Dennis S. Bernstein
Title: Adaptive Numerical Differentiation for Extremum Seeking with Sensor Noise
Abstract:
Extremum-seeking control (ESC) is widely used to optimize performance when the system dynamics are uncertain. However, sensitivity to sensor noise is an important issue in ESC implementation due to the use of high-pass filters or gradient estimators. To reduce the sensitivity of ESC to noise, this paper investigates the use of adaptive input and state estimation (AISE) for numerical differentiation. In particular, this paper develops extremum-seeking control with adaptive input and state estimation (ESC/AISE), where the high-pass filter of ESC is replaced by AISE to improve performance under sensor noise. The effectiveness of ESC/AISE is illustrated via numerical examples.

Authors:Shashank Verma, Dennis S. Bernstein
Title: Frenet-Serret-Based Trajectory Prediction
Abstract:
Trajectory prediction is a crucial element of guidance, navigation, and control systems. This paper presents two novel trajectory-prediction methods based on real-time position measurements and adaptive input and state estimation (AISE). The first method, called AISE/va, uses position measurements to estimate the target velocity and acceleration. The second method, called AISE/FS, models the target trajectory as a 3D curve using the Frenet-Serret formulas, which require estimates of velocity, acceleration, and jerk. To estimate velocity, acceleration, and jerk in real time, AISE computes first, second, and third derivatives of the position measurements. AISE does not rely on assumptions about the target maneuver, measurement noise, or disturbances. For trajectory prediction, both methods use measurements of the target position and estimates of its derivatives to extrapolate from the current position. The performance of AISE/va and AISE/FS is compared numerically with the $α$-$β$-$γ$ filter, which shows that AISE/FS provides more accurate trajectory prediction than AISE/va and traditional methods, especially for complex target maneuvers.

Authors:Shashank Verma, Dennis S. Bernstein
Title: Target Tracking Using the Invariant Extended Kalman Filter with Numerical Differentiation for Estimating Curvature and Torsion
Abstract:
The goal of target tracking is to estimate target position, velocity, and acceleration in real time using position data. This paper introduces a novel target-tracking technique that uses adaptive input and state estimation (AISE) for real-time numerical differentiation to estimate velocity, acceleration, and jerk from position data. These estimates are used to model the target motion within the Frenet-Serret (FS) frame. By representing the model in SE(3), the position and velocity are estimated using the invariant extended Kalman filter (IEKF). The proposed method, called FS-IEKF-AISE, is illustrated by numerical examples and compared to prior techniques.

Authors:Yanzan Sun, Jiacheng Qiu, Guangjin Pan, Shugong Xu, Shunqing Zhang, Xiaoyun Wang, Shuangfeng Han
Title: Energy Optimization of Multi-task DNN Inference in MEC-assisted XR Devices: A Lyapunov-Guided Reinforcement Learning Approach
Abstract:
Extended reality (XR), blending virtual and real worlds, is a key application of future networks. While AI advancements enhance XR capabilities, they also impose significant computational and energy challenges on lightweight XR devices. In this paper, we developed a distributed queue model for multi-task DNN inference, addressing issues of resource competition and queue coupling. In response to the challenges posed by the high energy consumption and limited resources of XR devices, we designed a dual time-scale joint optimization strategy for model partitioning and resource allocation, formulated as a bi-level optimization problem. This strategy aims to minimize the total energy consumption of XR devices while ensuring queue stability and adhering to computational and communication resource constraints. To tackle this problem, we devised a Lyapunov-guided Proximal Policy Optimization algorithm, named LyaPPO. Numerical results demonstrate that the LyaPPO algorithm outperforms the baselines, achieving energy conservation of 24.79% to 46.14% under varying resource capacities. Specifically, the proposed algorithm reduces the energy consumption of XR devices by 24.29% to 56.62% compared to baseline algorithms.

Authors:Annalena Daniels, Sebastian Kerz, Salman Bari, Volker Gabler, Dirk Wollherr
Title: Grasping in Uncertain Environments: A Case Study For Industrial Robotic Recycling
Abstract:
Autonomous robotic grasping of uncertain objects in uncertain environments is an impactful open challenge for the industries of the future. One such industry is the recycling of Waste Electrical and Electronic Equipment (WEEE) materials, in which electric devices are disassembled and readied for the recovery of raw materials. Since devices may contain hazardous materials and their disassembly involves heavy manual labor, robotic disassembly is a promising venue. However, since devices may be damaged, dirty and unidentified, robotic disassembly is challenging since object models are unavailable or cannot be relied upon. This case study explores grasping strategies for industrial robotic disassembly of WEEE devices with uncertain vision data. We propose three grippers and appropriate tactile strategies for force-based manipulation that improves grasping robustness. For each proposed gripper, we develop corresponding strategies that can perform effectively in different grasping tasks and leverage the grippers design and unique strengths. Through experiments conducted in lab and factory settings for four different WEEE devices, we demonstrate how object uncertainty may be overcome by tactile sensing and compliant techniques, significantly increasing grasping success rates.

Authors:Julia Briden, Trey Gurga, Breanna Johnson, Abhishek Cauligi, Richard Linares
Title: Tight Constraint Prediction of Six-Degree-of-Freedom Transformer-based Powered Descent Guidance
Abstract:
This work introduces Transformer-based Successive Convexification (T-SCvx), an extension of Transformer-based Powered Descent Guidance (T-PDG), generalizable for efficient six-degree-of-freedom (DoF) fuel-optimal powered descent trajectory generation. Our approach significantly enhances the sample efficiency and solution quality for nonconvex-powered descent guidance by employing a rotation invariant transformation of the sampled dataset. T-PDG was previously applied to the 3-DoF minimum fuel powered descent guidance problem, improving solution times by up to an order of magnitude compared to lossless convexification (LCvx). By learning to predict the set of tight or active constraints at the optimal control problem's solution, Transformer-based Successive Convexification (T-SCvx) creates the minimal reduced-size problem initialized with only the tight constraints, then uses the solution of this reduced problem to warm-start the direct optimization solver. 6-DoF powered descent guidance is known to be challenging to solve quickly and reliably due to the nonlinear and non-convex nature of the problem, the discretization scheme heavily influencing solution validity, and reference trajectory initialization determining algorithm convergence or divergence. Our contributions in this work address these challenges by extending T-PDG to learn the set of tight constraints for the successive convexification (SCvx) formulation of the 6-DoF powered descent guidance problem. In addition to reducing the problem size, feasible and locally optimal reference trajectories are also learned to facilitate convergence from the initial guess. T-SCvx enables onboard computation of real-time guidance trajectories, demonstrated by a 6-DoF Mars powered landing application problem.

Authors:Julia Briden, Breanna Johnson, Richard Linares, Abhishek Cauligi
Title: Diffusion Policies for Generative Modeling of Spacecraft Trajectories
Abstract:
Machine learning has demonstrated remarkable promise for solving the trajectory generation problem and in paving the way for online use of trajectory optimization for resource-constrained spacecraft. However, a key shortcoming in current machine learning-based methods for trajectory generation is that they require large datasets and even small changes to the original trajectory design requirements necessitate retraining new models to learn the parameter-to-solution mapping. In this work, we leverage compositional diffusion modeling to efficiently adapt out-of-distribution data and problem variations in a few-shot framework for 6 degree-of-freedom (DoF) powered descent trajectory generation. Unlike traditional deep learning methods that can only learn the underlying structure of one specific trajectory optimization problem, diffusion models are a powerful generative modeling framework that represents the solution as a probability density function (PDF) and this allows for the composition of PDFs encompassing a variety of trajectory design specifications and constraints. We demonstrate the capability of compositional diffusion models for inference-time 6 DoF minimum-fuel landing site selection and composable constraint representations. Using these samples as initial guesses for 6 DoF powered descent guidance enables dynamically feasible and computationally efficient trajectory generation.

Authors:Rahman Khorramfar, Dharik Mallapragada, Saurabh Amin
Title: Power-Gas Infrastructure Planning under Weather-induced Supply and Demand Uncertainties
Abstract:
Implementing economy-wide decarbonization strategies based on decarbonizing the power grid via variable renewable energy (VRE) expansion and electrification of end-uses requires new approaches for energy infrastructure planning that consider, among other factors, weather-induced uncertainty in demand and VRE supply. An energy planning model that fails to account for these uncertainties can hinder the intended transition efforts to a low-carbon grid and increase the risk of supply shortage especially during extreme weather conditions. Here, we consider the generation and transmission expansion problem of joint power-gas infrastructure and operations planning under the uncertainty of both demand and renewable supply. We propose two distributionally robust optimization approaches based on moment (MDRO) and Wasserstein distance (WDRO) ambiguity sets to endogenize these uncertainties and account for the change in the underlying distribution of these parameters that is caused by the climate change, among other factors. Furthermore, our model considers the risk-aversion of the energy planners in the modeling framework via the conditional value-at-risk (CVaR) metric. An equivalent mixed-integer linear programming (MILP) reformulation of both modeling frameworks is presented, and a computationally efficient approximation scheme to obtain near-optimal solutions is proposed. We demonstrate the resulting DRO planning models and solution strategy via a New England case study under different levels of end-use electrification and decarbonization targets. Our experiments systematically explore different modeling aspects and compare the DRO models with stochastic programming (SP) results.

Authors:Hao Wang, Armand Jordana, Ludovic Righetti, Somil Bansal
Title: Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis
Abstract:
While we have made significant algorithmic developments to enable autonomous systems to perform sophisticated tasks, it remains difficult for them to perform tasks effective and safely. Most existing approaches either fail to provide any safety assurances or substantially compromise task performance for safety. In this work, we develop a framework, based on model predictive control (MPC) and Hamilton-Jacobi (HJ) reachability, to optimize task performance for autonomous systems while respecting the safety constraints. Our framework guarantees recursive feasibility for the MPC controller, and it is scalable to high-dimensional systems. We demonstrate the effectiveness of our framework with two simulation studies using a 4D Dubins Car and a 6 Dof Kuka iiwa manipulator, and the experiments show that our framework significantly improves the safety constraints satisfaction of the systems over the baselines.

Authors:Aurelio Venditti, Walter Gubinelli, Enise F. Altin, Luca Colombo, Pietro Simeoni, Benyamin Davaji, Matteo Rinaldi
Title: Plasmonically Enhanced Flexural-Mode AlScN Nanoplate Resonator as Uncooled and Ultrafast IR Detector with High Responsivity
Abstract:
This letter introduces a novel class of miniaturized, uncooled, and ultra-fast infrared (IR) resonant thermal detectors (RTDs) based on 30%-doped Aluminum Scandium Nitride (AlScN) nanoplates. Exploiting high electromechanical coupling, good thermal properties, and enhanced and selective IR absorption, the presented device aims to demonstrate significant advancements over the state-of-the-art IR RTDs. This single pixel combines compact footprint, high spectral selectivity and responsivity, reduced noise, and fast thermal response, allowing for the potential development of innovative IR thermal imagers through multi-pixel integration. The flexural nature of the actuated resonance mode eventually enables an interferometric optical readout, paving the way towards achieving extremely low Noise Equivalent Power levels. These results demonstrate a high IR responsivity of around 130 ppt/pW, a thermal time constant of around 330 us, and a large out-of-plane displacement. This work represents the first experimental integration on a resonating platform of plasmonic absorbers that utilize AlScN as dielectric layer.

Authors:Waleed Breesam, Rezvan Alamian, Nima Tashakor, Brahim Elkhalil Youcefa, Stefan M. Goetz
Title: Frequency Control in Microgrids: An Adaptive Fuzzy-Neural-Network Virtual Synchronous Generator
Abstract:
The reliance on distributed renewable energy has increased recently. As a result, power electronic-based distributed generators replaced synchronous generators which led to a change in the dynamic characteristics of the microgrid. Most critically, they reduced system inertia and damping. Virtual synchronous generators emulated in power electronics, which mimic the dynamic behaviour of synchronous generators, are meant to fix this problem. However, fixed virtual synchronous generator parameters cannot guarantee a frequency regulation within the acceptable tolerance range. Conversely, a dynamic adjustment of these virtual parameters promises robust solution with stable frequency. This paper proposes a method to adapt the inertia, damping, and droop parameters dynamically through a fuzzy neural network controller. This controller trains itself online to choose appropriate values for these virtual parameters. The proposed method can be applied to a typical AC microgrid by considering the penetration and impact of renewable energy sources. We study the system in a MATLAB/Simulink model and validate it experimentally in real time using hardware-in-the-loop based on an embedded ARM system (SAM3X8E, Cortex-M3). Compared to traditional and fuzzy logic controller methods, the results demonstrate that the proposed method significantly reduces the frequency deviation to less than 0.03 Hz and shortens the stabilizing/recovery time.

Authors:Chenguang Zhao, Huan Yu
Title: Physics-Informed Neural Networks for Nonlocal Flow Modeling of Connected Automated Vehicles
Abstract:
Connected automated vehicles (CAVs) cruising control strategies have been extensively studied at the microscopic level. CAV controllers sense and react to traffic both upstream and downstream, yet most macroscopic models still assume locality, where the desired speed only depends on local density. The nonlocal macroscopic traffic flow models that explicitly capture the ``look ahead'' and ``look behind'' nonlocal CAV dynamics remain underexplored. In this paper, we propose a Physics-informed Neural Network framework to directly learn a macroscopic non-local flow model from a generic looking-ahead looking-behind vehicle motion model, which bridges the micro-macro modeling gap. We reconstruct macroscopic traffic states from synthetic CAV trajectories generated by the proposed microscopic control designs, and then learn a non-local traffic flow model that embeds a non-local conservation law to capture the resulting look-ahead look-behind dynamics. To analyze how CAV control parameters affect nonlocal traffic flow, we conduct high-fidelity driving simulator experiments to collect human drivers' trajectory data with varying downstream and upstream visibility, which serves as a baseline for tuning CAV control gains. Our analysis validates that the learned non-local flow model predicts CAV traffic dynamics more accurately than local models, and the fundamental diagram exhibits far less scatter in the speed - density relation. We further show that the looking-ahead/looking-behind control gains mainly reshape the non-local kernels, while the macroscopic speed and non-local density relation mainly depends on the desired speed function choice of the CAV controller. Our results provide a systematic approach for learning non-local macroscopic traffic-flow models directly from generic CAV control designs.

Authors:Diego Deplano, Sergio Grammatico, Mauro Franceschelli
Title: Non-Euclidean Enriched Contraction Theory for Monotone Operators and Monotone Dynamical Systems
Abstract:
We adopt an operator-theoretic perspective to analyze a class of nonlinear fixed-point iterations and discrete-time dynamical systems. Specifically, we study the Krasnoselskij iteration - at the heart of countless algorithmic schemes and underpinning the stability analysis of numerous dynamical models - by focusing on a non-Euclidean vector space equipped with the diagonally weighted supremum norm. By extending the state of the art, we introduce the notion of enriched weak contractivity, which (i) is characterized by a simple, verifiable condition for Lipschitz operators, and (ii) yields explicit bounds on the admissible step size for the Krasnoselskij iteration. Our results relate the notion of weak contractivity with that of monotonicity of operators and dynamical systems and show its generality to design larger step sizes and improved convergence speed for broader classes of dynamical systems. The newly developed theory is illustrated on two applications: the design of zero-finding algorithms for monotone operators and the design of nonlinear consensus dynamics in monotone multi-agent dynamical systems.

Authors:William Scarbro, Calum Imrie, Sinem Getir Yaman, Kavan Fatehi, Corina S. Pasareanu, Radu Calinescu, Ravi Mangal
Title: Conformal Safety Shielding for Imperfect-Perception Agents
Abstract:
We consider the problem of safe control in discrete autonomous agents that use learned components for imperfect perception (or more generally, state estimation) from high-dimensional observations. We propose a shield construction that provides run-time safety guarantees under perception errors by restricting the actions available to an agent, modeled as a Markov decision process, as a function of the state estimates. Our construction uses conformal prediction for the perception component, which guarantees that for each observation, the predicted set of estimates includes the actual state with a user-specified probability. The shield allows an action only if it is allowed for all the estimates in the predicted set, resulting in local safety. We also articulate and prove a global safety property of existing shield constructions for perfect-perception agents bounding the probability of reaching unsafe states if the agent always chooses actions prescribed by the shield. We illustrate our approach with a case-study of an experimental autonomous system that guides airplanes on taxiways using high-dimensional perception DNNs.

Authors:Oliver Schön, Sofie Haesaert, Sadegh Soudjani
Title: Formal Control for Uncertain Systems via Contract-Based Probabilistic Surrogates (Extended Version)
Abstract:
The requirement for identifying accurate system representations has not only been a challenge to fulfill, but it has compromised the scalability of formal methods, as the resulting models are often too complex for effective decision making with formal correctness and performance guarantees. Focusing on probabilistic simulation relations and surrogate models of stochastic systems, we propose an approach that significantly enhances the scalability and practical applicability of such simulation relations by eliminating the need to compute error bounds directly. As a result, we provide an abstraction-based technique that scales effectively to higher dimensions while addressing complex nonlinear agent-environment interactions with infinite-horizon temporal logic guarantees amidst uncertainty. Our approach trades scalability for conservatism favorably, as demonstrated on a complex high-dimensional vehicle intersection case study.

Authors:Luca Spagnuolo, Gabriel Giribaldi, Filippo Perli, Alberto Corigliano, Luca Colombo, Matteo Rinaldi
Title: Power Handling Improvement in Cross-Sectional Lame Mode Resonators Operating in the Ku-band
Abstract:
This study presents power handling improvements in cross-sectional Lame-Mode Resonators (CLMRs) designed for operation in the Ku-band. Previously fabricated CLMR devices failed at approximately 8 dBm of input power, primarily due to electromigration in the aluminum interdigitated electrodes (IDTs). To better understand this mechanism in CLMRs, a data driven thermal model is developed to analyze localized heating effects within the resonator body, which are known to accelerate electromigration. Based on insights from this model, Aluminum Silicon Copper (AlSiCu) was selected for the IDTs due to its superior thermal stability and resistance to electromigration. Devices fabricated with AlSiCu exhibited no signs of performance degradation, with the best-performing resonator achieving a mechanical quality factor (Qm) of 360, a maximum Bode quality factor (QBode) of 500, and an electromechanical coupling coefficient (kt2) of 6.3%. Moreover, the use of AlSiCu significantly increased the maximum input power the device can withstand, showing an improvement of up to 6 dBm over previous devices. These improvements in power handling make the devices strong candidates for high-power Ku-band filtering applications.

Authors:Mattia Bianchi, Florian Dörfler
Title: Online Feedback Optimization for Monotone Systems without Timescale Separation
Abstract:
Online Feedback Optimization (OFO) steers a dynamical plant to a cost-efficient steady-state, only relying on input-output sensitivity information, rather than on a full plant model. Unlike traditional feedforward approaches, OFO leverages real-time measurements from the plant, thereby inheriting the robustness and adaptability of feedback control. Unfortunately, existing theoretical guarantees for OFO assumes that the controller operates on a slower timescale than the plant, which can affect responsiveness and transient performance. In this paper, we focus on relaxing this ``timescale separation'' assumption. Specifically, we consider the class of monotone systems, and we prove that OFO can achieve an optimal operating point, regardless of the time constants of controller and plant. By leveraging a small gain theorem for monotone systems, we derive several sufficient conditions for global convergence. Notably, these conditions depend only on the steady-state behavior of the plant, and they are entirely independent of the transient dynamics.

Authors:Hossein Mohammadi Firouzjaei, Rafaela Scaciota, Sumudu Samarakoon
Title: Multi-Task Lifelong Reinforcement Learning for Wireless Sensor Networks
Abstract:
Enhancing the sustainability and efficiency of wireless sensor networks (WSN) in dynamic and unpredictable environments requires adaptive communication and energy harvesting strategies. We propose a novel adaptive control strategy for WSNs that optimizes data transmission and EH to minimize overall energy consumption while ensuring queue stability and energy storing constraints under dynamic environmental conditions. The notion of adaptability therein is achieved by transferring the known environment-specific knowledge to new conditions resorting to the lifelong reinforcement learning concepts. We evaluate our proposed method against two baseline frameworks: Lyapunov-based optimization, and policy-gradient reinforcement learning (RL). Simulation results demonstrate that our approach rapidly adapts to changing environmental conditions by leveraging transferable knowledge, achieving near-optimal performance approximately $30\%$ faster than the RL method and $60\%$ faster than the Lyapunov-based approach. The implementation is available at our GitHub repository for reproducibility purposes [1].

Authors:Zakria Qadir, Muhammad Bilal, Guoqiang Liu, Xiaolong Xu
Title: Autonomous Trajectory Optimization for UAVs in Disaster Zone Using Henry Gas Optimization Scheme
Abstract:
The unmanned aerial vehicles (UAVs) in a disaster-prone environment plays important role in assisting the rescue services and providing the internet connectivity with the outside world. However, in such a complex environment the selection of optimum trajectory of UAVs is of utmost importance. UAV trajectory optimization deals with finding the shortest path in the minimal possible time. In this paper, a cluster optimization scheme (COS) is proposed using the Henry gas optimization (HGO) metaheuristic algorithm to identify the shortest path having minimal transportation cost and algorithm complexity. The mathematical model is designed for COS using the HGO algorithm and compared with the state-of-the-art metaheuristic algorithms such as particle swarm optimization (PSO), grey wolf optimization (GWO), cuckoo search algorithm (CSA) and barnacles mating optimizer (BMO). In order to prove the robustness of the proposed model, four different scenarios are evaluated that includes ambient environment, constrict environment, tangled environment, and complex environment. In all the aforementioned scenarios, the HGO algorithm outperforms the existing algorithms. Particularly, in the ambient environment, the HGO algorithm achieves a 39.3% reduction in transportation cost and a 16.8% reduction in computational time as compared to the PSO algorithm. Hence, the HGO algorithm can be used for autonomous trajectory optimization of UAVs in smart cities.

Authors:Anselm Paulus, A. René Geist, Pierre Schumacher, Vít Musil, Georg Martius
Title: Hard Contacts with Soft Gradients: Refining Differentiable Simulators for Learning and Control
Abstract:
Contact forces pose a major challenge for gradient-based optimization of robot dynamics as they introduce jumps in the system's velocities. Penalty-based simulators, such as MuJoCo, simplify gradient computation by softening the contact forces. However, realistically simulating hard contacts requires very stiff contact settings, which leads to incorrect gradients when using automatic differentiation. On the other hand, using non-stiff settings strongly increases the sim-to-real gap. We analyze the contact computation of penalty-based simulators to identify the causes of gradient errors. Then, we propose DiffMJX, which combines adaptive integration with MuJoCo XLA, to notably improve gradient quality in the presence of hard contacts. Finally, we address a key limitation of contact gradients: they vanish when objects do not touch. To overcome this, we introduce Contacts From Distance (CFD), a mechanism that enables the simulator to generate informative contact gradients even before objects are in contact. To preserve physical realism, we apply CFD only in the backward pass using a straight-through trick, allowing us to compute useful gradients without modifying the forward simulation.

Authors:Jiachen Li, Jian Chu, Feiyang Zhao, Shihao Li, Wei Li, Dongmei Chen
Title: Constrained Optimal Planning to Minimize Battery Degradation of Autonomous Mobile Robots
Abstract:
This paper proposes an optimization framework that addresses both cycling degradation and calendar aging of batteries for autonomous mobile robot (AMR) to minimize battery degradation while ensuring task completion. A rectangle method of piecewise linear approximation is employed to linearize the bilinear optimization problem. We conduct a case study to validate the efficiency of the proposed framework in achieving an optimal path planning for AMRs while reducing battery aging.

Authors:Erfan Shakhesi, Alexander Katriniok, W. P. M. H. Heemels
Title: Counterexample-Guided Synthesis of Robust Discrete-Time Control Barrier Functions
Abstract:
Learning-based methods have gained popularity for training candidate Control Barrier Functions (CBFs) to satisfy the CBF conditions on a finite set of sampled states. However, since the CBF is unknown a priori, it is unclear which sampled states belong to its zero-superlevel set and must satisfy the CBF conditions, and which ones lie outside it. Existing approaches define a set in which all sampled states are required to satisfy the CBF conditions, thus introducing conservatism. In this paper, we address this issue for robust discrete-time CBFs (R-DTCBFs). Furthermore, we propose a class of R-DTCBFs that can be used in an online optimization problem to synthesize safe controllers for general discrete-time systems with input constraints and bounded disturbances. To train such an R-DTCBF that is valid not only on sampled states but also across the entire region, we employ a verification algorithm iteratively in a counterexample-guided approach. We apply the proposed method to numerical case studies.

Authors:Jiachen Li, Chu Jian, Feiyang Zhao, Shihao Li, Wei Li, Dongmei Chen
Title: Robust Optimal Task Planning to Maximize Battery Life
Abstract:
This paper proposes a control-oriented optimization platform for autonomous mobile robots (AMRs), focusing on extending battery life while ensuring task completion. The requirement of fast AMR task planning while maintaining minimum battery state of charge, thus maximizing the battery life, renders a bilinear optimization problem. McCormick envelop technique is proposed to linearize the bilinear term. A novel planning algorithm with relaxed constraints is also developed to handle parameter uncertainties robustly with high efficiency ensured. Simulation results are provided to demonstrate the utility of the proposed methods in reducing battery degradation while satisfying task completion requirements.

Authors:Luis Miguel Vieira da Silva, Aljosha Köcher, Felix Gehlhoff
Title: Beyond Formal Semantics for Capabilities and Skills: Model Context Protocol in Manufacturing
Abstract:
Explicit modeling of capabilities and skills -- whether based on ontologies, Asset Administration Shells, or other technologies -- requires considerable manual effort and often results in representations that are not easily accessible to Large Language Models (LLMs). In this work-in-progress paper, we present an alternative approach based on the recently introduced Model Context Protocol (MCP). MCP allows systems to expose functionality through a standardized interface that is directly consumable by LLM-based agents. We conduct a prototypical evaluation on a laboratory-scale manufacturing system, where resource functions are made available via MCP. A general-purpose LLM is then tasked with planning and executing a multi-step process, including constraint handling and the invocation of resource functions via MCP. The results indicate that such an approach can enable flexible industrial automation without relying on explicit semantic models. This work lays the basis for further exploration of external tool integration in LLM-driven production systems.

Authors:Chengtian Ma, Yunyue Wei, Chenhui Zuo, Chen Zhang, Yanan Sui
Title: Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations
Abstract:
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a hierarchical control pipeline for simulating human balance via a comprehensive whole-body musculoskeletal system. We identified spatiotemporal dynamics of balancing during stable standing, revealed the impact of muscle injury on balancing behavior, and generated fall contact patterns that aligned with clinical data. Furthermore, our simulated hip exoskeleton assistance demonstrated improvement in balance maintenance and reduced muscle effort under perturbation. This work offers unique muscle-level insights into human balance dynamics that are challenging to capture experimentally. It could provide a foundation for developing targeted interventions for individuals with balance impairments and support the advancement of humanoid robotic systems.

Authors:Ahmed Aboudonia, Johannes Estermann, Keith Moffat, Manfred Morari, John Lygeros
Title: A Data-driven Predictive Control Architecture for Train Thermal Energy Management
Abstract:
We aim to improve the energy efficiency of train climate control architectures, with a focus on a specific class of regional trains operating throughout Switzerland, especially in Zurich and Geneva. Heating, Ventilation, and Air Conditioning (HVAC) systems represent the second largest energy consumer in these trains after traction. The current architecture comprises a high-level rule-based controller and a low-level tracking controller. To improve train energy efficiency, we propose adding a middle data-driven predictive control layer aimed at minimizing HVAC energy consumption while maintaining passenger comfort. The scheme incorporates a multistep prediction model developed using real-world data collected from a limited number of train coaches. To validate the effectiveness of the proposed architecture, we conduct multiple experiments on a separate set of train coaches; our results suggest energy savings between 10% and 35% with respect to the current architecture.

Authors:Luca Ballotta, Áron Vékássy, Stephanie Gil, Michal Yemini
Title: Confidence Boosts Trust-Based Resilience in Cooperative Multi-Robot Systems
Abstract:
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to decouple the detection of malicious robots from task-relevant data exchange between legitimate robots. Yet, trustworthiness indications coming from physical channels are uncertain and must be handled with this in mind. In this paper, we propose a resilient protocol for multi-robot operation wherein a parameter λt accounts for how confident a robot is about the legitimacy of nearby robots that the physical channel indicates. Analytical results prove that our protocol achieves resilient coordination with arbitrarily many malicious robots under mild assumptions. Tuning λt allows a designer to trade between near-optimal inter-robot coordination and quick task execution; see Fig. 1. This is a fundamental performance tradeoff and must be carefully evaluated based on the task at hand. The effectiveness of our approach is numerically verified with experiments involving platoons of autonomous cars where some vehicles are maliciously spoofed.

Authors:Christos Margadji, Sebastian W. Pattinson
Title: Hybrid Reasoning for Perception, Explanation, and Autonomous Action in Manufacturing
Abstract:
Industrial processes must be robust and adaptable, as environments and tasks are often unpredictable, while operational errors remain costly and difficult to detect. AI-based control systems offer a path forward, yet typically depend on supervised learning with extensive labelled datasets, which limits their ability to generalize across variable and data-scarce industrial settings. Foundation models could enable broader reasoning and knowledge integration, but rarely deliver the quantitative precision demanded by engineering applications. Here, we introduceControl and Interpretation of Production via Hybrid Expertise and Reasoning (CIPHER): a vision-language-action (VLA) model framework aiming to replicate human-like reasoning for industrial control, instantiated in a commercial-grade 3D printer. It integrates a process expert, a regression model enabling quantitative characterization of system states required for engineering tasks. CIPHER also incorporates retrieval-augmented generation to access external expert knowledge and support physics-informed, chain-of-thought reasoning. This hybrid architecture exhibits strong generalization to out-of-distribution tasks. It interprets visual or textual inputs from process monitoring, explains its decisions, and autonomously generates precise machine instructions, without requiring explicit annotations. CIPHER thus lays the foundations for autonomous systems that act with precision, reason with context, and communicate decisions transparently, supporting safe and trusted deployment in industrial settings.

Authors:Wei Huo, Changxin Liu, Kemi Ding, Karl Henrik Johansson, Ling Shi
Title: Decentralized Optimization with Amplified Privacy via Efficient Communication
Abstract:
Decentralized optimization is crucial for multi-agent systems, with significant concerns about communication efficiency and privacy. This paper explores the role of efficient communication in decentralized stochastic gradient descent algorithms for enhancing privacy preservation. We develop a novel algorithm that incorporates two key features: random agent activation and sparsified communication. Utilizing differential privacy, we demonstrate that these features reduce noise without sacrificing privacy, thereby amplifying the privacy guarantee and improving accuracy. Additionally, we analyze the convergence and the privacy-accuracy-communication trade-off of the proposed algorithm. Finally, we present experimental results to illustrate the effectiveness of our algorithm.

Authors:Ziming Wang, Yihuai Zhang, Chenguang Zhao, Huan Yu
Title: Adaptive Event-triggered Formation Control of Autonomous Vehicles
Abstract:
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe and efficient navigation in complex traffic scenarios, such as narrow passages, collaborative obstacle avoidance, and adaptation to cut-in maneuvers. In contrast to conventional platoon control strategies that rely on predefined communication topologies and continuous state transmission, our approach employs a sampling-based observer to reconstruct vehicle dynamics. Building upon an adaptive backstepping continuous-time controller, we design three distinct event-triggered mechanisms, each offering a different trade-off between formation tracking performance and control efficiency by reducing the frequency of control signal updates. A Lyapunov-based stability analysis is conducted to guarantee bounded tracking errors and to avoid Zeno behavior. Finally, the proposed event-triggered controllers are validated through simulations of vehicular formation in three scenarios, highlighting their impact on traffic safety and mobility.

Authors:Han Wang, Keyan Miao, Diego Madeira, Antonis Papachristodoulou
Title: Learning Neural Controllers with Optimality and Stability Guarantees Using Input-Output Dissipativity
Abstract:
Deep learning methods have demonstrated significant potential for addressing complex nonlinear control problems. For real-world safety-critical tasks, however, it is crucial to provide formal stability guarantees for the designed controllers. In this paper, we propose a new framework for designing neural controllers that achieve both stability and optimality with respect to certain functions. Our key idea is to exploit the concept of input-output dissipativity of nonlinear systems by learning neural storage functions and supply rate functions. As a generalization of Lyapunov theory, dissipativity theory provides a natural connection to optimal control theory, offering both stability guarantees and meaningful optimality certificates. The neural controllers can be directly derived from the learned supply rate functions and guarantee closed-loop stability while inheriting optimality properties that can be shaped towards user-defined control objectives. Extensive numerical experiments demonstrate the effectiveness of our approach.

Authors:Zijiang Yan, Hao Zhou, Jianhua Pei, Hina Tabassum
Title: Hierarchical and Collaborative LLM-Based Control for Multi-UAV Motion and Communication in Integrated Terrestrial and Non-Terrestrial Networks
Abstract:
Unmanned aerial vehicles (UAVs) have been widely adopted in various real-world applications. However, the control and optimization of multi-UAV systems remain a significant challenge, particularly in dynamic and constrained environments. This work explores the joint motion and communication control of multiple UAVs operating within integrated terrestrial and non-terrestrial networks that include high-altitude platform stations (HAPS). Specifically, we consider an aerial highway scenario in which UAVs must accelerate, decelerate, and change lanes to avoid collisions and maintain overall traffic flow. Different from existing studies, we propose a novel hierarchical and collaborative method based on large language models (LLMs). In our approach, an LLM deployed on the HAPS performs UAV access control, while another LLM onboard each UAV handles motion planning and control. This LLM-based framework leverages the rich knowledge embedded in pre-trained models to enable both high-level strategic planning and low-level tactical decisions. This knowledge-driven paradigm holds great potential for the development of next-generation 3D aerial highway systems. Experimental results demonstrate that our proposed collaborative LLM-based method achieves higher system rewards, lower operational costs, and significantly reduced UAV collision rates compared to baseline approaches.

Authors:Kaiyuan Chen, Yuhan Suo, Shaowei Cui, Yuanqing Xia, Wannian Liang, Shuo Wang
Title: Trajectory Optimization for UAV-Based Medical Delivery with Temporal Logic Constraints and Convex Feasible Set Collision Avoidance
Abstract:
This paper addresses the problem of trajectory optimization for unmanned aerial vehicles (UAVs) performing time-sensitive medical deliveries in urban environments. Specifically, we consider a single UAV with 3 degree-of-freedom dynamics tasked with delivering blood packages to multiple hospitals, each with a predefined time window and priority. Mission objectives are encoded using Signal Temporal Logic (STL), enabling the formal specification of spatial-temporal constraints. To ensure safety, city buildings are modeled as 3D convex obstacles, and obstacle avoidance is handled through a Convex Feasible Set (CFS) method. The entire planning problem-combining UAV dynamics, STL satisfaction, and collision avoidance-is formulated as a convex optimization problem that ensures tractability and can be solved efficiently using standard convex programming techniques. Simulation results demonstrate that the proposed method generates dynamically feasible, collision-free trajectories that satisfy temporal mission goals, providing a scalable and reliable approach for autonomous UAV-based medical logistics.

Authors:Walter Gubinelli, Ryan Tetro, Pietro Simeoni, Luca Colombo, Matteo Rinaldi
Title: Laterally Excited Bulk Acoustic Wave (LBAW) X-Cut Lithium Niobate Resonators
Abstract:
In this work, Laterally excited Bulk Acoustic Wave (LBAW) resonators on X-cut Lithium Niobate (LiNbO3) and, for the first time their higher-order overtones (LOBAW) are demonstrated by embedding interdigitated electrodes recessed into the piezoelectric thin film, allowing to exploit both S0 and SH0 vibrational modes. This recessed electrode architecture decouples the dispersion relation from film thickness, enabling lithographic tuning of resonance frequency and on-chip multi-frequency scaling on a single substrate, while concurrently increasing static capacitance density (C0) and reducing ohmic losses (Rs). The excited SH0 modes exhibits Figures of Merit (FoM) of 437 at 673 MHz for the fundamental tone and 53 at 1.05 GHz for the overtone. The proposed architecture holds large potential for future 5G/6G advanced radio frequency front-end modules, enabling on-chip multi-frequency scaling and improved performance.

Authors:Chengdong Wu, Sven Kirchner, Nils Purschke, Alois C. Knoll
Title: Autonomous Vehicle Lateral Control Using Deep Reinforcement Learning with MPC-PID Demonstration
Abstract:
The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in the vehicle models due to measurement errors and simplifications, is presented. Our approach ensures comfortable, efficient, and robust control performance considering the interface between controlling and other modules. The controller consists of the conventional Model Predictive Control (MPC)-PID part as the basis and the demonstrator, and the Deep Reinforcement Learning (DRL) part which leverages the online information from the MPC-PID part. The controller's performance is evaluated in CARLA using the ground truth of the waypoints as inputs. Experimental results demonstrate the effectiveness of the controller when vehicle information is incomplete, and the training of DRL can be stabilized with the demonstration part. These findings highlight the potential to reduce development and integration efforts for autonomous driving pipelines in the future.

Authors:Anahita Jain, Husni Idris, John-Paul Clarke, Daniel Delahaye
Title: Adaptive Traffic-Following Scheme for Orderly Distributed Control of Multi-Vehicle Systems
Abstract:
We present an adaptive control scheme to enable the emergence of order within distributed, autonomous multi-agent systems. Past studies showed that under high-density conditions, order generated from traffic-following behavior reduces travel times, while under low densities, choosing direct paths is more beneficial. In this paper, we leveraged those findings to allow aircraft to independently and dynamically adjust their degree of traffic-following behavior based on the current state of the airspace. This enables aircraft to follow other traffic only when beneficial. Quantitative analyses revealed that dynamic traffic-following behavior results in lower aircraft travel times at the cost of minimal levels of additional disorder to the airspace. The sensitivity of these benefits to temporal and spatial horizons was also investigated. Overall, this work highlights the benefits, and potential necessity, of incorporating self-organizing behavior in making distributed, autonomous multi-agent systems scalable.

Authors:Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar
Title: Humanoid Loco-Manipulations Pattern Generation and Stabilization Control
Abstract:
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object contact interactions. In this letter, we propose a bipedal control strategy for humanoid loco-manipulation that can cope with such external forces. First, the basic formulas of the bipedal dynamics, i.e., linear inverted pendulum mode and divergent component of motion, are derived, taking into account the effects of external manipulation forces. Then, we propose a pattern generator to plan center of mass trajectories consistent with the reference trajectory of the manipulation forces, and a stabilizer to compensate for the error between desired and actual manipulation forces. The effectiveness of our controller is assessed both in simulation and loco-manipulation experiments with real humanoid robots.

Authors:Woojin Shin, Donghwa Kang, Byeongyun Park, Brent Byunghoon Kang, Jinkyu Lee, Hyeongboo Baek
Title: CF-DETR: Coarse-to-Fine Transformer for Real-Time Object Detection
Abstract:
Detection Transformers (DETR) are increasingly adopted in autonomous vehicle (AV) perception systems due to their superior accuracy over convolutional networks. However, concurrently executing multiple DETR tasks presents significant challenges in meeting firm real-time deadlines (R1) and high accuracy requirements (R2), particularly for safety-critical objects, while navigating the inherent latency-accuracy trade-off under resource constraints. Existing real-time DNN scheduling approaches often treat models generically, failing to leverage Transformer-specific properties for efficient resource allocation. To address these challenges, we propose CF-DETR, an integrated system featuring a novel coarse-to-fine Transformer architecture and a dedicated real-time scheduling framework NPFP**. CF-DETR employs three key strategies (A1: coarse-to-fine inference, A2: selective fine inference, A3: multi-level batch inference) that exploit Transformer properties to dynamically adjust patch granularity and attention scope based on object criticality, aiming to satisfy R2. The NPFP** scheduling framework (A4) orchestrates these adaptive mechanisms A1-A3. It partitions each DETR task into a safety-critical coarse subtask for guaranteed critical object detection within its deadline (ensuring R1), and an optional fine subtask for enhanced overall accuracy (R2), while managing individual and batched execution. Our extensive evaluations on server, GPU-enabled embedded platforms, and actual AV platforms demonstrate that CF-DETR, under an NPFP** policy, successfully meets strict timing guarantees for critical operations and achieves significantly higher overall and critical object detection accuracy compared to existing baselines across diverse AV workloads.

Authors:Amir Shahhosseini, Thomas Chaffey, Rodolphe Sepulchre
Title: Operator-Splitting Methods for Neuromorphic Circuit Simulation
Abstract:
A novel splitting algorithm is proposed for the numerical simulation of neuromorphic circuits. The algorithm is grounded in the operator-theoretic concept of monotonicity, which bears both physical and algorithmic significance. The splitting exploits this correspondence to translate the circuit architecture into the algorithmic architecture. The paper illustrates the many advantages of the proposed operator-theoretic framework over conventional numerical integration for the simulation of multiscale hierarchical events that characterize neuromorphic behaviors.

Authors:Jiabao He, Yueyue Xu, Yue Ju, Cristian R. Rojas, HÃ¥kan Hjalmarsson
Title: Range Space or Null Space: Least-Squares Methods for the Realization Problem
Abstract:
This contribution revisits the classical approximate realization problem, which involves determining matrices of a state-space model based on estimates of a truncated series of Markov parameters. A Hankel matrix built up by these Markov parameters plays a fundamental role in this problem, leveraging the fact that both its range space and left null space encode critical information about the state-space model. We examine two prototype realization algorithms based on the Hankel matrix: the classical range-space-based (SVD-based) method and the more recent null-space-based method. It is demonstrated that the range-space-based method corresponds to a total least-squares solution, whereas the null-space-based method corresponds to an ordinary least-squares solution. By analyzing the differences in sensitivity of the two algorithms, we determine the conditions when one or the other realization algorithm is to be preferred, and identify factors that contribute to an ill-conditioned realization problem. Furthermore, recognizing that both methods are suboptimal, we argue that the optimal realization is obtained through a weighted least-squares approach. A statistical analysis of these methods, including their consistency and asymptotic normality is also provided.

Authors:Jiarong Fan, Chenghao Huang, Hao Wang
Title: Agent-Based Decentralized Energy Management of EV Charging Station with Solar Photovoltaics via Multi-Agent Reinforcement Learning
Abstract:
In the pursuit of energy net zero within smart cities, transportation electrification plays a pivotal role. The adoption of Electric Vehicles (EVs) keeps increasing, making energy management of EV charging stations critically important. While previous studies have managed to reduce energy cost of EV charging while maintaining grid stability, they often overlook the robustness of EV charging management against uncertainties of various forms, such as varying charging behaviors and possible faults in faults in some chargers. To address the gap, a novel Multi-Agent Reinforcement Learning (MARL) approach is proposed treating each charger to be an agent and coordinate all the agents in the EV charging station with solar photovoltaics in a more realistic scenario, where system faults may occur. A Long Short-Term Memory (LSTM) network is incorporated in the MARL algorithm to extract temporal features from time-series. Additionally, a dense reward mechanism is designed for training the agents in the MARL algorithm to improve EV charging experience. Through validation on a real-world dataset, we show that our approach is robust against system uncertainties and faults and also effective in minimizing EV charging costs and maximizing charging service satisfaction.

Authors:Umberto Casti, Sandro Zampieri, Fabio Pasqualetti
Title: Selection Mechanisms for Sequence Modeling using Linear State Space Models
Abstract:
Recent advancements in language modeling tasks have been driven by architectures such as Transformers and, more recently, by Selective State Space Models (SSMs). In this paper, we introduce an alternative selection mechanism inspired by control theory methodologies. Specifically, we propose a novel residual generator for selection, drawing an analogy to fault detection strategies in Linear Time-Invariant (LTI) systems. Unlike Mamba, which utilizes Linear Time-Varying (LTV) systems, our approach combines multiple LTI systems, preserving their beneficial properties during training while achieving comparable selectivity. To evaluate the effectiveness of the proposed architecture, we test its performance on synthetic tasks. While these tasks are not inherently critical, they serve as benchmarks to test the selectivity properties of different cores architecture. This work highlights the potential of integrating theoretical insights with experimental advancements, offering a complementary perspective to deep learning innovations at the intersection of control theory and machine learning.

Authors:Tuan A. Hoang, Thanh V. Pham, Chuyen T. Nguyen
Title: Secrecy Capacity of Hybrid VLC-RF Systems with Light Energy Harvesting
Abstract:
This paper studies the performance of physical layer security (PLS) in a multi-user hybrid heterogeneous visible light communication (VLC) and radio frequency (RF) wireless communication system with simultaneous lightwave information and power transfer (SLIPT). In the considered system, VLC is used for downlink (DL) while RF is employed for uplink (UL) transmission. In addition, to support multiple users, time division multiple access (TDMA) is assumed for both DL and UL channels. In the DL, each user receives information during its allocated time slot of the TDMA frame and harvests energy from the received signal outside the time slot. The harvested energy is then used for transmitting the signal over the UL channel, which is subject to eavesdropping by an unauthorized user. Therefore, PLS is employed to protect the confidentiality of the UL information. Then, an optimization problem is formulated to solve the optimal DL and UL time slots that maximize the PLS performance given a target sum rate of the DL. We show that the problem can be cast as a difference of convex functions (DC) program, which can be solved efficiently using the DC algorithm (DCA).

Authors:Ximin Yue, Yunlong Zhang, Zihao Li, Yang Zhou
Title: Signal Timing Optimization for Mixed Connected Automated Traffic Based on A Markov Delay Approximation
Abstract:
Connected Automated Vehicles (CAVs) offer unparalleled opportunities to revolutionize existing transportation systems. In the near future, CAVs and human-driven vehicles (HDVs) are expected to coexist, forming a mixed traffic system. Although several prototype traffic signal systems leveraging CAVs have been developed, a simple yet realistic approximation of mixed traffic delay and optimal signal timing at intersections remains elusive. This paper presents an analytical approximation for delay and optimal cycle length at an isolated intersection of mixed traffic using a stochastic framework that combines Markov chain analysis, a car following model, and queuing theory. Given the intricate nature of mixed traffic delay, the proposed framework systematically incorporates the impacts of multiple factors, such as the distinct arrival and departure behaviors and headway characteristics of CAVs and HDVs, through mathematical derivations to ensure both realism and analytical tractability. Subsequently, closed-form expressions for intersection delay and optimal cycle length are derived. Numerical experiments are then conducted to validate the model and provide insights into the dynamics of mixed traffic delays at signalized intersections.

Authors:Heye Huang, Hao Cheng, Zhiyuan Zhou, Zijin Wang, Qichao Liu, Xiaopeng Li
Title: REACT: Runtime-Enabled Active Collision-avoidance Technique for Autonomous Driving
Abstract:
Achieving rapid and effective active collision avoidance in dynamic interactive traffic remains a core challenge for autonomous driving. This paper proposes REACT (Runtime-Enabled Active Collision-avoidance Technique), a closed-loop framework that integrates risk assessment with active avoidance control. By leveraging energy transfer principles and human-vehicle-road interaction modeling, REACT dynamically quantifies runtime risk and constructs a continuous spatial risk field. The system incorporates physically grounded safety constraints such as directional risk and traffic rules to identify high-risk zones and generate feasible, interpretable avoidance behaviors. A hierarchical warning trigger strategy and lightweight system design enhance runtime efficiency while ensuring real-time responsiveness. Evaluations across four representative high-risk scenarios including car-following braking, cut-in, rear-approaching, and intersection conflict demonstrate REACT's capability to accurately identify critical risks and execute proactive avoidance. Its risk estimation aligns closely with human driver cognition (i.e., warning lead time < 0.4 s), achieving 100% safe avoidance with zero false alarms or missed detections. Furthermore, it exhibits superior real-time performance (< 50 ms latency), strong foresight, and generalization. The lightweight architecture achieves state-of-the-art accuracy, highlighting its potential for real-time deployment in safety-critical autonomous systems.

Authors:Ali Rabiee, Sima Ghafoori, MH Farhadi, Robert Beyer, Xiangyu Bai, David J Lin, Sarah Ostadabbas, Reza Abiri
Title: Learning Multimodal AI Algorithms for Amplifying Limited User Input into High-dimensional Control Space
Abstract:
Current invasive assistive technologies are designed to infer high-dimensional motor control signals from severely paralyzed patients. However, they face significant challenges, including public acceptance, limited longevity, and barriers to commercialization. Meanwhile, noninvasive alternatives often rely on artifact-prone signals, require lengthy user training, and struggle to deliver robust high-dimensional control for dexterous tasks. To address these issues, this study introduces a novel human-centered multimodal AI approach as intelligent compensatory mechanisms for lost motor functions that could potentially enable patients with severe paralysis to control high-dimensional assistive devices, such as dexterous robotic arms, using limited and noninvasive inputs. In contrast to the current state-of-the-art (SoTA) noninvasive approaches, our context-aware, multimodal shared-autonomy framework integrates deep reinforcement learning algorithms to blend limited low-dimensional user input with real-time environmental perception, enabling adaptive, dynamic, and intelligent interpretation of human intent for complex dexterous manipulation tasks, such as pick-and-place. The results from our ARAS (Adaptive Reinforcement learning for Amplification of limited inputs in Shared autonomy) trained with synthetic users over 50,000 computer simulation episodes demonstrated the first successful implementation of the proposed closed-loop human-in-the-loop paradigm, outperforming the SoTA shared autonomy algorithms. Following a zero-shot sim-to-real transfer, ARAS was evaluated on 23 human subjects, demonstrating high accuracy in dynamic intent detection and smooth, stable 3D trajectory control for dexterous pick-and-place tasks. ARAS user study achieved a high task success rate of 92.88%, with short completion times comparable to those of SoTA invasive assistive technologies.

Authors:Yubo Song, Subham Sahoo
Title: Unlocking Innate Computing Abilities in Electric Grids
Abstract:
High energy consumption of artificial intelligence has gained momentum worldwide, which necessitates major investments on expanding efficient and carbon-neutral generation and data center infrastructure in electric power grids. Going beyond the conventional ideation, this article unleashes innate computational abilities in the power grid network circuits itself. By programming power electronic converters (PECs) to mimic biological neurons, we sustainably transform power grids into a neural network and enable it to optimize, compute and make data-driven decisions using distributed PECs. Instead of seen merely as an energy delivery platform, this article conceptualizes a novel application for electric grid to be used as a computing asset without affecting its operation. To illustrate its computational abilities, we solve a affine transformation task in a microgrid with five PECs. By encoding the digital data into the control of PECs, our preliminary results conclude that computing using electric grids does not disturb its operation. From a scientific perspective, this work fundamentally merges energy and computing optimization theories by harnessing inherent high-dimensional computational relationships in electric grids.

Authors:Khaled Wahba, Wolfgang Hönig
Title: pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams
Abstract:
Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-based planners with trajectory optimization produce suboptimal results and lack theoretical guarantees. We propose Physically-coupled discontinuity-bounded Conflict-Based Search (pc-dbCBS), an anytime kinodynamic motion planner, that extends discontinuity-bounded CBS to rigidly-coupled systems. Our approach proposes a tri-level conflict detection and resolution framework that includes the physical coupling between the robots. Moreover, pc-dbCBS alternates iteratively between state space representations, thereby preserving probabilistic completeness and asymptotic optimality while relying only on single-robot motion primitives. Across 25 simulated and six real-world problems involving multirotors carrying a cable-suspended payload and differential-drive robots linked by rigid rods, pc-dbCBS solves up to 92% more instances than a state-of-the-art baseline and plans trajectories that are 50-60% faster while reducing planning time by an order of magnitude.

Authors:Boyang Li, Zheng Gong, Sylvia Herbert
Title: Solving Reach- and Stabilize-Avoid Problems Using Discounted Reachability
Abstract:
In this article, we consider the infinite-horizon reach-avoid (RA) and stabilize-avoid (SA) zero-sum game problems for general nonlinear continuous-time systems, where the goal is to find the set of states that can be controlled to reach or stabilize to a target set, without violating constraints even under the worst-case disturbance. Based on the Hamilton-Jacobi reachability method, we address the RA problem by designing a new Lipschitz continuous RA value function, whose zero sublevel set exactly characterizes the RA set. We establish that the associated Bellman backup operator is contractive and that the RA value function is the unique viscosity solution of a Hamilton-Jacobi variational inequality. Finally, we develop a two-step framework for the SA problem by integrating our RA strategies with a recently proposed Robust Control Lyapunov-Value Function, thereby ensuring both target reachability and long-term stability. We numerically verify our RA and SA frameworks on a 3D Dubins car system to demonstrate the efficacy of the proposed approach.

Authors:Zheng Gong, Boyang Li, Sylvia Herbert
Title: Reach-Avoid-Stabilize Using Admissible Control Sets
Abstract:
Hamilton-Jacobi Reachability (HJR) analysis has been successfully used in many robotics and control tasks, and is especially effective in computing reach-avoid sets and control laws that enable an agent to reach a goal while satisfying state constraints. However, the original HJR formulation provides no guarantees of safety after a) the prescribed time horizon, or b) goal satisfaction. The reach-avoid-stabilize (RAS) problem has therefore gained a lot of focus: find the set of initial states (the RAS set), such that the trajectory can reach the target, and stabilize to some point of interest (POI) while avoiding obstacles. Solving RAS problems using HJR usually requires defining a new value function, whose zero sub-level set is the RAS set. The existing methods do not consider the problem when there are a series of targets to reach and/or obstacles to avoid. We propose a method that uses the idea of admissible control sets; we guarantee that the system will reach each target while avoiding obstacles as prescribed by the given time series. Moreover, we guarantee that the trajectory ultimately stabilizes to the POI. The proposed method provides an under-approximation of the RAS set, guaranteeing safety. Numerical examples are provided to validate the theory.

Authors:Marta Fochesato, Han Wang, Antonis Papachristodoulou, Paul Goulart
Title: Synthesis of safety certificates for discrete-time uncertain systems via convex optimization
Abstract:
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite program whose feasibility implies the existence of a control law and a certificate ensuring safety in the infinite horizon with respect to the worst-case disturbance realization in the uncertainty set. For disturbances with unbounded support, we rely on martingale theory to derive a second semi-definite program whose feasibility provides probabilistic safety guarantees holding joint-in-time over a finite time horizon. We examine several extensions, including (i) encoding of different types of input constraints, (ii) robustification against distributional ambiguity around the true distribution, (iii) design of safety filters, and (iv) extension to general safety specifications such as obstacle avoidance.

Authors:Alejandro Antón Ruiz, Samar Hosseinzadegan, John Kvarnstrand, Klas Arvidsson, Andrés Alayón Glazunov
Title: A Practical Approach to Generating First-Order Rician Channel Statistics in a RC plus CATR Chamber at mmWave
Abstract:
This paper explores a novel hybrid configuration integrating a Reverberation Chamber (RC) with a Compact Antenna Test Range (CATR) to achieve a controllable Rician K-factor. The focus is testing directive antennas in the lower FR2 frequency bands (24.25-29.5 GHz) for 5G and beyond wireless applications. The study meticulously evaluates 39 unique configurations, using a stationary horn antenna for consistent reference K-factor characterization, and considers variables like absorbers and CATR polarization. Results demonstrate that the K-factor can be effectively adjusted within the hybrid setup, maintaining substantial margins above the noise level across all configurations. Sample independence is confirmed for at least 600 samples in all cases. The Bootstrap Anderson-Darling goodness-of-fit test verifies that the data align with Rician or Rayleigh distributions. Analysis of total received power, stirred and unstirred power and frequency-dependent modeling reveals that power variables are inversely related to frequency, while the K-factor remains frequency-independent. The hybrid RC-CATR system achieves a wide range of frequency-averaged K-factors from -9.2 dB to 40.8 dB, with an average granularity of 1.3 dB. Notably, configurations using co-polarized CATR signals yield large K-factors, reduced system losses, and improved frequency stability, underscoring the system's efficacy for millimeter-wave over-the-air testing. This research offers a cost-efficient and repeatable method for generating complex Rician fading channels at mmWave frequencies, crucial for the effective OTA testing of advanced wireless devices.

Authors:Alejandro Antón Ruiz, John Kvarnstrand, Klas Arvidsson, Andrés Alayón Glazunov
Title: On the Use of CVRP to Diagnose Faulty Elements in Antenna Arrays
Abstract:
This paper investigates the application of Constrained-View Radiated Power (CVRP) for diagnosing phased array element failures, specifically focusing on on-off element failure. CVRP, similar to Partial Radiated Power (PRP), considers a specific Field-of-View (FoV) but normalizes it by the FoV area. The study explores CVRP's effectiveness in detecting failures in a 2x8 cosine element array under beam-steering conditions, accounting for random and depointing errors, angular resolution, and pattern rotation. Results indicate that CVRP can detect on-off failures based on angular resolution and error severity, under the assumption of reduced Total Radiated Power (TRP) with element failures. Additionally, CVRP is effective with partial far-field patterns, making it suitable for near-field, indirect far-field, and far-field measurement systems without requiring phase acquisition in the latter two.

Authors:Marta Fochesato, Lucia Falconi, Mattia Zorzi, Augusto Ferrante, John Lygeros
Title: Distributionally Robust LQG with Kullback-Leibler Ambiguity Sets
Abstract:
The Linear Quadratic Gaussian (LQG) controller is known to be inherently fragile to model misspecifications common in real-world situations. We consider discrete-time partially observable stochastic linear systems and provide a robustification of the standard LQG against distributional uncertainties on the process and measurement noise. Our distributionally robust formulation specifies the admissible perturbations by defining a relative entropy based ambiguity set individually for each time step along a finite-horizon trajectory, and minimizes the worst-case cost across all admissible distributions. We prove that the optimal control policy is still linear, as in standard LQG, and derive a computational scheme grounded on iterative best response that provably converges to the set of saddle points. Finally, we consider the case of endogenous uncertainty captured via decision-dependent ambiguity sets and we propose an approximation scheme based on dynamic programming.

Authors:Bowen Weng, Linda Capito, Guillermo A. Castillo, Dylan Khor
Title: Rethink Repeatable Measures of Robot Performance with Statistical Query
Abstract:
For a general standardized testing algorithm designed to evaluate a specific aspect of a robot's performance, several key expectations are commonly imposed. Beyond accuracy (i.e., closeness to a typically unknown ground-truth reference) and efficiency (i.e., feasibility within acceptable testing costs and equipment constraints), one particularly important attribute is repeatability. Repeatability refers to the ability to consistently obtain the same testing outcome when similar testing algorithms are executed on the same subject robot by different stakeholders, across different times or locations. However, achieving repeatable testing has become increasingly challenging as the components involved grow more complex, intelligent, diverse, and, most importantly, stochastic. While related efforts have addressed repeatability at ethical, hardware, and procedural levels, this study focuses specifically on repeatable testing at the algorithmic level. Specifically, we target the well-adopted class of testing algorithms in standardized evaluation: statistical query (SQ) algorithms (i.e., algorithms that estimate the expected value of a bounded function over a distribution using sampled data). We propose a lightweight, parameterized, and adaptive modification applicable to any SQ routine, whether based on Monte Carlo sampling, importance sampling, or adaptive importance sampling, that makes it provably repeatable, with guaranteed bounds on both accuracy and efficiency. We demonstrate the effectiveness of the proposed approach across three representative scenarios: (i) established and widely adopted standardized testing of manipulators, (ii) emerging intelligent testing algorithms for operational risk assessment in automated vehicles, and (iii) developing use cases involving command tracking performance evaluation of humanoid robots in locomotion tasks.

Authors:Umberto Casti, Sandro Zampieri
Title: Anti-windup design for internal model online constrained optimization
Abstract:
This paper proposes a novel algorithmic design procedure for online constrained optimization grounded in control-theoretic principles. By integrating the Internal Model Principle (IMP) with an anti-windup compensation mechanism, the proposed Projected-Internal Model Anti-Windup (P-IMAW) gradient descent exploits a partial knowledge of the temporal evolution of the cost function to enhance tracking performance. The algorithm is developed through a structured synthesis procedure: first, a robust controller leveraging the IMP ensures asymptotic convergence in the unconstrained setting. Second, an anti-windup augmentation guarantees stability and performance in the presence of the projection operator needed to satisfy the constraints. The effectiveness of the proposed approach is demonstrated through numerical simulations comparing it against other classical techniques.

Authors:Nam N. Luong, Chuyen T. Nguyen, Thanh V. Pham
Title: High Performance Signal Design for Optical OFDM Systems using Variational Autoencoder
Abstract:
This letter proposes a design of low peak-to-average power ratio (PAPR), low symbol error rate (SER), and high data rate signal for optical orthogonal frequency division multiplexing (OFDM) systems. The proposed design leverages a variational autoencoder (VAE) incorporating gradual loss learning to jointly optimize the geometry and probability of the constellation's symbols. This not only enhances mutual information (MI) but also effectively reduces the PAPR while maintaining a low SER for reliable transmission. We evaluate the performance of the proposed VAE-based design by comparing the MI, SER, and PAPR against existing techniques. Simulation results demonstrate that the proposed method achieves a considerably lower PAPR while maintaining superior SER and MI performance for a wide range of SNRs.

Authors:Yiming Wang, Yao Fang, Jie Mei, Youmin Gong, Guangfu Ma
Title: Nonlinear Model Predictive Control for Leaderless UAV Formation Flying with Collision Avoidance under Directed Graphs
Abstract:
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the formation. The communication network among the UAVs is structured as a directed graph that includes a directed spanning tree. A novel distributed nonlinear model predictive control (NMPC) method based on the model reference adaptive consensus (MRACon) framework is proposed. Within this framework, each UAV tracks an assigned reference output generated by a linear reference model that utilizes relative measurements as input. Subsequently, the NMPC method penalizes the tracking error between the output of the reference model and that of the actual model while also establishing constraint sets for collision avoidance and physical limitations to achieve distributed and safe formation control. Finally, simulations and hardware experiments are conducted to verify the effectiveness of the proposed method.

Authors:Filippos N. Tzortzoglou, Andreas A. Malikopoulos
Title: Handling Pedestrian Uncertainty in Coordinating Autonomous Vehicles at Signal-Free Intersections
Abstract:
In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general vehicle-to-infrastructure communication protocol and a low-level controller that determines the optimal unconstrained trajectories for CAVs, in terms of fuel efficiency and travel time, to cross the intersection without considering pedestrians. If such an unconstrained trajectory is unattainable, we introduce sufficient certificates for each CAV to cross the intersection while respecting the associated constraints. Next, we consider the case where an unexpected pedestrian enters the road. When the CAV's sensors detect a pedestrian, an emergency mode is activated, which imposes certificates related to an unsafe set in the pedestrian's proximity area. Simultaneously, a re-planning mechanism is implemented for all CAVs to accommodate the trajectories of vehicles operating in emergency mode. Finally, we validate the efficacy of our approach through simulations conducted in MATLAB and RoadRunner softwares, which facilitate the integration of sensor tools and the realization of real-time implementation.

Authors:Felix Wieberneit, Emanuele Crisostomi, Anthony Quinn, Robert Shorten
Title: Predictive Control of EV Overnight Charging with Multi-Session Flexibility
Abstract:
The majority of electric vehicles (EVs) are charged domestically overnight, where the precise timing of power allocation is not important to the user, thus representing a source of flexibility that can be leveraged by charging control algorithms. In this paper, we relax the common assumption, that EVs require full charge every morning, enabling additional flexibility to defer charging of surplus energy to subsequent nights, which can enhance the performance of controlled charging. In particular, we consider a simple domestic smart plug, scheduling power delivery with the objective to minimize CO$_2$ emissions over prediction horizons of multiple sessions -- up to seven days ahead -- utilising model predictive control (MPC). Based on carbon intensity data from the UK National Grid, we demonstrate significant potential for emission reductions with multi-session planning of 40 to 46\% compared to uncontrolled charging and 19 to 26\% compared to single-session planning. Furthermore, we assess, how the driving and charging behaviour of EV users affects the available flexibility and consequentially the potential for emission reductions. Finally, using grid carbon intensity data from 14 different UK regions, we report significant variations in absolute emission reductions based on the local energy mix.

Authors:Ron Ofir, Ji Liu, A. Stephen Morse, Brian D. O. Anderson
Title: Consensus Seminorms and their Applications
Abstract:
Consensus is a well-studied problem in distributed sensing, computation and control, yet deriving useful and easily computable bounds on the rate of convergence to consensus remains a challenge. This paper discusses the use of seminorms for this goal. A previously suggested family of seminorms is revisited, and an error made in their original presentation is corrected, where it was claimed that the a certain seminorm is equal to the well-known coefficient of ergodicity. Next, a wider family of seminorms is introduced, and it is shown that contraction in any of these seminorms guarantees convergence at an exponential rate of infinite products of matrices, generalizing known results on stochastic matrices to the class of matrices whose row sums are all equal one. Finally, it is shown that such seminorms cannot be used to bound the rate of convergence of classes larger than the well-known class of scrambling matrices.

Authors:Yifei Li, Heng Wu, Xiongfei Wang
Title: Impact of Grid-Forming Inverters on Protective Relays: A Perspective for Current Limiting Control Design
Abstract:
Grid-forming (GFM) inverters can significantly alter the fault characteristics of power systems, which challenges the proper function of protective relays. This paper gives a holistic analysis of the interaction between GFM inverter-based resources (IBRs) and the supervising elements in protective relays, including directional and phase selection elements. It is revealed that the current limiting control (CLC) that is based on the current reference saturation method, adversely affects the performance of supervising elements that rely on the negative-sequence quantities. In contrast, adopting highly inductive virtual impedance in the CLC enables a reliable operation of such elements. This finding provides insights into the design of CLC for GFM IBRs from a protection perspective. It is further found that even with a highly inductive virtual impedance, the altered virtual impedance dynamics introduced by the CLC can still lead to malfunctions of the incremental quantity-based supervising elements. These theoretical findings are corroborated by simulations and controller hardware-in-the-loop (CHIL) tests.

Authors:Zeyuan Feng, Le Qiu, Somil Bansal
Title: Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis
Abstract:
Hamilton-Jacobi (HJ) reachability analysis is a widely used method for ensuring the safety of robotic systems. Traditional approaches compute reachable sets by numerically solving an HJ Partial Differential Equation (PDE) over a grid, which is computationally prohibitive due to the curse of dimensionality. Recent learning-based methods have sought to address this challenge by approximating reachability solutions using neural networks trained with PDE residual error. However, these approaches often suffer from unstable training dynamics and suboptimal solutions due to the weak learning signal provided by the residual loss. In this work, we propose a novel approach that leverages model predictive control (MPC) techniques to guide and accelerate the reachability learning process. Observing that HJ reachability is inherently rooted in optimal control, we utilize MPC to generate approximate reachability solutions at key collocation points, which are then used to tactically guide the neural network training by ensuring compliance with these approximations. Moreover, we iteratively refine the MPC generated solutions using the learned reachability solution, mitigating convergence to local optima. Case studies on a 2D vertical drone, a 13D quadrotor, a 7D F1Tenth car, and a 40D publisher-subscriber system demonstrate that bridging MPC with deep learning yields significant improvements in the robustness and accuracy of reachable sets, as well as corresponding safety assurances, compared to existing methods.

Authors:Hong Liang, Mengbin Ye, Lorenzo Zino, Weiguo Xia
Title: Coevolution of Actions and Opinions in Networks of Coordinating and Anti-Coordinating Agents
Abstract:
In this paper, we investigate the dynamics of coordinating and anti-coordinating agents in a coevolutionary model for actions and opinions. In the model, the individuals of a population interact on a two-layer network, sharing their opinions and observing others' action, while revising their own opinions and actions according to a game-theoretic mechanism, grounded in the social psychology literature. First, we consider the scenario of coordinating agents, where convergence to a Nash equilibrium (NE) is guaranteed. We identify conditions for reaching consensus configurations and establish regions of attraction for these equilibria. Second, we study networks of anti-coordinating agents. In this second scenario, we prove that all trajectories converge to a NE by leveraging potential game theory. Then, we establish analytical conditions on the network structure and model parameters to guarantee the existence of consensus and polarized equilibria, characterizing their regions of attraction.

Authors:Nikolaos Louloudakis, Ajitha Rajan
Title: OODTE: A Differential Testing Engine for the ONNX Optimizer
Abstract:
With over 700 stars on GitHub and being part of the official ONNX repository, the ONNX Optimizer is the default tool for applying graph-based optimizations to ONNX models. Despite its widespread use, its ability to maintain model accuracy during optimization has not been thoroughly investigated. In this work, we present OODTE, a utility designed to automatically and comprehensively evaluate the correctness of the ONNX Optimizer. OODTE adopts a straightforward yet powerful differential testing and evaluation methodology, which can be readily adapted for use with other compiler optimizers. Specifically, OODTE takes a collection of ONNX models, applies optimizations, and executes both the original and optimized versions across a user-defined input set, automatically capturing any issues encountered during optimization. When discrepancies in accuracy arise, OODTE iteratively isolates the responsible optimization pass by repeating the process at a finer granularity. We applied OODTE to 130 well-known models from the official ONNX Model Hub, spanning diverse tasks including classification, object detection, semantic segmentation, text summarization, question answering, and sentiment analysis. Our evaluation revealed that 9.2% of the model instances either caused the optimizer to crash or led to the generation of invalid models using default optimization strategies. Additionally, 30% of classification models and 16.6% of object detection and segmentation models exhibited differing outputs across original and optimized versions, whereas models focused on text-related tasks were generally robust to optimization. OODTE uncovered 15 issues-14 previously unknown-affecting 9 of 47 optimization passes and the optimizer overall. All issues were reported to the ONNX Optimizer team. OODTE offers a simple but effective framework for validating AI model optimizers, applicable beyond the ONNX ecosystem.

Authors:Ze Zhang, Georg Hess, Junjie Hu, Emmanuel Dean, Lennart Svensson, Knut Åkesson
Title: Future-Oriented Navigation: Dynamic Obstacle Avoidance with One-Shot Energy-Based Multimodal Motion Prediction
Abstract:
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of dynamic obstacles and model predictive control to incorporate these predictions into the motion planning process. Motion prediction is driven by an energy-based neural network that generates high-resolution, multi-step predictions in a single operation. The prediction outcomes are further utilized to create geometric shapes formulated as mathematical constraints. Instead of treating each dynamic obstacle individually, predicted obstacles are grouped by proximity in an unsupervised way to improve performance and efficiency. The overall collision-free navigation is handled by model predictive control with a specific design for proactive dynamic obstacle avoidance. The proposed approach allows mobile robots to navigate effectively in dynamic environments. Its performance is accessed across various scenarios that represent typical warehouse settings. The results demonstrate that the proposed approach outperforms other existing dynamic obstacle avoidance methods.

Authors:Yifei Li, Heng Wu, Xiongfei Wang
Title: A Protection-Interoperable Fault Ride-Through Control for Grid-Forming Inverters
Abstract:
Differing from synchronous generators (SGs), grid-forming inverter-based resources (GFM-IBRs) exhibit rapid variations in their output impedances during transmission line faults due to the overcurrent limitation. As a result, the source dynamics during the fault period deviate significantly from those under pre-fault conditions. This fundamental difference alters the fault responses of incremental quantities, thereby jeopardizing the reliability of the supervising elements in protective relays that are based on these quantities. To address this challenge, a protection-interoperable fault ride-through (FRT) method for GFM-IBRs is proposed. This method dynamically adjusts power control of GFM-IBRs in response to the changes in output impedance, effectively mitigating variations in source dynamics and thereby preserving the reliability of incremental quantity-based supervising elements. This method also ensures effective overcurrent limitation and transient stability of GFM-IBRs. Controller hardware-in-the-loop (CHIL) and experimental tests validate the effectiveness of the proposed method.

Authors:Salma M. Elsherif, Ahmad F. Taha
Title: Climate Science and Control Engineering: Insights, Parallels, and Connections
Abstract:
Climate science is the multidisciplinary field that studies the Earth's climate and its evolution. At the very core of climate science are indispensable climate models that predict future climate scenarios, inform policy decisions, and dictate how a country's economy should change in light of the changing climate. Climate models capture a wide range of interacting dynamic processes via extremely complex ordinary and partial differential equations. To model these large-scale complex processes, climate science leverages supercomputers, advanced simulations, and statistical methods to predict future climate. An area of engineering that is rarely studied in climate science is control engineering. Given that climate systems are inherently dynamic, it is intuitive to analyze them within the framework of dynamic system science. This perspective has been underexplored in the literature. In this manuscript, we provide a tutorial that: (i) introduces the control engineering community to climate dynamics and modeling, including spatiotemporal scales and challenges in climate modeling; (ii) offers a fresh perspective on climate models from a control systems viewpoint; and (iii) explores the relevance and applicability of various advanced graph and network control-based approaches in building a physics-informed framework for learning, control and estimation in climate systems. We also present simple and then more complex climate models, depicting fundamental ideas and processes that are instrumental in building climate change projections. This tutorial also builds parallels and observes connections between various contemporary problems at the forefront of climate science and their control theoretic counterparts. We specifically observe that an abundance of climate science problems can be linguistically reworded and mathematically framed as control theoretic ones.

Authors:Xuan Wang, Duy Duong-Tran, Jorge Cortés
Title: Data-Driven Stabilization of Unknown Linear-Threshold Network Dynamics
Abstract:
This paper studies the data-driven control of unknown linear-threshold network dynamics to stabilize the state to a reference value. We consider two types of controllers: (i) a state feedback controller with feed-forward reference input and (ii) an augmented feedback controller with error integration. The first controller features a simpler structure and is easier to design, while the second offers improved performance in the presence of system parameter changes and disturbances. Our design strategy employs state-input datasets to construct data-based representations of the closed-loop dynamics. Since these representations involve linear threshold functions, we rewrite them as switched linear systems, and formulate the design problem as that of finding a common controller for all the resulting modes. This gives rise to a set of linear matrix inequalities (LMIs) whose solutions corresponds to the controller gain matrices. We analyze the computational complexity of solving the LMIs and propose a simplified, sufficient set of conditions that scales linearly with the system state. Simulations on two case studies involving regulation of firing rate dynamics in rodent brains and of arousal level dynamics in humans demonstrate the effectiveness of the controller designs.

Authors:Kazunobu Serizawa, Kazumune Hashimoto, Wataru Hashimoto, Masako Kishida, Shigemasa Takai
Title: Clustering-based Recurrent Neural Network Controller synthesis under Signal Temporal Logic Specifications
Abstract:
Autonomous robotic systems require advanced control frameworks to achieve complex temporal objectives that extend beyond conventional stability and trajectory tracking. Signal Temporal Logic (STL) provides a formal framework for specifying such objectives, with robustness metrics widely employed for control synthesis. Existing optimization-based approaches using neural network (NN)-based controllers often rely on a single NN for both learning and control. However, variations in initial states and obstacle configurations can lead to discontinuous changes in the optimization solution, thereby degrading generalization and control performance. To address this issue, this study proposes a method to enhance recurrent neural network (RNN)-based control by clustering solution trajectories that satisfy STL specifications under diverse initial conditions. The proposed approach utilizes trajectory similarity metrics to generate clustering labels, which are subsequently used to train a classification network. This network assigns new initial states and obstacle configurations to the appropriate cluster, enabling the selection of a specialized controller. By explicitly accounting for variations in solution trajectories, the proposed method improves both estimation accuracy and control performance. Numerical experiments on a dynamic vehicle path planning problem demonstrate the effectiveness of the approach.

Authors:Erfan Shakhesi, W. P. M. H. Heemels, Alexander Katriniok
Title: Synthesis of Discrete-time Control Barrier Functions for Polynomial Systems Based on Sum-of-Squares Programming
Abstract:
Discrete-time Control Barrier Functions (DTCBFs) are commonly utilized in the literature as a powerful tool for synthesizing control policies that guarantee safety of discrete-time dynamical systems. However, the systematic synthesis of DTCBFs in a computationally efficient way is at present an important open problem. This article first proposes a novel alternating-descent approach based on Sum-of-Squares programming to synthesize quadratic DTCBFs and corresponding polynomial control policies for discrete-time control-affine polynomial systems with input constraints and semi-algebraic safe sets. Subsequently, two distinct approaches are introduced to extend the proposed method to the synthesis of higher-degree polynomial DTCBFs. To demonstrate its efficacy, we apply the proposed method to numerical case studies.

Authors:Yu Mei, Shangyuan Yuan, Xinda Qi, Preston Fairchild, Xiaobo Tan
Title: Learning-Based Modeling of Soft Actuators Using Euler Spiral-Inspired Curvature
Abstract:
Soft robots, distinguished by their inherent compliance and continuum structures, present unique modeling challenges, especially when subjected to significant external loads such as gravity and payloads. In this study, we introduce an innovative data-driven modeling framework leveraging an Euler spiral-inspired shape representations to accurately describe the complex shapes of soft continuum actuators. Based on this representation, we develop neural network-based forward and inverse models to effectively capture the nonlinear behavior of a fiber-reinforced pneumatic bending actuator. Our forward model accurately predicts the actuator's deformation given inputs of pressure and payload, while the inverse model reliably estimates payloads from observed actuator shapes and known pressure inputs. Comprehensive experimental validation demonstrates the effectiveness and accuracy of our proposed approach. Notably, the augmented Euler spiral-based forward model achieves low average positional prediction errors of 3.38%, 2.19%, and 1.93% of the actuator length at the one-third, two-thirds, and tip positions, respectively. Furthermore, the inverse model demonstrates precision of estimating payloads with an average error as low as 0.72% across the tested range. These results underscore the potential of our method to significantly enhance the accuracy and predictive capabilities of modeling frameworks for soft robotic systems.

Authors:Alexander Estornell, Leonard Jung, Alenna Spiro, Mario Sznaier, Michael Everett
Title: A Hybrid Framework for Efficient Koopman Operator Learning
Abstract:
Koopman analysis of a general dynamics system provides a linear Koopman operator and an embedded eigenfunction space, enabling the application of standard techniques from linear analysis. However, in practice, deriving exact operators and mappings for the observable space is intractable, and deriving an approximation or expressive subset of these functions is challenging. Programmatic methods often rely on system-specific parameters and may scale poorly in both time and space, while learning-based approaches depend heavily on difficult-to-know hyperparameters, such as the dimension of the observable space. To address the limitations of both methods, we propose a hybrid framework that uses semidefinite programming to find a representation of the linear operator, then learns an approximate mapping into and out of the space that the operator propagates. This approach enables efficient learning of the operator and explicit mappings while reducing the need for specifying the unknown structure ahead of time.

Authors:Ahan Basu, Bhabani Shankar Dey, Pushpak Jagtap
Title: Neural Incremental Input-to-State Stable Control Lyapunov Functions for Unknown Continuous-time Systems
Abstract:
This work primarily focuses on synthesizing a controller that guarantees an unknown continuous-time system to be incrementally input-to-state stable ($δ$-ISS). In this context, the notion of $δ$-ISS control Lyapunov function ($δ$-ISS-CLF) for the continuous-time system is introduced. Combined with the controller, the $δ$-ISS-CLF guarantees that the system is incrementally stable. As the paper deals with unknown dynamical systems, the controller as well as the $δ$-ISS-CLF are parametrized using neural networks. The data set used to train the neural networks is generated from the state space of the system by proper sampling. Now, to give a formal guarantee that the controller makes the system incrementally stable, we develop a validity condition by having some Lipschitz continuity assumptions and incorporate the condition into the training framework to ensure a provable correctness guarantee at the end of the training process. Finally, we demonstrate the effectiveness of the proposed approach through several case studies: a scalar system with a non-affine, non-polynomial structure, a one-link manipulator system, a nonlinear Moore-Greitzer model of a jet engine, and a rotating rigid spacecraft model.

Authors:Keyan Miao, Liqun Zhao, Han Wang, Konstantinos Gatsis, Antonis Papachristodoulou
Title: Opt-ODENet: A Neural ODE Framework with Differentiable QP Layers for Safe and Stable Control Design (longer version)
Abstract:
Designing controllers that achieve task objectives while ensuring safety is a key challenge in control systems. This work introduces Opt-ODENet, a Neural ODE framework with a differentiable Quadratic Programming (QP) optimization layer to enforce constraints as hard requirements. Eliminating the reliance on nominal controllers or large datasets, our framework solves the optimal control problem directly using Neural ODEs. Stability and convergence are ensured through Control Lyapunov Functions (CLFs) in the loss function, while Control Barrier Functions (CBFs) embedded in the QP layer enforce real-time safety. By integrating the differentiable QP layer with Neural ODEs, we demonstrate compatibility with the adjoint method for gradient computation, enabling the learning of the CBF class-$\mathcal{K}$ function and control network parameters. Experiments validate its effectiveness in balancing safety and performance.

Authors:Hamed Radpour, Markus Hofer, Thomas Zemen
Title: Adaptive RIS Control for Mobile mmWave NLoS Communication Using Single-Bit Feedback
Abstract:
Reconfigurable intelligent surfaces (RISs) are emerging as key enablers of reliable industrial automation in the millimeter-wave (mmWave) band, particularly in environments with frequent line-of-sight (LoS) blockage. While prior works have largely focused on theoretical aspects, real-time validation under user mobility remains underexplored. In this work, we propose and experimentally evaluate an adaptive beamforming algorithm that enables RIS reconfiguration via a low-rate feedback link from the mobile user equipment (UE) to the RIS controller, operating without requiring UE position knowledge. The algorithm maintains the received signal power above a predefined threshold using only a single-bit comparison of received power levels. To analyze the algorithms performance, we establish a simulation-based Monte Carlo (MC) optimization benchmark that assumes full UE position knowledge, accounts for practical hardware constraints, and serves as an upper bound for performance evaluation. Using a hexagonal RIS with 127 elements and 1-bit phase quantization at 23.8 GHz, we validate the proposed approach in a semi-anechoic environment over a 60 cm by 92 cm area. The results demonstrate that the single-bit feedback-driven algorithm closes much of the performance gap to the MC upper bound while achieving up to 24 dB gain in received power compared to an inactive RIS baseline. These findings highlight the practical potential of feedback-based adaptive RIS control for robust mmWave non-line-of-sight (NLoS) communication with mobile users.

Authors:Yu Mei, Xinyu Zhou, Shuyang Yu, Vaibhav Srivastava, Xiaobo Tan
Title: Fast Online Adaptive Neural MPC via Meta-Learning
Abstract:
Data-driven model predictive control (MPC) has demonstrated significant potential for improving robot control performance in the presence of model uncertainties. However, existing approaches often require extensive offline data collection and computationally intensive training, limiting their ability to adapt online. To address these challenges, this paper presents a fast online adaptive MPC framework that leverages neural networks integrated with Model-Agnostic Meta-Learning (MAML). Our approach focuses on few-shot adaptation of residual dynamics - capturing the discrepancy between nominal and true system behavior - using minimal online data and gradient steps. By embedding these meta-learned residual models into a computationally efficient L4CasADi-based MPC pipeline, the proposed method enables rapid model correction, enhances predictive accuracy, and improves real-time control performance. We validate the framework through simulation studies on a Van der Pol oscillator, a Cart-Pole system, and a 2D quadrotor. Results show significant gains in adaptation speed and prediction accuracy over both nominal MPC and nominal MPC augmented with a freshly initialized neural network, underscoring the effectiveness of our approach for real-time adaptive robot control.

Authors:Akua K. Dickson, Juan C. Pacheco Garcia, Meredith L. Anderson, Ran Jing, Sarah Alizadeh-Shabdiz, Audrey X. Wang, Charles DeLorey, Zach J. Patterson, Andrew P. Sabelhaus
Title: Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions
Abstract:
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result from both their design and their control system in closed-loop, and therefore, ensuring bounds on these forces requires controller synthesis for safety as well. This article introduces the first feedback controller for a soft manipulator that formally meets a safety specification with respect to environmental contact. In our proof-of-concept setting, the robot's environment has known geometry and is deformable with a known elastic modulus. Our approach maps a bound on applied forces to a safe set of positions of the robot's tip via predicted deformations of the environment. Then, a quadratic program with Control Barrier Functions in its constraints is used to supervise a nominal feedback signal, verifiably maintaining the robot's tip within this safe set. Hardware experiments on a multi-segment soft pneumatic robot demonstrate that the proposed framework successfully constrains its environmental contact forces. This framework represents a fundamental shift in perspective on control and safety for soft robots, defining and implementing a formally verifiable logic specification on their pose and contact forces.

Authors:Adit Jain, Vikram Krishnamurthy, Yiming Zhang
Title: Information Diffusion and Preferential Attachment in a Network of Large Language Models
Abstract:
This paper models information diffusion in a network of Large Language Models (LLMs) that is designed to answer queries from distributed datasets, where the LLMs can hallucinate the answer. We introduce a two-time-scale dynamical model for the centrally administered network, where opinions evolve faster while the network's degree distribution changes more slowly. Using a mean-field approximation, we establish conditions for a locally asymptotically stable equilibrium where all LLMs remain truthful. We provide approximation guarantees for the mean-field approximation and a singularly perturbed approximation of the two-time-scale system. To mitigate hallucination and improve the influence of truthful nodes, we propose a reputation-based preferential attachment mechanism that reconfigures the network based on LLMs' evaluations of their neighbors. Numerical experiments on an open-source LLM (LLaMA-3.1-8B) validate the efficacy of our preferential attachment mechanism and demonstrate the optimization of a cost function for the two-time-scale system.

Authors:Chao Chen, Thomas Chaffey, Rodolphe Sepulchre
Title: Graphical Dominance Analysis for Linear Systems: A Frequency-Domain Approach
Abstract:
We propose a frequency-domain approach to dominance analysis for multi-input multi-output (MIMO) linear time-invariant systems. The dominance of a MIMO system is defined to be the number of its poles in the open right half-plane. Our approach is graphical: we define a frequency-wise notion of the recently-introduced scaled graph of a MIMO system plotted in a complex plane. The scaled graph provides a bound of the eigenloci of the system, which can be viewed as a robust MIMO extension of the classical Nyquist plot. Our main results characterize sufficient conditions for quantifying the dominance of a closed-loop system based upon separation of scaled graphs of two open-loop systems in a frequency-wise manner. The results reconcile existing small gain, small phase and passivity theorems for feedback dominance analysis.

Authors:Van Sy Mai, Abderrahim Amlou, Amar Abane, Abdella Battou
Title: Towards Optimal Orders for Entanglement Swapping in Path Graphs: A Greedy Approach
Abstract:
This paper considers the problem of finding an optimal order for entanglement swapping in a heterogeneous path of quantum repeaters so as to maximize the path throughput defined as the delivery rate of end-to-end entanglements. The primary difficulty in addressing this problem lies in the vast array of possible swapping orders for large paths and the complexity of the expected throughput, which depends on the attributes of each node and edge along the path, as well as the order of swapping. To cope with these issues, we first propose simple approximations in estimating the swapping outcome between two entanglement distributions that can run in constant time, thereby providing an efficient approach for evaluating and comparing different swapping orders, allowing us to solve the problem exactly for small paths. Second, as the number of possible orders grows exponentially with the number of repeaters in the path, we develop an efficient heuristic based on the greedy selection of nodes to sequentially perform swaps according to their swapping scores, defined as the expected number of entanglements resulting from their swaps. The scores are local but dynamic in the sense that they depend not just on the entanglement distributions available on the path but also on prior swapping decisions. Finally, we illustrate the efficiency and effectiveness of our proposed model and approach through extensive experimentation conducted using a general quantum network simulator.

Authors:Shishir Lamichhane, Abodh Poudyal, Nicholas R. Jones, Bala Krishnamoorthy, Anamika Dubey
Title: Scalable Two-Stage Stochastic Optimal Power Flow via Separable Approximation
Abstract:
This paper proposes a Separable Projective Approximation Routine-Optimal Power Flow (SPAR-OPF) framework for solving two-stage stochastic optimization problems in power systems. The framework utilizes a separable piecewise linear approximation of the value function and learns the function based on sample sub-gradient information. We present two formulations to model the learned value function, and compare their effectiveness. Additionally, an efficient statistical method is introduced to assess the quality of the obtained solutions. The effectiveness of the proposed framework is validated using distributed generation siting and sizing problem in three-phase unbalanced power distribution systems as an example. Results show that the framework approximates the value function with over 98% accuracy and provides high-quality solutions with an optimality gap of less than 1%. The framework scales efficiently with system size, generating high-quality solutions in a short time when applied to a 9500-node distribution system with 1200 scenarios, while the extensive formulations and progressive hedging failed to solve the problem.

Authors:Haldun Balim, Yang Hu, Yuyang Zhang, Na Li
Title: A Model-Based Approach to Imitation Learning through Multi-Step Predictions
Abstract:
Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent challenge of error correction and the distribution shift between training and deployment. In this paper, we present a novel model-based imitation learning framework inspired by model predictive control, which addresses these limitations by integrating predictive modeling through multi-step state predictions. Our method outperforms traditional behavior cloning numerical benchmarks, demonstrating superior robustness to distribution shift and measurement noise both in available data and during execution. Furthermore, we provide theoretical guarantees on the sample complexity and error bounds of our method, offering insights into its convergence properties.

Authors:Lujie Yang, Tobia Marcucci, Pablo A. Parrilo, Russ Tedrake
Title: A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling
Abstract:
We introduce a semidefinite relaxation for optimal control of linear systems with time scaling. These problems are inherently nonconvex, since the system dynamics involves bilinear products between the discretization time step and the system state and controls. The proposed relaxation is closely related to the standard second-order semidefinite relaxation for quadratic constraints, but we carefully select a subset of the possible bilinear terms and apply a change of variables to achieve empirically tight relaxations while keeping the computational load light. We further extend our method to handle piecewise-affine (PWA) systems by formulating the PWA optimal-control problem as a shortest-path problem in a graph of convex sets (GCS). In this GCS, different paths represent different mode sequences for the PWA system, and the convex sets model the relaxed dynamics within each mode. By combining a tight convex relaxation of the GCS problem with our semidefinite relaxation with time scaling, we can solve PWA optimal-control problems through a single semidefinite program.

Authors:Yongxin Xiong, Heng Wu, Yifei Li, Xiongfei Wang
Title: Analysis of Power Swing Characteristics of Grid-Forming VSC System Considering the Current Limitation Mode
Abstract:
This paper investigates power swing characteristics of grid-forming voltage source converter (GFM-VSC) systems considering the current limitation mode in both non-inertial and inertial GFM-VSC systems. Following grid faults, non-inertial GFM-VSC systems can re-synchronize with the grid but may experience significant power swings driven by its control dynamics, while inertial GFM-VSC systems may exhibit loss of synchronization (LOS), characterized by the divergence of the output angle in the active power control loop. These behaviours are different from conventional synchronous generator (SG)-based systems, where power swings are typically characterized by physical angle deviations among power sources. Based on these findings, this paper explores the performance of traditional impedance-based swing detection schemes in GFM-VSC systems. The theoretical analysis is validated through various simulations using the PSCAD/EMTDC platform, covering both single and multi-machine system scenarios.

Authors:Karthik Elamvazhuthi, Darshan Gadginmath, Fabio Pasqualetti
Title: Score Matching Diffusion Based Feedback Control and Planning of Nonlinear Systems
Abstract:
We propose a novel control-theoretic framework that leverages principles from generative modeling -- specifically, Denoising Diffusion Probabilistic Models (DDPMs) -- to stabilize control-affine systems with nonholonomic constraints. Unlike traditional stochastic approaches, which rely on noise-driven dynamics in both forward and reverse processes, our method crucially eliminates the need for noise in the reverse phase, making it particularly relevant for control applications. We introduce two formulations: one where noise perturbs all state dimensions during the forward phase while the control system enforces time reversal deterministically, and another where noise is restricted to the control channels, embedding system constraints directly into the forward process. For controllable nonlinear drift-free systems, we prove that deterministic feedback laws can exactly reverse the forward process, ensuring that the system's probability density evolves correctly without requiring artificial diffusion in the reverse phase. Furthermore, for linear time-invariant systems, we establish a time-reversal result under the second formulation. By eliminating noise in the backward process, our approach provides a more practical alternative to machine learning-based denoising methods, which are unsuitable for control applications due to the presence of stochasticity. We validate our results through numerical simulations on benchmark systems, including a unicycle model in a domain with obstacles, a driftless five-dimensional system, and a four-dimensional linear system, demonstrating the potential for applying diffusion-inspired techniques in linear, nonlinear, and settings with state space constraints.

Authors:Yuyang Zhang, Xinhe Zhang, Jia Liu, Na Li
Title: Error-In-Variables Methods for Efficient System Identification with Finite-Sample Guarantees
Abstract:
This paper addresses the problem of learning linear dynamical systems from noisy observations. In this setting, existing algorithms either yield biased parameter estimates or have large sample complexities. We resolve these issues by adapting the instrumental variable method and the bias compensation method, originally proposed for error-in-variables models, to our setting. We provide refined non-asymptotic analysis for both methods. Under mild conditions, our algorithms achieve superior sample complexities that match the best-known sample complexity for learning a fully observable system without observation noise.

Authors:Siddharth A. Dinkar, Ram Padmanabhan, Anna Clarke, Per-Olof Gutman, Melkior Ornik
Title: Analysis of the Unscented Transform Controller for Systems with Bounded Nonlinearities
Abstract:
In this paper, we present an analysis of the Unscented Transform Controller (UTC), a technique to control nonlinear systems motivated as a dual to the Unscented Kalman Filter (UKF). We consider linear, discrete-time systems augmented by a bounded nonlinear function of the state. For such systems, we review 1-step and N-step versions of the UTC. Using a Lyapunov-based analysis, we prove that the states and inputs converge to a bounded ball around the origin, whose radius depends on the bound on the nonlinearity. Using examples of a fighter jet model and a quadcopter, we demonstrate that the UTC achieves satisfactory regulation and tracking performance on these nonlinear models.

Authors:Felix Brändle, Frank Allgöwer
Title: Data-driven Estimator Synthesis with Instantaneous Noise
Abstract:
Data-driven controller design based on data informativity has gained popularity due to its straightforward applicability, while providing rigorous guarantees. However, applying this framework to the estimator synthesis problem introduces technical challenges, which can only be solved so far by adding restrictive assumptions. In this work, we remove these restrictions to improve performance guarantees. Moreover, our parameterization allows the integration of additional structural knowledge, such as bounds on parameters. Our findings are validated using numerical examples.

Authors:Bowen Song, Andrea Iannelli
Title: Robustness of Online Identification-based Policy Iteration to Noisy Data
Abstract:
This article investigates the core mechanisms of indirect data-driven control for unknown systems, focusing on the application of policy iteration (PI) within the context of the linear quadratic regulator (LQR) optimal control problem. Specifically, we consider a setting where data is collected sequentially from a linear system subject to exogenous process noise, and is then used to refine estimates of the optimal control policy. We integrate recursive least squares (RLS) for online model estimation within a certainty-equivalent framework, and employ PI to iteratively update the control policy. In this work, we investigate first the convergence behavior of RLS under two different models of adversarial noise, namely point-wise and energy bounded noise, and then we provide a closed-loop analysis of the combined model identification and control design process. This iterative scheme is formulated as an algorithmic dynamical system consisting of the feedback interconnection between two algorithms expressed as discrete-time systems. This system theoretic viewpoint on indirect data-driven control allows us to establish convergence guarantees to the optimal controller in the face of uncertainty caused by noisy data. Simulations illustrate the theoretical results.

Authors:Ahmad Adnan Qidan, Khulood Alazwary, Taisir El-Gorashi, Majid Safari, Harald Haas, Richard V. Penty, Ian H. White, Jaafar M. H. Elmirghani
Title: BIA Transmission in Rate Splitting-based Optical Wireless Networks
Abstract:
Optical wireless communication (OWC) has recently received massive interest as a new technology that can support the enormous data traffic increasing on daily basis. In particular, laser-based OWC networks can provide terabits per second (Tbps) aggregate data rates. However, the emerging OWC networks require a high number of optical access points (APs), each AP corresponding to an optical cell, to provide uniform coverage for multiple users. Therefore, inter-cell interference (ICI) and multi-user interference (MUI) are crucial issues that must be managed efficiently to provide high spectral efficiency. In radio frequency (RF) networks, rate splitting (RS) is proposed as a transmission scheme to serve multiple users simultaneously following a certain strategy. It was shown that RS provides high data rates compared to orthogonal and non-orthogonal interference management schemes. Considering the high density of OWC networks, the application of RS within each optical cell might not be practical due to severe ICI. In this paper, a new strategy is derived referred to as blind interference alignment-rate splitting (BIA-RS) to fully coordinate the transmission among the optical APs, while determining the precoding matrices of multiple groups of users formed beforehand. Therefore, RS can be implemented within each group to manage MUI. The proposed BIA-RS scheme requires two layers of power allocation to achieve high performance. Given that, a max-min fractional optimization problem is formulated to optimally distribute the power budget among the groups and the messages intended to the users of each group. Finally, a power allocation algorithm is designed with multiple Lagrangian multipliers to provide practical and sub-optimal solutions. The results show the high performance of the proposed scheme compared to other counterpart schemes.

Authors:Roberta Raineri, Mengbin Ye, Lorenzo Zino
Title: Controlling a Social Network of Individuals with Coevolving Actions and Opinions
Abstract:
In this paper, we consider a population of individuals who have actions and opinions, which coevolve, mutually influencing one another on a complex network structure. In particular, we formulate a control problem for this social network, in which we assume that we can inject into the network a committed minority -- a set of stubborn nodes -- with the objective of steering the population, initially at a consensus, to a different consensus state. Our study focuses on two main objectives: i) determining the conditions under which the committed minority succeeds in its goal, and ii) identifying the optimal placement for such a committed minority. After deriving general monotone convergence result for the controlled dynamics, we leverage these results to build a computationally-efficient algorithm to solve the first problem and an effective heuristics for the second problem, which we prove to be NP-complete. For both algorithms, we establish theoretical guarantees. The proposed methodology is illustrated though academic examples, and demonstrated on a real-world case study.

Authors:Xu Shang, Zhaojian Li, Yang Zheng
Title: Dictionary-free Koopman Predictive Control for Autonomous Vehicles in Mixed Traffic
Abstract:
Koopman Model Predictive Control (KMPC) and Data-EnablEd Predictive Control (DeePC) use linear models to approximate nonlinear systems and integrate them with predictive control. Both approaches have recently demonstrated promising performance in controlling Connected and Autonomous Vehicles (CAVs) in mixed traffic. However, selecting appropriate lifting functions for the Koopman operator in KMPC is challenging, while the data-driven representation from Willems' fundamental lemma in DeePC must be updated to approximate the local linearization when the equilibrium traffic state changes. In this paper, we propose a dictionary-free Koopman model predictive control (DF-KMPC) for CAV control. In particular, we first introduce a behavioral perspective to identify the optimal dictionary-free Koopman linear model. We then utilize an iterative algorithm to compute a data-driven approximation of the dictionary-free Koopman representation. Integrating this data-driven linear representation with predictive control leads to our DF-KMPC, which eliminates the need to select lifting functions and update the traffic equilibrium state. Nonlinear traffic simulations show that DF-KMPC effectively mitigates traffic waves and improves tracking performance.

Authors:Varsha Behrunani, Cara Koepele, Jared Miller, Ahmed Aboudonia, Philipp Heer, Roy S. Smith, John Lygeros
Title: Plug and Play Distributed Control of Clustered Energy Hub Networks
Abstract:
The transition to renewable energy is driving the rise of distributed multi-energy systems, in which individual energy hubs and prosumers (e.g., homes, industrial campuses) generate, store, and trade energy. Economic Model Predictive Control (MPC) schemes are widely used to optimize operation of energy hubs by efficiently dispatching resources and minimizing costs while ensuring operational constraints are met. Peer-to-peer (P2P) energy trading among hubs enhances network efficiency and reduces costs but also increases computational and privacy challenges, especially as the network scales. Additionally, current distributed control techniques require global recomputation whenever the network topology changes, limiting scalability. To address these challenges, we propose a clustering-based P2P trading framework that enables plug-and-play operation, allowing energy hubs to seamlessly join or leave without requiring network-wide controller updates. The impact is restricted to the hubs within the affected cluster. The energy trading problem is formulated as a bi-level bargaining game, where inter-cluster trading commitments are determined at the cluster level, while energy dispatch and cost-sharing among hubs within a cluster are refined at the hub level. Both levels are solved in a distributed manner using ADMM, ensuring computational feasibility and privacy preservation. Moreover, we develop plug-and-play procedures to handle dynamic topology changes at both the hub and cluster levels, minimizing disruptions across the network. Simulation results demonstrate that the proposed bi-level framework reduces operational costs, and enables scalable energy management under plug-and-play operation.

Authors:Filippos N. Tzortzoglou, Logan E. Beaver, Andreas A. Malikopoulos
Title: Safe and Efficient Coexistence of Autonomous Vehicles with Human-Driven Traffic at Signalized Intersections
Abstract:
The proliferation of connected and automated vehicles (CAVs) has positioned mixed traffic environments, which encompass both CAVs and human driven vehicles (HDVs), as critical components of emerging mobility systems. Signalized intersections are paramount for optimizing transportation efficiency and enhancing energy economy, as they inherently induce stop and go traffic dynamics. In this paper, we present an integrated framework that concurrently optimizes signal timing and CAV trajectories at signalized intersections, with the dual objectives of maximizing traffic throughput and minimizing energy consumption for CAVs. We first formulate an optimal control strategy for CAVs that prioritizes trajectory planning to circumvent state constraints, while incorporating the impact of signal timing and HDV behavior. Furthermore, we introduce a traffic signal control methodology that dynamically adjusts signal phases based on vehicular density per lane, while mitigating disruption for CAVs scheduled to traverse the intersection. Acknowledging the system's inherent dynamism, we also explore event triggered replanning mechanisms that enable CAVs to iteratively refine their planned trajectories in response to the emergence of more efficient routing options. The efficacy of our proposed framework is evaluated through comprehensive simulations in MATLAB.

Authors:Caicheng Wang, Zili Wang, Shuyou Zhang, Yongzhe Xiang, Zheyi Li, Jianrong Tan
Title: Self-Learning-Based Optimization for Free-form Pipe Routing in Aeroengine with Dynamic Design Environment
Abstract:
Pipe routing is a highly complex, time-consuming, and no-deterministic polynomial-time hard (NP-hard) problem in aeroengine design. Despite extensive research efforts in optimizing constant-curvature pipe routing, the growing demand for free-form pipes poses new challenges. Dynamic design environments and fuzzy layout rules further impact the optimization performance and efficiency. To tackle these challenges, this study proposes a self-learning-based method (SLPR) for optimizing free-form pipe routing in aeroengines. The SLPR is based on the proximal policy optimization (PPO) algorithm and integrates a unified rule modeling framework for efficient obstacle detection and fuzzy rule modeling in continuous space. Additionally, a potential energy table is constructed to enable rapid queries of layout tendencies and interference. The agent within SLPR iteratively refines pipe routing and accumulates the design knowledge through interaction with the environment. Once the design environment shifts, the agent can swiftly adapt by fine-tuning network parameters. Comparative tests reveal that SLPR ensures smooth pipe routing through cubic non-uniform B-spline (NURBS) curves, avoiding redundant pipe segments found in constant-curvature pipe routing. Results in both static and dynamic design environments demonstrate that SLPR outperforms three representative baselines in terms of the pipe length reduction, the adherence to layout rules, the path complexity, and the computational efficiency. Furthermore, tests in dynamic environments indicate that SLPR eliminates labor-intensive searches from scratch and even yields superior solutions compared to the retrained model. These results highlight the practical value of SLPR for real-world pipe routing, meeting lightweight, precision, and sustainability requirements of the modern aeroengine design.

Authors:Matteo Cederle, Marco Fabris, Gian Antonio Susto
Title: Regulating Spatial Fairness in a Tripartite Micromobility Sharing System via Reinforcement Learning
Abstract:
In the growing field of Shared Micromobility Systems, which holds great potential for shaping urban transportation, fairness-oriented approaches remain largely unexplored. This work addresses such a gap by investigating the balance between performance optimization and algorithmic fairness in Shared Micromobility Services using Reinforcement Learning. Our methodology achieves equitable outcomes, measured by the Gini index, across central, peripheral, and remote station categories. By strategically rebalancing vehicle distribution, it maximizes operator performance while upholding fairness principles. The efficacy of our approach is validated through a case study using synthetic data.

Authors:Stefano Covone, Italo Napolitano, Francesco De Lellis, Mario di Bernardo
Title: Hierarchical Policy-Gradient Reinforcement Learning for Multi-Agent Shepherding Control of Non-Cohesive Targets
Abstract:
We propose a decentralized reinforcement learning solution for multi-agent shepherding of non-cohesive targets using policy-gradient methods. Our architecture integrates target-selection with target-driving through Proximal Policy Optimization, overcoming discrete-action constraints of previous Deep Q-Network approaches and enabling smoother agent trajectories. This model-free framework effectively solves the shepherding problem without prior dynamics knowledge. Experiments demonstrate our method's effectiveness and scalability with increased target numbers and limited sensing capabilities.

Authors:Vedant Vivek Kini, Dantu Phani Surya, Rakesh Kumar Sahoo, Manoranjan Sinha
Title: Long-Range Rendezvous and Docking Maneuver Control of Satellite using Cross-Feedback Sliding Mode Controller
Abstract:
Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially leading to inefficiencies in maneuver time and fuel consumption. To address these challenges, a novel cross-feedback sliding mode controller has been proposed, developing an interdependent regulation system for translational and rotational motion. This method decouples the relative translational and rotational motion of chaser satellite with respect to target satellite while incorporating cross-feedback mechanisms to account for their inherent coupling. By incorporating rotational state information into translational control laws and vice versa, the approach ensures coordinated adjustments, enhancing maneuver efficiency. The chaser satellite manages both translational and rotational adjustments to rendezvous and dock with the target satellite. The stability of the cross-feedback sliding mode controller is established within the Lyapunov framework, and simulation results substantiate the effectiveness of this strategy.

Authors:Yichao Zhang, Yubo Song, Subham Sahoo
Title: Carbon and Reliability-Aware Computing for Heterogeneous Data Centers
Abstract:
The rapid expansion of data centers (DCs) has intensified energy and carbon footprint, incurring a massive environmental computing cost. While carbon-aware workload migration strategies have been examined, existing approaches often overlook reliability metrics such as server lifetime degradation, and quality-of-service (QoS) that substantially affects both carbon and operational efficiency of DCs. Hence, this paper proposes a comprehensive optimization framework for spatio-temporal workload migration across distributed DCs that jointly minimizes operational and embodied carbon emissions while complying with service-level agreements (SLA). A key contribution is the development of an embodied carbon emission model based on servers' expected lifetime analysis, which explicitly considers server heterogeneity resulting from aging and utilization conditions. These issues are accommodated using new server dispatch strategies, and backup resource allocation model, accounting hardware, software and workload-induced failure. The overall model is formulated as a mixed-integer optimization problem with multiple linearization techniques to ensure computational tractability. Numerical case studies demonstrate that the proposed method reduces total carbon emissions by up to 21%, offering a pragmatic approach to sustainable DC operations.

Authors:Ziang Mao, Tianlong Fan, Linyuan Lü
Title: Perturbation-Based Pinning Control Strategy for Enhanced Synchronization in Complex Networks
Abstract:
Synchronization is essential for the stability and coordinated operation of complex networked systems. Pinning control, which selectively controls a subset of nodes, provides a scalable solution to enhance network synchronizability. However, existing strategies face key limitations: heuristic centrality-based methods lack a direct connection to synchronization dynamics, while spectral approaches, though effective, are computationally intensive. To address these challenges, we propose a perturbation-based optimized strategy (PBO) that dynamically evaluates each node's spectral impact on the Laplacian matrix, achieving improved synchronizability with significantly reduced computational costs (with complexity O(kM)). Extensive experiments demonstrate that the proposed method outperforms traditional strategies in synchronizability, convergence rate, and pinning robustness to node failures. Notably, in all the empirical networks tested and some generated networks, PBO significantly outperforms the brute-force greedy strategy, demonstrating its ability to avoid local optima and adapt to complex connectivity patterns. Our study establishes the theoretical relationship between network synchronizability and convergence rate, offering new insights into efficient synchronization strategies for large-scale complex networks.

Authors:Ole Hans, Jürgen Adamy
Title: Learning from Disengagements: An Analysis of Safety Driver Interventions during Remote Driving
Abstract:
This study investigates disengagements of Remote Driving Systems (RDS) based on interventions by an in-vehicle Safety Drivers (SD) in real-world Operational Design Domains (ODD) with a focus on Remote Driver (RD) performance during their driving training. Based on an analysis of over 14,000 km on remote driving data, the relationship between the driving experience of 25 RD and the frequency of disengagements is systematically investigated. The results show that the number of SD interventions decreases significantly within the first 400 km of driving experience, which illustrates a clear learning curve of the RD. In addition, the most common causes for 183 disengagements analyzed are identified and categorized, whereby four main scenarios for SD interventions were identified and illustrated. The results emphasize the need for experience-based and targeted training programs aimed at developing basic driving skills early on, thereby increasing the safety, controllability and efficiency of RDS, especially in complex urban environment ODDs.

Authors:Huu-Thinh Do, Ionela Prodan, Florin Stoican
Title: An ANN-Enhanced Approach for Flatness-Based Constrained Control of Nonlinear Systems
Abstract:
Neural networks have proven practical for a synergistic combination of advanced control techniques. This work analyzes the implementation of rectified linear unit neural networks to achieve constrained control in differentially flat systems. Specifically, the class of flat systems enjoys the benefit of feedback linearizability, i.e., the systems can be linearized by means of a proper variable transformation. However, the price for linearizing the dynamics is that the constraint descriptions are distorted geometrically. Our results show that, by using neural networks, these constraints can be represented as a union of polytopes, enabling the use of mixed-integer programming tools to guarantee constraint satisfaction. We further analyze the integration of the characterization into efficient settings such as control Lyapunov function-based and model predictive control (MPC). Interestingly, this description also allows us to explicitly compute the solution of the MPC problem for the nonlinear system. Several examples are provided to illustrate the effectiveness of our framework.

Authors:Prashant Solanki, Nikolaus Vertovec, Yannik Schnitzer, Jasper Van Beers, Coen de Visser, Alessandro Abate
Title: Certified Approximate Reachability (CARe): Formal Error Bounds on Deep Learning of Reachable Sets
Abstract:
Recent approaches to leveraging deep learning for computing reachable sets of continuous-time dynamical systems have gained popularity over traditional level-set methods, as they overcome the curse of dimensionality. However, as with level-set methods, considerable care needs to be taken in limiting approximation errors, particularly since no guarantees are provided during training on the accuracy of the learned reachable set. To address this limitation, we introduce an epsilon-approximate Hamilton-Jacobi Partial Differential Equation (HJ-PDE), which establishes a relationship between training loss and accuracy of the true reachable set. To formally certify this approximation, we leverage Satisfiability Modulo Theories (SMT) solvers to bound the residual error of the HJ-based loss function across the domain of interest. Leveraging Counter Example Guided Inductive Synthesis (CEGIS), we close the loop around learning and verification, by fine-tuning the neural network on counterexamples found by the SMT solver, thus improving the accuracy of the learned reachable set. To the best of our knowledge, Certified Approximate Reachability (CARe) is the first approach to provide soundness guarantees on learned reachable sets of continuous dynamical systems.

Authors:Varsha N. Behrunani, Philipp Heer, Roy S. Smith, John Lygeros
Title: Loss-aware Pricing Strategies for Peer-to-Peer Energy Trading
Abstract:
Peer-to-peer(P2P) energy trading may increase efficiency and reduce costs, but introduces significant challenges for network operators such as maintaining grid reliability, accounting for network losses, and redistributing costs equitably. We propose a novel loss-aware pricing strategy for P2P energy markets that addresses these challenges while incentivizing participation in the cooperative energy trading market. The problem is formulated as a hierarchical Stackelberg game, where a grid operator determines network tariffs while prosumers optimize their trades based on these tariffs while guaranteeing that network constraints are satisfied. The algorithm is designed to minimize and recover their cost from the trading parties, while also minimizing the total cost of the hubs. The mechanism dynamically adjusts tariffs based on location and network topology, discouraging loss-intensive trades. Finally, the complete framework includes the computation of fair trading prices, ensuring all market participants benefit equitably. An ADMM-based hyper-gradient descent method is proposed for solving this problem. Extensive numerical simulations using the benchmark IEEE 33-bus system demonstrate significant cost reductions and improved network efficiency through reduction in network losses compared to constant tariff schemes. Results highlight the adaptability and scalability of the proposed mechanism to varying network configurations and size, demand profiles, and seasonal conditions.

Authors:Ole Hans, Benedikt Walter, Jürgen Adamy
Title: Evaluation of Remote Driver Performance in Urban Environment Operational Design Domains
Abstract:
Remote driving has emerged as a solution for enabling human intervention in scenarios where Automated Driving Systems (ADS) face challenges, particularly in urban Operational Design Domains (ODDs). This study evaluates the performance of Remote Drivers (RDs) of passenger cars in a representative urban ODD in Las Vegas, focusing on the influence of cumulative driving experience and targeted training approaches. Using performance metrics such as efficiency, braking, acceleration, and steering, the study shows that driving experience can lead to noticeable improvements of RDs and demonstrates how experience up to 600 km correlates with improved vehicle control. In addition, driving efficiency exhibited a positive trend with increasing kilometers, particularly during the first 300 km of experience, which reaches a plateau from 400 km within a range of 0.35 to 0.42 km/min in the defined ODD. The research further compares ODD-specific training methods, where the detailed ODD training approaches attains notable advantages over other training approaches. The findings underscore the importance of tailored ODD training in enhancing RD performance, safety, and scalability for Remote Driving System (RDS) in real-world applications, while identifying opportunities for optimizing training protocols to address both routine and extreme scenarios. The study provides a robust foundation for advancing RDS deployment within urban environments, contributing to the development of scalable and safety-critical remote operation standards.

Authors:Yohan John, Vade Shah, James A. Preiss, Mahnoosh Alizadeh, Jason R. Marden
Title: The Price of Simplicity: Analyzing Decoupled Policies for Multi-Location Inventory Control
Abstract:
What is the performance cost of using simple, decoupled control policies in inherently coupled systems? Motivated by industrial refrigeration systems, where centralized compressors exhibit economies of scale yet traditional control employs decoupled room-by-room temperature regulation, we address this question through the lens of multi-location inventory control. Here, a planner manages multiple inventories to meet stochastic demand while minimizing costs that are coupled through nonlinear ordering functions reflecting economies of scale. Our main contributions are: (i) a surprising equivalence result showing that optimal stationary base-stock levels for individual locations remain unchanged despite the coupling when restricting attention to decoupled strategies; (ii) tight performance bounds for simple decoupled policies relative to optimal coupled policies, revealing that the worst-case ratio depends primarily on the degree of nonlinearity in the cost function and scales with the number of locations for systems with fixed costs; and (iii) analysis of practical online algorithms that achieve competitive performance without solving complex dynamic programs. Numerical simulations demonstrate that while decoupled policies significantly outperform their worst-case guarantees in typical scenarios, they still exhibit meaningful suboptimality compared to fully coordinated strategies. These results provide actionable guidance for system operators navigating the trade-off between control complexity and operational efficiency in coupled systems.

Authors:Calin Vaida, Iosif Birlescu, Bogdan Gherman, Daniel Condurache, Damien Chablat, Doina Pisla
Title: An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot
Abstract:
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches are studied for the kinematic functions using both classical differentiation and multidual algebra. The algorithms for inverse kinematics for all three studied formalisms are presented for both differentiation and multidual algebra approaches. Furthermore, these algorithms are compared based on numerical stability, execution times and number and type of mathematical functions and operators contained in each algorithm. A statistical analysis shows that there is significant improvement in execution time for the algorithms implemented using multidual algebra, while the numerical stability is appropriate for all algorithms derived based on differentiation and multidual algebra. While the implementation of the kinematic algorithms using multidual algebra shows positive results when benchmarked on a standard PC, further work is required to evaluate the multidual algorithms on hardware/software used for the modular parallel robot command and control.

Authors:Farhad Mehdifar, Mani H. Dhullipalla, Charalampos P. Bechlioulis, Dimos V. Dimarogonas
Title: Collaborative Satisfaction of Long-Term Spatial Constraints in Multi-Agent Systems: A Distributed Optimization Approach (extended version)
Abstract:
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents with whom they may or may not have direct communication. These constraints need to be satisfied asymptotically or after an unknown finite time. The agents' objective is to collectively achieve a formation that fulfills all constraints. The problem is initially framed as a centralized unconstrained optimization, where the solution yields the optimal configuration by maximizing an objective function that reflects the degree of constraint satisfaction. This function encourages collaboration, ensuring agents help each other meet their constraints while fulfilling their own. When the constraints are infeasible, agents converge to a least-violating solution. A distributed consensus-based optimization scheme is then introduced, which approximates the centralized solution, leading to the development of distributed controllers for single-integrator agents. Finally, simulations validate the effectiveness of the proposed approach.

Authors:Allan Andre Do Nascimento, Han Wang, Antonis Papachristodoulou, Kostas Margellos
Title: Constraint Horizon in Model Predictive Control
Abstract:
In this work, we propose a Model Predictive Control (MPC) formulation incorporating two distinct horizons: a prediction horizon and a constraint horizon. This approach enables a deeper understanding of how constraints influence key system properties such as suboptimality, without compromising recursive feasibility and constraint satisfaction. In this direction, our contributions are twofold. First, we provide a framework to estimate closed-loop optimality as a function of the number of enforced constraints. This is a generalization of existing results by considering partial constraint enforcement over the prediction horizon. Second, when adopting this general framework under the lens of safety-critical applications, our method improves conventional Control Barrier Function (CBF) based approaches. It mitigates myopic behaviour in Quadratic Programming (QP)-CBF schemes, and resolves compatibility issues between Control Lyapunov Function (CLF) and CBF constraints via the prediction horizon used in the optimization. We show the efficacy of the method via numerical simulations for a safety critical application.

Authors:Yangjun Zeng, Yiwei Qiu, Liuchao Xu, Chenjia Gu, Yi Zhou, Jiarong Li, Shi Chen, Buxiang Zhou
Title: Optimal Investment Portfolio of Thyristor- and IGBT-based Electrolysis Rectifiers in Utility-scale Renewable P2H Systems
Abstract:
Renewable power-to-hydrogen (ReP2H) systems require rectifiers to supply power to electrolyzers (ELZs). Two main types of rectifiers, insulated-gate bipolar transistor rectifiers (IGBT-Rs) and thyristor rectifiers (TRs), offer distinct tradeoffs. IGBT-Rs provide flexible reactive power control but are costly, whereas TRs are more affordable with lower power loss but consume a large amount of uncontrollable reactive power. A mixed configuration of rectifiers in utility-scale ReP2H systems could achieve an decent tradeoff and increase overall profitability. To explore this potential, this paper proposes an optimal investment portfolio model. First, we model and compare the active and reactive power characteristics of ELZs powered by TRs and IGBT-Rs. Second, we consider the investment of ELZs, rectifiers, and var resources and coordinate the operation of renewables, energy storage, var resources, and the on-off switching and load allocation of multiple ELZs. Subsequently, a two-stage stochastic programming (SP) model based on weighted information gap decision theory (W-IGDT) is developed to address the uncertainties of the renewable power and hydrogen price, and we apply the progressive hedging (PH) algorithm to accelerate its solution. Case studies demonstrate that optimal rectifier configurations increase revenue by at most 2.56% compared with using only TRs or IGBT-Rs, as well as those in existing projects. Under the optimal portfolio, reactive power compensation investment is nearly eliminated, with a preferred TR-to-IGBT-R ratio of 3:1.

Authors:Junyi Shen, Tetsuro Miyazaki, Kenji Kawashima
Title: Control Pneumatic Soft Bending Actuator with Online Learning Pneumatic Physical Reservoir Computing
Abstract:
The intrinsic nonlinearities of soft robots present significant control but simultaneously provide them with rich computational potential. Reservoir computing (RC) has shown effectiveness in online learning systems for controlling nonlinear systems such as soft actuators. Conventional RC can be extended into physical reservoir computing (PRC) by leveraging the nonlinear dynamics of soft actuators for computation. This paper introduces a PRC-based online learning framework to control the motion of a pneumatic soft bending actuator, utilizing another pneumatic soft actuator as the PRC model. Unlike conventional designs requiring two RC models, the proposed control system employs a more compact architecture with a single RC model. Additionally, the framework enables zero-shot online learning, addressing limitations of previous PRC-based control systems reliant on offline training. Simulations and experiments validated the performance of the proposed system. Experimental results indicate that the PRC model achieved superior control performance compared to a linear model, reducing the root-mean-square error (RMSE) by an average of over 37% in bending motion control tasks. The proposed PRC-based online learning control framework provides a novel approach for harnessing physical systems' inherent nonlinearities to enhance the control of soft actuators.

Authors:Lukas Theiner, Sebastian Hirt, Alexander Steinke, Rolf Findeisen
Title: Exploiting Prior Knowledge in Preferential Learning of Individualized Autonomous Vehicle Driving Styles
Abstract:
Trajectory planning for automated vehicles commonly employs optimization over a moving horizon - Model Predictive Control - where the cost function critically influences the resulting driving style. However, finding a suitable cost function that results in a driving style preferred by passengers remains an ongoing challenge. We employ preferential Bayesian optimization to learn the cost function by iteratively querying a passenger's preference. Due to increasing dimensionality of the parameter space, preference learning approaches might struggle to find a suitable optimum with a limited number of experiments and expose the passenger to discomfort when exploring the parameter space. We address these challenges by incorporating prior knowledge into the preferential Bayesian optimization framework. Our method constructs a virtual decision maker from real-world human driving data to guide parameter sampling. In a simulation experiment, we achieve faster convergence of the prior-knowledge-informed learning procedure compared to existing preferential Bayesian optimization approaches and reduce the number of inadequate driving styles sampled.

Authors:Nicholas B. Andrews, Kristi A. Morgansen
Title: Modeling, Observability, and Inertial Parameter Estimation of a Planar Multi-Link System with Thrusters
Abstract:
This research provides a theoretical foundation for modeling and real-time estimation of both the pose and inertial parameters of a free-floating multi-link system with link thrusters, which are essential for safe and effective controller design and performance. First, we adapt a planar nonlinear multi-link snake robot model to represent a planar chain of bioinspired salp robots by removing joint actuators, introducing link thrusters, and allowing for non-uniform link lengths, masses, and moments of inertia. Second, we conduct a nonlinear observability analysis of the multi-link system with link thrusters, proving that the link angles, angular velocities, masses, and moments of inertia are locally observable when equipped with inertial measurement units and operating under specific thruster conditions. The analytical results are demonstrated in simulation with a three-link system.

Authors:Hamed Rahimi Nohooji, Abolfazl Zaraki, Holger Voos
Title: Reinforcement Learning-Based Neuroadaptive Control of Robotic Manipulators under Deferred Constraints
Abstract:
This paper presents a reinforcement learning-based neuroadaptive control framework for robotic manipulators operating under deferred constraints. The proposed approach improves traditional barrier Lyapunov functions by introducing a smooth constraint enforcement mechanism that offers two key advantages: (i) it minimizes control effort in unconstrained regions and progressively increases it near constraints, improving energy efficiency, and (ii) it enables gradual constraint activation through a prescribed-time shifting function, allowing safe operation even when initial conditions violate constraints. To address system uncertainties and improve adaptability, an actor-critic reinforcement learning framework is employed. The critic network estimates the value function, while the actor network learns an optimal control policy in real time, enabling adaptive constraint handling without requiring explicit system modeling. Lyapunov-based stability analysis guarantees the boundedness of all closed-loop signals. The effectiveness of the proposed method is validated through numerical simulations.

Authors:Mohamad Al Ahdab, Zheng-Hua Tan, John Leth
Title: Distributions and Direct Parametrization for Stable Stochastic State-Space Models
Abstract:
We present a direct parametrization for continuous-time stochastic state-space models that ensures external stability via the stochastic bounded-real lemma. Our formulation facilitates the construction of probabilistic priors that enforce almost-sure stability, which are suitable for sampling-based Bayesian inference methods. We validate our work with a simulation example and demonstrate its ability to yield stable predictions with uncertainty quantification.

Authors:Lisa Piccinin, Valentina Breschi, Chiara Ravazzi, Fabrizio Dabbene, Mara Tanelli
Title: Innovation diffusion dynamics toward long-term behavioral shifts
Abstract:
Sustainable technologies and services can play a pivotal role in the transition to "greener" habits. Their widespread adoption is thus crucial, and understanding how to foster this phenomenon in a systematic way could have a major impact on our future. With this in mind, in this work we propose an extension of the Friedkin-Johnsen opinion dynamics model toward characterizing the long-term impact of (structural) fostering policies. We then propose alternative nudging strategies that target a trade-off between widespread adoption and investments under budget constraints, showing the impact of our modeling and design choices on inclination shifts over a set of numerical tests.

Authors:Kyle L. Walker, Hsing-Yu Chen, Alix J. Partridge, Lucas Cruz da Silva, Adam A. Stokes, Francesco Giorgio-Serchi
Title: Closed-Loop Control and Disturbance Mitigation of an Underwater Multi-Segment Continuum Manipulator
Abstract:
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However, limitations driven by material characteristics often restrict the reach of such devices, with the complexity of obtaining state estimations making control non-trivial. Here, a detailed analysis of a 1m long compliant manipulator prototype for subsea inspection tasks is presented, including its mechanical design, state estimation technique, closed-loop control strategies, and experimental performance evaluation in underwater conditions. Results indicate that both the configuration-space and task-space controllers implemented are capable of positioning the end effector to desired locations, with deviations of <5% of the manipulator length spatially and to within 5^{o} of the desired configuration angles. The manipulator was also tested when subjected to various disturbances, such as loads of up to 300g and random point disturbances, and was proven to be able to limit displacement and restore the desired configuration. This work is a significant step towards the implementation of compliant manipulators in real-world subsea environments, proving their potential as an alternative to classical rigid-link designs.

Authors:Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortes
Title: Safe Control of Second-Order Systems with Linear Constraints
Abstract:
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with linear boundaries in the position space, we construct a provably control-invariant subset of this desired safety set. The constructed subset does not sacrifice any positions allowed by the desired safety set, which can be nonconvex. We show how our construction can also meet safety specification on the velocity. We then demonstrate that if the system satisfies standard Euler-Lagrange systems properties then our construction can also handle constraints on the allowable control inputs. We finally show the efficacy of the proposed method in a numerical example of keeping a 2D robot arm safe from collision.

Authors:Cora A. Duggan, Adam Goertz, Adam Polevoy, Mark Gonzales, Kevin C. Wolfe, Bradley Woosley, John G. Rogers, Joseph Moore
Title: Stratified Topological Autonomy for Long-Range Coordination (STALC)
Abstract:
In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for coordinated multi-robot maneuvering in real-world environments with significant inter-robot spatial and temporal dependencies. At its core, STALC consists of a multi-robot graph-based planner which combines a topological graph with a novel, computationally efficient mixed-integer programming formulation to generate highly-coupled multi-robot plans in seconds. To enable autonomous planning across different spatial and temporal scales, we construct our graphs so that they capture connectivity between free-space regions and other problem-specific features, such as traversability or risk. We then use receding-horizon planners to achieve local collision avoidance and formation control. To evaluate our approach, we consider a multi-robot reconnaissance scenario where robots must autonomously coordinate to navigate through an environment while minimizing the risk of detection by observers. Through simulation-based experiments, we show that our approach is able to scale to address complex multi-robot planning scenarios. Through hardware experiments, we demonstrate our ability to generate graphs from real-world data and successfully plan across the entire hierarchy to achieve shared objectives.

Authors:Ru An, Ying Wang, Yanlong Zhao, Ji-Feng Zhang
Title: One-bit consensus of controllable linear multi-agent systems with communication noises
Abstract:
This paper addresses the one-bit consensus of controllable linear multi-agent systems (MASs) with communication noises. A consensus algorithm consisting of a communication protocol and a consensus controller is designed. The communication protocol introduces a linear compression encoding function to achieve a one-bit data rate, thereby saving communication costs. The consensus controller with a stabilization term and a consensus term is proposed to ensure the consensus of a potentially unstable but controllable MAS. Specifically, in the consensus term, we adopt an estimation method to overcome the information loss caused by one-bit communications and a decay step to attenuate the effect of communication noise. Two combined Lyapunov functions are constructed to overcome the difficulty arising from the coupling of the control and estimation. By establishing similar iterative structures of these two functions, this paper shows that the MAS can achieve consensus in the mean square sense at the rate of the reciprocal of the iteration number under the case with a connected fixed topology. Moreover, the theoretical results are generalized to the case with jointly connected Markovian switching topologies by establishing a certain equivalence relationship between the Markovian switching topologies and a fixed topology. Two simulation examples are given to validate the algorithm.

Authors:Ole Hans, Jürgen Adamy
Title: Identification and Classification of Human Performance related Challenges during Remote Driving
Abstract:
Remote driving of vehicles is gaining in importance in the transportation sector, especially when Automated Driving Systems (ADSs) reach the limits of their system boundaries. This study investigates the challenges faced by human Remote Drivers (RDs) during remote driving, particularly focusing on the identification and classification of human performance-related challenges through a comprehensive analysis of real-world remote driving data Las Vegas. For this purpose, a total of 183 RD performance-related Safety Driver (SD) interventions were analyzed and classified using an introduced severity classification. As it is essential to prevent the need for SD interventions, this study identified and analyzed harsh driving events to detect an increased likelihood of interventions by the SD. In addition, the results of the subjective RD questionnaire are used to evaluate whether the objective metrics from SD interventions and harsh driving events can also be confirmed by the RDs and whether additional challenges can be uncovered. The analysis reveals learning curves, showing a significant decrease in SD interventions as RD experience increases. Early phases of remote driving experience, especially below 200 km of experience, showed the highest frequency of safety-related events, including braking late for traffic signs and responding impatiently to other traffic participants. Over time, RDs follow defined rules for improving their control, with experience leading to less harsh braking, acceleration, and steering maneuvers. The study contributes to understanding the requirements of RDS, emphasizing the importance of targeted training to address human performance limitations. It further highlights the need for system improvements to address challenges like latency and the limited haptic feedback replaced by visual feedback, which affect the RDs' perception and vehicle control.

Authors:Yanze Zhang, Yiwei Lyu, Siwon Jo, Yupeng Yang, Wenhao Luo
Title: Adaptive Deadlock Avoidance for Decentralized Multi-agent Systems via CBF-inspired Risk Measurement
Abstract:
Decentralized safe control plays an important role in multi-agent systems given the scalability and robustness without reliance on a central authority. However, without an explicit global coordinator, the decentralized control methods are often prone to deadlock -- a state where the system reaches equilibrium, causing the robots to stall. In this paper, we propose a generalized decentralized framework that unifies the Control Lyapunov Function (CLF) and Control Barrier Function (CBF) to facilitate efficient task execution and ensure deadlock-free trajectories for the multi-agent systems. As the agents approach the deadlock-related undesirable equilibrium, the framework can detect the equilibrium and drive agents away before that happens. This is achieved by a secondary deadlock resolution design with an auxiliary CBF to prevent the multi-agent systems from converging to the undesirable equilibrium. To avoid dominating effects due to the deadlock resolution over the original task-related controllers, a deadlock indicator function using CBF-inspired risk measurement is proposed and encoded in the unified framework for the agents to adaptively determine when to activate the deadlock resolution. This allows the agents to follow their original control tasks and seamlessly unlock or deactivate deadlock resolution as necessary, effectively improving task efficiency. We demonstrate the effectiveness of the proposed method through theoretical analysis, numerical simulations, and real-world experiments.

Authors:Eckart Cobo-Briesewitz, Khaled Wahba, Wolfgang Hönig
Title: Neural-Augmented Incremental Nonlinear Dynamic Inversion for Quadrotors with Payload Adaptation
Abstract:
The increasing complexity of multirotor applications has led to the need of more accurate flight controllers that can reliably predict all forces acting on the robot. Traditional flight controllers model a large part of the forces but do not take so called residual forces into account. A reason for this is that accurately computing the residual forces can be computationally expensive. Incremental Nonlinear Dynamic Inversion (INDI) is a method that computes the difference between different sensor measurements in order to estimate these residual forces. The main issue with INDI is it's reliance on special sensor measurements which can be very noisy. Recent work has also shown that residual forces can be predicted using learning-based methods. In this work, we demonstrate that a learning algorithm can predict a smoother version of INDI outputs without requiring additional sensor measurements. In addition, we introduce a new method that combines learning based predictions with INDI. We also adapt the two approaches to work on quadrotors carrying a slung-type payload. The results show that using a neural network to predict residual forces can outperform INDI while using the combination of neural network and INDI can yield even better results than each method individually.

Authors:Ding Lin, Han Guo, Jianhui Wang, Meng Yue, Tianqiao Zhao
Title: Reinforcement Learning Based Symbolic Regression for Load Modeling
Abstract:
With the increasing penetration of renewable energy sources, growing demand variability, and evolving grid control strategies, accurate and efficient load modeling has become a critical yet challenging task. Traditional methods, such as fixed-form parametric models and data-driven approaches, often struggle to balance accuracy, computational efficiency, and interpretability. This paper introduces a novel symbolic regression algorithm based on the Actor-Critic reinforcement learning framework, specifically tailored for dynamic load modeling. The algorithm employs a trainable expression tree with controlled depth and a predefined set of operators to generate compact and interpretable mathematical expressions. The Actor network probabilistically selects operators for the symbolic expression, while the Critic evaluates the resulting expression tree through a loss function. To further enhance performance, a candidate pool mechanism is implemented to store high-performing expressions, which are subsequently fine-tuned using gradient descent. By focusing on simplicity and precision, the proposed method significantly reduces computational complexity while preserving interpretability. Experimental results validate its superior performance compared to existing benchmarks, which offers a robust and scalable solution for dynamic load modeling and system analysis in modern power systems.

Authors:Zihang Wei, Yang Zhou, Yunlong Zhang, Mihir Kulkarni
Title: Coordinated Ramp Metering Control based on Scalable Nonlinear Traffic Dynamics Model Discovery in a Large Network
Abstract:
This study proposes a coordinated ramp metering control framework in large networks based on scalable nonlinear traffic dynamics model discovery. Existing coordinated ramp metering control methods often require accurate traffic dynamics models in real time, however, for large-scale highway networks, since these models are always nonlinear, they are extremely challenging to obtain. To overcome this limitation, this study utilizes the Sparse Identification of Nonlinear Dynamics with Control (SINDYc) to derive the accurate nonlinear traffic dynamics model from observed data. The discovered dynamics model is then integrated into a Model Predictive Control (MPC) coordinated ramp metering controller, enabling optimized control actions that enhance traffic flow and efficiency. The proposed framework is tested on a large-scale highway network that includes three intersecting highways and eight on-ramps, which outperforms the existing approaches, demonstrating its effectiveness and potential for real-time application. This framework can offer a scalable and robust solution for improving real-time traffic management in complex urban environments.

Authors:Yuyan Wu, Yiwen Dong, Sumer Vaid, Gabriella M. Harari, Hae Young Noh
Title: Personalized Emotion Detection from Floor Vibrations Induced by Footsteps
Abstract:
Emotion recognition is critical for various applications such as early detection of mental health disorders and emotion based smart home systems. Previous studies used various sensing methods for emotion recognition, such as wearable sensors, cameras, and microphones. However, these methods have limitations in long term domestic, including intrusiveness and privacy concerns. To overcome these limitations, this paper introduces a nonintrusive and privacy friendly personalized emotion recognition system, EmotionVibe, which leverages footstep induced floor vibrations for emotion recognition. The main idea of EmotionVibe is that individuals' emotional states influence their gait patterns, subsequently affecting the floor vibrations induced by their footsteps. However, there are two main research challenges: 1) the complex and indirect relationship between human emotions and footstep induced floor vibrations and 2) the large between person variations within the relationship between emotions and gait patterns. To address these challenges, we first empirically characterize this complex relationship and develop an emotion sensitive feature set including gait related and vibration related features from footstep induced floor vibrations. Furthermore, we personalize the emotion recognition system for each user by calculating gait similarities between the target person (i.e., the person whose emotions we aim to recognize) and those in the training dataset and assigning greater weights to training people with similar gait patterns in the loss function. We evaluated our system in a real-world walking experiment with 20 participants, summing up to 37,001 footstep samples. EmotionVibe achieved the mean absolute error (MAE) of 1.11 and 1.07 for valence and arousal score estimations, respectively, reflecting 19.0% and 25.7% error reduction compared to the baseline method.

Authors:Ahan Basu, Bhabani Shankar Dey, Pushpak Jagtap
Title: Formally Verified Neural Network Controllers for Incremental Input-to-State Stability of Unknown Discrete-Time Systems
Abstract:
This work aims to synthesize a controller that ensures that an unknown discrete-time system is incrementally input-to-state stable ($δ$-ISS). In this work, we introduce the notion of $δ$-ISS control Lyapunov function ($δ$-ISS-CLF), which, in conjunction with the controller, ensures that the closed-loop system is incrementally ISS. To address the unknown dynamics of the system, we parameterize the controller as well as the $δ$-ISS-CLF as neural networks and learn them by utilizing the sampled data from the state space of the unknown system. To formally verify the obtained $δ$-ISS-CLF, we develop a validity condition and incorporate the condition into the training framework to ensure a provable correctness guarantee at the end of the training process. Finally, the usefulness of the proposed approach is proved using multiple case studies - the first one is a scalar system with a non-affine non-polynomial structure, the second example is a one-link manipulator system, the third system is a nonlinear Moore-Grietzer model of the jet engine and the final one is a rotating rigid spacecraft model.

Authors:Chiara Ravazzi, Valentina Breschi, Paolo Frasca, Fabrizio Dabbene, Mara Tanelli
Title: Optimal Policy Design for Repeated Decision-Making under Social Influence
Abstract:
In this paper, we present a novel model to characterize individual tendencies in repeated decision-making scenarios, with the goal of designing model-based control strategies that promote virtuous choices amidst social and external influences. Our approach builds on the classical Friedkin and Johnsen model of social influence, extending it to include random factors (e.g., inherent variability in individual needs) and controllable external inputs. We explicitly account for the temporal separation between two processes that shape opinion dynamics: individual decision-making and social imitation. While individual decisions occur at regular, frequent intervals, the influence of social imitation unfolds over longer periods. The inclusion of random factors naturally leads to dynamics that do not converge in the classical sense. However, under specific conditions, we prove that opinions exhibit ergodic behavior. Building on this result, we propose a constrained asymptotic optimal control problem designed to foster, on average, social acceptance of a target action within a network. To address the transient dynamics of opinions, we reformulate this problem within a Model Predictive Control (MPC) framework. Simulations highlight the significance of accounting for these transient effects in steering individuals toward virtuous choices while managing policy costs.

Authors:Irched Chafaa, Giacomo Bacci, Luca Sanguinetti
Title: Transformer-Based Power Optimization for Max-Min Fairness in Cell-Free Massive MIMO
Abstract:
Power allocation is an important task in wireless communication networks. Classical optimization algorithms and deep learning methods, while effective in small and static scenarios, become either computationally demanding or unsuitable for large and dynamic networks with varying user loads. This letter explores the potential of transformer-based deep learning models to address these challenges. We propose a transformer neural network to jointly predict optimal uplink and downlink power using only user and access point positions. The max-min fairness problem in cell-free massive multiple input multiple output systems is considered. Numerical results show that the trained model provides near-optimal performance and adapts to varying numbers of users and access points without retraining, additional processing, or updating its neural network architecture. This demonstrates the effectiveness of the proposed model in achieving robust and flexible power allocation for dynamic networks.

Authors:Wenliang Liu, Nathalie Majcherczyk, Federico Pecora
Title: Scalable Multi-Robot Task Allocation and Coordination under Signal Temporal Logic Specifications
Abstract:
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal temporal logic (STL) can specify complex requirements, but STL-based motion planning and control algorithms often face scalability issues, especially in large multi-robot systems with complex dynamics. In this paper, we propose an algorithm that leverages the best of the two worlds. We first use a single-robot motion planner to efficiently generate a set of alternative reference paths for each robot. Then coordination requirements are specified using STL, which is defined over the assignment of paths and robots' progress along those paths. We use a Mixed Integer Linear Program (MILP) to compute task assignments and robot progress targets over time such that the STL specification is satisfied. Finally, a local controller is used to track the target progress. Simulations demonstrate that our method can handle tasks with complex constraints and scales to large multi-robot teams and intricate task allocation scenarios.

Authors:Daniel Abode, Pedro Maia de Sant Ana, Ramoni Adeogun, Alexander Artemenko, Gilberto Berardinelli
Title: Goal-Oriented Interference Coordination in 6G In-Factory Subnetworks
Abstract:
Subnetworks are expected to enhance wireless pervasiveness for critical applications such as wireless control of plants, however, they are interference-limited due to their extreme density. This paper proposes a goal-oriented joint power and multiple sub-bands allocation policy for interference coordination in 6G in-factory subnetworks. Current methods for interference coordination in subnetworks only focus on optimizing communication metrics, such as the block error rate, without considering the goal of the controlled plants. This oversight often leads to inefficient allocation of the limited radio resources. To address this, we devise a novel decentralized inter-subnetwork interference coordination policy optimized using a Bayesian framework to ensure the long-term stability of the subnetwork-controlled plants. Our results show that the proposed decentralized method can support more than twice the density of subnetwork-controlled plants compared to centralized schemes that aim to minimize the block error rate while reducing execution complexity significantly.

Authors:Weijie Kuang, Hann Woei Ho, Ye Zhou, Shahrel Azmin Suandi
Title: ForaNav: Insect-inspired Online Target-oriented Navigation for MAVs in Tree Plantations
Abstract:
Autonomous Micro Air Vehicles (MAVs) are becoming essential in precision agriculture to enhance efficiency and reduce labor costs through targeted, real-time operations. However, existing unmanned systems often rely on GPS-based navigation, which is prone to inaccuracies in rural areas and limits flight paths to predefined routes, resulting in operational inefficiencies. To address these challenges, this paper presents ForaNav, an insect-inspired navigation strategy for autonomous navigation in plantations. The proposed method employs an enhanced Histogram of Oriented Gradient (HOG)-based tree detection approach, integrating hue-saturation histograms and global HOG feature variance with hierarchical HOG extraction to distinguish oil palm trees from visually similar objects. Inspired by insect foraging behavior, the MAV dynamically adjusts its path based on detected trees and employs a recovery mechanism to stay on course if a target is temporarily lost. We demonstrate that our detection method generalizes well to different tree types while maintaining lower CPU usage, lower temperature, and higher FPS than lightweight deep learning models, making it well-suited for real-time applications. Flight test results across diverse real-world scenarios show that the MAV successfully detects and approaches all trees without prior tree location, validating its effectiveness for agricultural automation.

Authors:Yitao Bai, Sihan Zeng, Justin Romberg, Thinh T. Doan
Title: Accelerating Multi-Task Temporal Difference Learning under Low-Rank Representation
Abstract:
We study policy evaluation problems in multi-task reinforcement learning (RL) under a low-rank representation setting. In this setting, we are given $N$ learning tasks where the corresponding value function of these tasks lie in an $r$-dimensional subspace, with $r
Authors:Jan-Hendrik Ewers, Joe Gibbs, David Anderson
Title: Stone Soup Multi-Target Tracking Feature Extraction For Autonomous Search And Track In Deep Reinforcement Learning Environment
Abstract:
Management of sensing resources is a non-trivial problem for future military air assets with future systems deploying heterogeneous sensors to generate information of the battlespace. Machine learning techniques including deep reinforcement learning (DRL) have been identified as promising approaches, but require high-fidelity training environments and feature extractors to generate information for the agent. This paper presents a deep reinforcement learning training approach, utilising the Stone Soup tracking framework as a feature extractor to train an agent for a sensor management task. A general framework for embedding Stone Soup tracker components within a Gymnasium environment is presented, enabling fast and configurable tracker deployments for RL training using Stable Baselines3. The approach is demonstrated in a sensor management task where an agent is trained to search and track a region of airspace utilising track lists generated from Stone Soup trackers. A sample implementation using three neural network architectures in a search-and-track scenario demonstrates the approach and shows that RL agents can outperform simple sensor search and track policies when trained within the Gymnasium and Stone Soup environment.

Authors:Chandra Kant Jat, Francesco Giacomo Puricelli, Jef Beerten, Hakan Ergun, Dirk Van Hertem
Title: Unified Power Flow Model for Bipolar HVDC Grids in Unbalanced Operation
Abstract:
In the near future, point-to-point High Voltage Direct Current (HVDC) systems are expected to evolve into multi-terminal and meshed HVDC grids, predominantly adopting a bipolar HVDC configuration. Normally, bipolar HVDC systems operate in balanced mode, i.e., near zero current flows through metallic or ground return. However, bipolar HVDC systems can also be operated in an unbalanced mode in case of a single converter pole or line conductor outage. A steady-state analysis of the unbalanced DC network requires solving a power flow problem including various converter control modes, as the steady-state behavior of the converters is governed by their control modes. This paper presents a comprehensive and unified power flow model for the balanced and unbalanced operation of bipolar HVDC grids, including various converter control modes on the AC and DC sides of the converter, in a hybrid AC/DC system. It extends the basic control modes, developed for monopolar HVDC grids, to support the balanced as well as unbalanced operation of bipolar HVDC grids. Additionally, an AC-droop control, which defines a droop relationship between voltage magnitude and reactive power at the AC side of the converter, is incorporated into the modeling of bipolar HVDC systems. The functionality of the proposed model is demonstrated through a test case, and the power flow results are validated using PSCAD simulations. The impact of converter control modes on post-contingency system states is also investigated for single-pole contingencies. The proposed model is implemented as an open-source tool in the Julia/JuMP framework, where larger test cases demonstrate the robustness of the model and tool.

Authors:Chencheng Xu, Saber Jafarpour, Chengcheng Zhao, Zhiguo Shi, Jiming Chen
Title: Geometric Reachability for Attitude Control Systems via Contraction Theory
Abstract:
In this paper, we present a geometric framework for the reachability analysis of attitude control systems. We model the attitude dynamics on the product manifold $\mathrm{SO}(3) \times \mathbb{R}^3$ and introduce a novel parametrized family of Riemannian metrics on this space. Using contraction theory on manifolds, we establish reliable upper bounds on the Riemannian distance between nearby trajectories of the attitude control systems. By combining these trajectory bounds with numerical simulations, we provide a simulation-based algorithm to over-approximate the reachable sets of attitude systems. We show that the search for optimal metrics for distance bounds can be efficiently performed using semidefinite programming. Additionally, we introduce a practical and effective representation of these over-approximations on manifolds, enabling their integration with existing Euclidean tools and software. Numerical experiments validate the effectiveness of the proposed approach.

Authors:Qiang Ji, Lin Cheng, Zeng Liang, Yingrui Zhuang, Fashun Shi, Jianliang Zhang, Kejiang Li
Title: Energy-carbon comprehensive efficiency evaluation of hydrogen metallurgy system considering low-temperature waste heat recovery
Abstract:
To address the lack of energy-carbon efficiency evaluation and the underutilization of low-temperature waste heat in traditional direct reduction iron (DRI) production, this paper proposes a novel zero-carbon hydrogen metallurgy system that integrates the recovery and utilization of low-temperature and high-temperature waste heat, internal energy, and cold energy during hydrogen production, storage, reaction and circulation. Firstly, the detailed mathematical models are developed to describe energy and exergy characteristics of the operational components in the proposed zero-carbon hydrogen metallurgy system. Additionally, energy efficiency, exergy efficiency, and energy-carbon efficiency indices are introduced from a full life-cycle perspective of energy flow, avoiding the overlaps in energy inputs and outputs. Subsequently, the efficiency metrics of the proposed zero-carbon hydrogen metallurgy system are then compared with those of traditional DRI production systems with H$_2$/CO ratios of 6:4 and 8:2. The comparative results demonstrate the superiority and advancement of the proposed zero-carbon hydrogen metallurgy system. Finally, sensitivity analysis reveals that the overall electricity energy generated by incorporating the ORC and expander equipments exceeds the heat energy recovered from the furnace top gas, highlighting the energy potential of waste energy utilization.

Authors:Bowen Song, Andrea Iannelli
Title: Convergence Guarantees of Model-free Policy Gradient Methods for LQR with Stochastic Data
Abstract:
Policy gradient (PG) methods are the backbone of many reinforcement learning algorithms due to their good performance in policy optimization problems. As a gradient-based approach, PG methods typically rely on knowledge of the system dynamics. If this is not available, trajectory data can be utilized to approximate first-order information. When the data are noisy, gradient estimates become inaccurate and a study that investigates uncertainty estimation and the analysis of its propagation through the algorithm is currently missing. To address this, our work focuses on the Linear Quadratic Regulator (LQR) problem for systems subject to additive stochastic noise. After briefly summarizing the state of the art for cases with a known model, we focus on scenarios where the system dynamics are unknown, and approximate gradient information is obtained using zeroth-order optimization techniques. We analyze the theoretical properties by computing the error in the estimated gradient and examining how this error affects the convergence of PG algorithms. Additionally, we provide global convergence guarantees for various versions of PG methods, including those employing adaptive step sizes and variance reduction techniques, which help increase the convergence rate and reduce sample complexity. This study contributed to characterizing robustness of the study of the robustness of model-free PG methods, aiming to identify their limitations in the presence of stochastic noise and proposing improvements to enhance their applicability.

Authors:Sharaf K. Magableh, Oraib Dawaghreh, Xuesong Wang, Caisheng Wang
Title: Assessing the Performance and Impact of PV Technologies on Storage in Hybrid Renewable Systems
Abstract:
Traditional monofacial photovoltaic (mPV) systems are commonly adopted and well-documented because of their lower upfront costs in comparison to bifacial photovoltaic (bPV) systems. This study investigates how PV technologies impact energy storage in grid-scale hybrid renewable systems, focusing on optimizing and assessing the performance of mPV and bPV technologies integrated with pumped storage hydropower. Using Ludington City, Michigan as a case study and analyzing realworld data such as solar irradiance, ambient temperature, and utility-scale load profiles, the research highlights the operational and economic benefits of bPV systems. The results reveal that bPV systems can pump approximately 10.38% more water annually to the upper reservoir while achieving a lower levelized cost of energy ($0.0578/kWh for bPV vs. $0.0672/kWh for mPV). This study underscores the outstanding potential of bPV systems in enhancing energy storage and management strategies, contributing to a more sustainable and resilient renewable energy future.

Authors:Jan-Hendrik Ewers, David Anderson, Douglas Thomson
Title: Recurrent Auto-Encoders for Enhanced Deep Reinforcement Learning in Wilderness Search and Rescue Planning
Abstract:
Wilderness search and rescue operations are often carried out over vast landscapes. The search efforts, however, must be undertaken in minimum time to maximize the chance of survival of the victim. Whilst the advent of cheap multicopters in recent years has changed the way search operations are handled, it has not solved the challenges of the massive areas at hand. The problem therefore is not one of complete coverage, but one of maximizing the information gathered in the limited time available. In this work we propose that a combination of a recurrent autoencoder and deep reinforcement learning is a more efficient solution to the search problem than previous pure deep reinforcement learning or optimisation approaches. The autoencoder training paradigm efficiently maximizes the information throughput of the encoder into its latent space representation which deep reinforcement learning is primed to leverage. Without the overhead of independently solving the problem that the recurrent autoencoder is designed for, it is more efficient in learning the control task. We further implement three additional architectures for a comprehensive comparison of the main proposed architecture. Similarly, we apply both soft actor-critic and proximal policy optimisation to provide an insight into the performance of both in a highly non-linear and complex application with a large observation Results show that the proposed architecture is vastly superior to the benchmarks, with soft actor-critic achieving the best performance. This model further outperformed work from the literature whilst having below a fifth of the total learnable parameters and training in a quarter of the time.

Authors:Cody Buehner, Sharaf K. Magableh, Oraib Dawaghreh, Caisheng Wang
Title: Impact Analysis of Utility-Scale Energy Storage on the ERCOT Grid in Reducing Renewable Generation Curtailments and Emissions
Abstract:
This paper explores the solutions for minimizing renewable energy (RE) curtailment in the Texas Electric Reliability Council of Texas (ERCOT) grid. By utilizing current and future planning data from ERCOT and the System Advisor Model from the National Renewable Energy Laboratory, we examine how future renewable energy (RE) initiatives, combined with utility-scale energy storage, can reduce CO2 emissions while reshaping Texas's energy mix. The study projects the energy landscape from 2023 to 2033, considering the planned phase-out of fossil fuel plants and the integration of new wind/solar projects. By comparing emissions under different load scenarios, with and without storage, we demonstrate storage's role in optimizing RE utilization. The findings of this paper provide actionable guidance for energy stakeholders, underscoring the need to expand wind and solar projects with strategic storage solutions to maximize Texas's RE capacity and substantially reduce CO2 emissions.

Authors:Wei Hong, Wangkun Xu, Fei Teng
Title: Qubit-Efficient Quantum Annealing for Stochastic Unit Commitment
Abstract:
Stochastic Unit Commitment (SUC) has been proposed to manage the uncertainties driven by the integration of renewable energy sources. When solved by Benders Decomposition (BD), the master problem becomes a binary integer programming which is NP-hard and computationally demanding for classical computational methods. Quantum Annealing (QA), known for efficiently solving Quadratic Unconstrained Binary Optimization (QUBO) problems, presents a potential solution. However, existing quantum algorithms rely on slack variables to handle linear binary inequality constraints, leading to increased qubit consumption and reduced computational efficiency. To solve the problem, this paper introduces the Powell-Hestenes-Rockafellar Augmented Lagrangian Multiplier (PHR-ALM) method to eliminate the need for slack variables so that the qubit consumption becomes independent of the increasing number of bender's cuts. To further reduce the qubit overhead, quantum ADMM is applied to break large-scale SUC into smaller blocks and enables a sequential solution. Consequently, the Quantum-based PHR-ADMM (QPHR-ADMM) can significantly reduce qubit requirements and enhancing the applicability of QA in SUC problem. The simulation results demonstrate the feasibility of the proposed QPHR-ADMM algorithm, indicating its superior time efficiency over classical approaches for large scale QUBO problems under the D-Wave QPU showcases.

Authors:Aaron D. Ames, Joe Moeller, Paulo Tabuada
Title: Categorical Lyapunov Theory I: Stability of Flows
Abstract:
Lyapunov's theorem provides a fundamental characterization of the stability of dynamical systems. This paper presents a categorical framework for Lyapunov theory, generalizing stability analysis with Lyapunov functions categorically. Core to our approach is the set of axioms underlying a setting for stability, which give the necessary ingredients for ``doing Lyapunov theory'' in a category of interest. With these minimal assumptions, we define the stability of equilibria, formulate Lyapunov morphisms, and demonstrate that the existence of Lyapunov morphisms is necessary and sufficient for establishing the stability of flows. To illustrate these constructions, we show how classical notions of stability, e.g., for continuous and discrete time dynamical systems, are captured by this categorical framework for Lyapunov theory. Finally, to demonstrate the extensibility of our framework, we illustrate how enriched categories, e.g., Lawvere metric spaces, yield settings for stability enabling one to ``do Lyapunov theory'' in enriched categories.

Authors:Jan-Hendrik Ewers, David Cormack, Joe Gibbs, David Anderson
Title: Multi-Target Radar Search and Track Using Sequence-Capable Deep Reinforcement Learning
Abstract:
The research addresses sensor task management for radar systems, focusing on efficiently searching and tracking multiple targets using reinforcement learning. The approach develops a 3D simulation environment with an active electronically scanned array radar, using a multi-target tracking algorithm to improve observation data quality. Three neural network architectures were compared including an approach using fated recurrent units with multi-headed self-attention. Two pre-training techniques were applied: behavior cloning to approximate a random search strategy and an auto-encoder to pre-train the feature extractor. Experimental results revealed that search performance was relatively consistent across most methods. The real challenge emerged in simultaneously searching and tracking targets. The multi-headed self-attention architecture demonstrated the most promising results, highlighting the potential of sequence-capable architectures in handling dynamic tracking scenarios. The key contribution lies in demonstrating how reinforcement learning can optimize sensor management, potentially improving radar systems' ability to identify and track multiple targets in complex environments.

Authors:Prakitr Srisuma, George Barbastathis, Richard D. Braatz
Title: Probabilistically Robust Uncertainty Analysis and Optimal Control of Continuous Lyophilization via Polynomial Chaos Theory
Abstract:
Lyophilization, aka freeze drying, is a process commonly used to increase the stability of various drug products in biotherapeutics manufacturing, e.g., mRNA vaccines, allowing for higher storage temperature. While the current trends in the industry are moving towards continuous manufacturing, the majority of industrial lyophilization processes are still being operated in a batch mode. This article presents a framework that accounts for the probabilistic uncertainty during the primary and secondary drying steps in continuous lyophilization. The probabilistic uncertainty is incorporated into the mechanistic model via polynomial chaos theory (PCT). The resulting PCT-based model is able to accurately and efficiently quantify the effects of uncertainty on several critical process variables, including the temperature, sublimation front, and concentration of bound water. The integration of the PCT-based model into stochastic optimization and control is demonstrated. The proposed framework and case studies can be used to guide the design and control of continuous lyophilization while accounting for probabilistic uncertainty.

Authors:Syed Aaqib Javed, Anannya Ghosh Tusti, Biplov Pandey, Subasish Das
Title: From Maneuver to Mishap: A Systematic Literature Review on U-Turn Safety Risks
Abstract:
Understanding the impacts of U-turn configurations on intersection safety and traffic operations is essential for developing effective strategies to enhance road safety and efficiency. Extensive research has been conducted to investigate the role of geometric designs, driver behavior, and advanced technologies in mitigating crash risks and improving traffic flow at U-turn facilities. By synthesizing this collective body of work through the guidelines of Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA), this paper provides a valuable resource for transportation professionals, policymakers, and researchers seeking evidence-based solutions. This systematic review draws on studies from diverse traffic environments and regional contexts, focusing on innovative design interventions, such as restricted crossing U-turns (RCUTs) and median U-turn intersections (MUTs), as well as integrated strategies leveraging technological advancements. By presenting a comprehensive analysis of U-turn-related challenges and opportunities, this review contributes to advancing transportation safety research and guiding the development of adaptive strategies tailored to varied traffic conditions and evolving technologies.

Authors:Jiale Zhang, Yuyan Wu, Jesse R Codling, Yen Cheng Chang, Julia Gersey, Pei Zhang, Hae Young Noh, Yiwen Dong
Title: WeVibe: Weight Change Estimation Through Audio-Induced Shelf Vibrations In Autonomous Stores
Abstract:
Weight change estimation is crucial in various applications, particularly for detecting pick-up and put-back actions when people interact with the shelf while shopping in autonomous stores. Moreover, accurate weight change estimation allows autonomous stores to automatically identify items being picked up or put back, ensuring precise cost estimation. However, the conventional approach of estimating weight changes requires specialized weight-sensing shelves, which are densely deployed weight scales, incurring intensive sensor consumption and high costs. Prior works explored the vibration-based weight sensing method, but they failed when the location of weight change varies. In response to these limitations, we made the following contributions: (1) We propose WeVibe, a first item weight change estimation system through active shelf vibration sensing. The main intuition of the system is that the weight placed on the shelf influences the dynamic vibration response of the shelf, thus altering the shelf vibration patterns. (2) We model a physics-informed relationship between the shelf vibration response and item weight across multiple locations on the shelf based on structural dynamics theory. This relationship is linear and allows easy training of a weight estimation model at a new location without heavy data collection. (3) We evaluate our system on a gondola shelf organized as the real-store settings. WeVibe achieved a mean absolute error down to 38.07g and a standard deviation of 31.2g with one sensor and 10% samples from three weight classes on estimating weight change from 0g to 450g, which can be leveraged for differentiating items with more than 100g differences.

Authors:Xinxing Ren, Chun Sing Lai, Gareth Taylor, Zekun Guo
Title: Can Large Language Model Agents Balance Energy Systems?
Abstract:
This paper presents a hybrid approach that integrates Large Language Models (LLMs) with a multi-scenario Stochastic Unit Commitment (SUC) framework to enhance both efficiency and reliability under high wind generation uncertainties. In a 10-trial study on the test energy system, the traditional SUC approach incurs an average total cost of 187.68 million dollars, whereas the LLM-assisted SUC (LLM-SUC) achieves a mean cost of 185.58 million dollars (range: 182.61 to 188.65 million dollars), corresponding to a cost reduction of 1.1 to 2.7 percent. Furthermore, LLM-SUC reduces load curtailment by 26.3 percent (2.24 plus/minus 0.31 GWh versus 3.04 GWh for SUC), while both methods maintain zero wind curtailment. Detailed temporal analysis shows that LLM-SUC achieves lower costs in the majority of time intervals and consistently outperforms SUC in 90 percent of cases, with solutions clustering in a favorable cost-reliability region (Coefficient of Variation = 0.93 percent for total cost and 13.8 percent for load curtailment). By leveraging an LLM agent to guide generator commitment decisions and dynamically adjust to stochastic conditions, the proposed framework improves demand fulfillment and operational resilience.

Authors:Deep Parikh, David van Wijk, Manoranjan Majji
Title: Safe Multi-agent Satellite Servicing with Control Barrier Functions
Abstract:
The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists of modular servicing agents deployed towards a tumbling space object from a mothership. Relative position and orientation of each agent is obtained via fusion of relative range and inertial measurement sensors. The control barrier functions are utilized to avoid collisions with other agents for the application of simultaneously relocating servicing agents on a tumbling body. A differential collision detection and avoidance framework using the polytopic hull of the tumbling space object is utilized to safely guide the agents away from the tumbling object.

Authors:Xiao Chen, Zhiqi Tang, Karl Henrik Johansson, Jonas MÃ¥rtensson
Title: Safe platooning control of connected and autonomous vehicles on curved multi-lane roads
Abstract:
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct parts: a lateral control law that ensures a geometrical convergence towards the reference path regardless of the translational velocity, and a longitudinal control design for each vehicle to achieve the desired relative arc length and velocity with respect to its neighboring vehicle. The second novelty is exploiting the constructive barrier feedback as an additive term to the nominal tracking control, ensuring both lateral and longitudinal collision avoidance. This constructive barrier feedback acts as a dissipative term, slowing down the relative velocity toward obstacles without affecting the nominal controller's performance. Consequently, our proposed control method enables safe platoon formation of vehicles on curved multi-lane roads, with theoretical guarantees for safety invariance and stability analysis. Simulation and experimental results on connected vehicles are provided to further validate the effectiveness of the proposed method.

Authors:Rakesh Kumar Sahoo, Manoranjan Sinha
Title: Coupled Rendezvous and Docking Maneuver control of satellite using Reinforcement learning-based Adaptive Fixed-Time Sliding Mode Controller
Abstract:
Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode controllers with fixed parameters often struggle to maintain optimal performance under these fluctuating conditions. Therefore, an adaptive controller is essential to address these challenges by continuously tuning its gains in real-time. In this paper, we have tuned the slopes of the Fixed-time Sliding surface adaptively using reinforcement learning for coupled rendezvous and docking maneuver of chaser satellite with the target satellite in an unknown space environment. The neural network model is used to determine the optimal gains of reaching law of the fixed-time sliding surface. We have assumed that we don't have an accurate model of the system so we have added noise in the tangent space instead of directly on the manifold to preserve the geometric structure of the system while ensuring mathematically consistent uncertainty propagation. The reinforcement learning is used as an approximator to represent the value function of the agent to estimate the dynamical model of the system using the Actor-Critic method. The proposed control algorithm integrates a neural network and a sliding mode controller in a cascade loop architecture, where the tracking error dynamically tunes the sliding surface gains. Global fixed-time stability of the closed-loop feedback system is proved within the Lyapunov framework. This comprehensive approach of fixed-time sliding mode controller using a Reinforcement Learning based ensures the completion of the mission efficiently while addressing the critical challenges posed by the uncertain environment. The simulation results presented support the claims made.

Authors:Krishan Kumar Tiwari, Thomas Flisgen, Wolfgang Heinrich, Giuseppe Caire
Title: Array-Fed RIS: Validation of Friis-Based Modeling Using Full-Wave Simulations
Abstract:
Space-fed large antenna arrays offer superior efficiency, simplicity, and reductions in size, weight, power, and cost (SWaP-C) compared to constrained-feed systems. Historically, horn antennas have been used for space feeding, but they suffer from limitations such as bulky designs, low aperture efficiency ($\approx 50\%$), and restricted degrees of freedom at the continuous aperture. In contrast, planar patch arrays achieve significantly higher aperture efficiency ($>90\%$) due to their more uniform aperture distribution, reduced weight, and increased degrees of freedom from the discretized aperture. Building on these advantages, we proposed an array-fed Reflective Intelligent Surface (RIS) system, where an active multi-antenna feeder (AMAF) optimizes power transfer by aligning with the principal eigenmode of the AMAF-RIS propagation matrix $\mathbf{T}$. While our previous studies relied on the Friis transmission formula for system modeling, we now validate this approach through full-wave simulations in CST Microwave Studio. By comparing the Friis-based matrix, $\mathbf{T}_{\rm Friis}$, with the full-wave solution, $\mathbf{T}_{\rm full. wave}$, we validate the relevance of the Friis-based modeling for top-level system design. Our findings confirm the feasibility of the proposed AMAF-RIS architecture for next-generation communication systems.

Authors:Ruchuan Ou, Guanru Pan, Timm Faulwasser
Title: A Stochastic Fundamental Lemma with Reduced Disturbance Data Requirements
Abstract:
Recently, the fundamental lemma by Willems et. al has been extended towards stochastic LTI systems subject to process disturbances. Using this lemma requires previously recorded data of inputs, outputs, and disturbances. In this paper, we exploit causality concepts of stochastic control to propose a variant of the stochastic fundamental lemma that does not require past disturbance data in the Hankel matrices. Our developments rely on polynomial chaos expansions and on the knowledge of the disturbance distribution. Similar to our previous results, the proposed variant of the fundamental lemma allows to predict future input-output trajectories of stochastic LTI systems. We draw upon a numerical example to illustrate the proposed variant in data-driven control context.

Authors:Thang K. Nguyen, Thanh V. Pham, Hoang D. Le, Chuyen T. Nguyen, Anh T. Pham
Title: Multi-user Visible Light Communications with Probabilistic Constellation Shaping and Precoding
Abstract:
This paper proposes a joint design of probabilistic constellation shaping (PCS) and precoding to enhance the sum-rate performance of multi-user visible light communications (VLC) broadcast channels subject to signal amplitude constraint. In the proposed design, the transmission probabilities of bipolar $M$-pulse amplitude modulation ($M$-PAM) symbols for each user and the transmit precoding matrix are jointly optimized to improve the sum-rate performance. The joint design problem is shown to be a complex multivariate non-convex problem due to the non-convexity of the objective function. To tackle the original non-convex optimization problem, the firefly algorithm (FA), a nature-inspired heuristic optimization approach, is employed to solve a local optima. The FA-based approach, however, suffers from high computational complexity. Thus, using zero-forcing (ZF) precoding, we propose a low-complexity design, which is solved using an alternating optimization approach. Additionally, considering the channel uncertainty, a robust design based on the concept of end-to-end learning with autoencoder (AE) is also presented. Simulation results reveal that the proposed joint design with PCS significantly improves the sum-rate performance compared to the conventional design with uniform signaling. For instance, the joint design achieves $\mathbf{17.5\%}$ and $\mathbf{19.2\%}$ higher sum-rate for 8-PAM and 16-PAM, respectively, at 60 dB peak amplitude-to-noise ratio. Some insights into the optimal symbol distributions of the two joint design approaches are also provided. Furthermore, our results show the advantage of the proposed robust design over the non-robust one under uncertain channel conditions.

Authors:Qianwen Guo, Jiaqing Lu, Joseph Y. J. Chow, Paul Schonfeld
Title: Equity-aware Design and Timing of Fare-free Transit Zoning under Demand Uncertainty
Abstract:
We propose the first analytical stochastic model for optimizing the configuration and implementation policies of fare-free transit. The model focuses on a transportation corridor with two transportation modes: automobiles and buses. The corridor is divided into two sections, an inner one with fare-free transit service and an outer one with fare-based transit service. Under the static version of the model, the optimized length and frequency of the fare-free transit zone can be determined by maximizing total social welfare. The findings indicate that implementing fare-free transit can increase transit ridership and reduce automobile use within the fare-free zone while social equity among the demand groups can be enhanced by lengthening the fare-free zone. Notably, the optimal zone length increases when both social welfare and equity are considered jointly, compared to only prioritizing social welfare. The dynamic model, framed within a market entry and exit real options approach, solves the fare policy switching problem, establishing optimal timing policies for activating or terminating fare-free service. The results from dynamic models reveal earlier implementation and extended durations of fare-free transit in the social welfare-aware regime, driven by lower thresholds compared to the social equity-aware regime.

Authors:Jiaqing Lu, Qianwen Guo, Paul Schonfeld
Title: Policy Selection and Schedules for Exclusive Bus Lane and High Occupancy Vehicle Lane in a Bi-modal Transportation Corridor
Abstract:
Efficient management of transportation corridors is critical for sustaining urban mobility, directly influencing transportation efficiency. Two prominent strategies for enhancing public transit services and alleviating congestion, Exclusive Bus Lane (EBL) and High Occupancy Vehicle Lane (HOVL), are gaining increasing attention. EBLs prioritize bus transit by providing dedicated lanes for faster travel times, while HOVLs encourage carpooling by reserving lanes for high-occupancy vehicles. However, static implementations of these policies may underutilize road resources and disrupt general-purpose lanes. Dynamic control of these policies, based on real-time demand, can potentially maximize road efficiency and minimize negative impacts. This study develops cost functions for Mixed Traffic Policy (MTP), Exclusive Bus Lane Policy (EBLP), and High Occupancy Vehicle Lane Policy (HOVLP), incorporating optimized bus frequency and demand split under equilibrium condition. Switching thresholds for policy selection are derived to identify optimal periods for implementing each policy based on dynamic demand simulated using an Ornstein-Uhlenbeck (O-U) process. Results reveal significant reductions in total system costs with the proposed dynamic policy integration. Compared to static implementations, the combined policy achieves cost reductions of 12.0%, 5.3% and 42.5% relative to MTP-only, EBLP-only, and HOVLP-only scenarios, respectively. Additionally, in two real case studies of existing EBL and HOVL operations, the proposed dynamic policy reduces total costs by 32.2% and 27.9%, respectively. The findings provide valuable insights for policymakers and transit planners, offering a robust framework for dynamically scheduling and integrating EBL and HOVL policies to optimize urban corridor efficiency and reduce overall system costs.

Authors:Yi Chu, Mostafa Rahmani, Josh Shackleton, David Grace, Kanapathippillai Cumanan, Hamed Ahmadi, Alister Burr
Title: Testbed Development: An Intelligent O-RAN based Cell-Free MIMO Network
Abstract:
Cell-free multiple input multiple output (CF-MIMO) systems improve spectral and energy efficiencies using distributed access points (APs) to provide reliable service across an area equivalent to multiple conventional cells. This paper presents a novel design and implementation of a CF-MIMO network leveraging the open radio access network (O-RAN) architecture based testbed to enhance the performance of interference-prone user. The proposed prototype is developed based on open source software components and unlike many other prototypes, our testbed is able to serve commercial 5G user equipment (UE). The RAN intelligent controller (RIC) allows the cell-free (CF) network to access the embedded artificial intelligence and benefit from the network optimisation techniques that O-RAN brings. The testbed includes an intelligent antenna association xApp which determines the antenna group that serves each UE based on the live key performance measurements. The paper demonstrates the deployment and operation of the CF network and the xApp and discusses how the CF networks can benefit from the O-RAN architecture.

Authors:Krishan Kumar Tiwari, Giuseppe Caire
Title: Flat-Top Beamforming with Efficient Array-Fed RIS
Abstract:
Flat-top beam designs are essential for uniform power distribution over a wide angular sector for applications such as 5G/6G networks, beaconing, satellite communications, radar systems, etc. Low sidelobe levels with steep transitions allow negligible cross sector illumination. Active array designs requiring amplitude taper suffer from poor power amplifier utilization. Phase only designs, e.g., Zadoff-Chu or generalized step chirp polyphase sequence methods, often require large active antenna arrays which in turns increases the hardware complexity and reduces the energy efficiency. In our recently proposed novel array-fed reflective intelligent surface (RIS) architecture, the small ($2 \times 2$) active array has uniform (principal eigenmode) amplitude weighting. We now present a pragmatic flat-top pattern design method for practical array (RIS) sizes, which outperforms current state-of-the-art in terms of design superiority, energy efficiency, and deployment feasibility. This novel design holds promise for advancing sustainable wireless technologies in next-generation communication systems, including applications such as beaconing, broadcast signaling, and hierarchical beamforming, while mitigating the environmental impact of high-energy antenna arrays.

Authors:Pandula Thennakoon, Mario De Silva, M. Mahesha Viduranga, Sashini Liyanage, Roshan Godaliyadda, Mervyn Parakrama Ekanayake, Vijitha Herath, Anuruddhika Rathnayake, Ganga Thilakarathne, Janaka Ekanayake, Samath Dharmarathne
Title: AVSim -- Realistic Simulation Framework for Airborne and Vector-Borne Disease Dynamics
Abstract:
Computational disease modeling plays a crucial role in understanding and controlling the transmission of infectious diseases. While agent-based models (ABMs) provide detailed insights into individual dynamics, accurately replicating human motion remains challenging due to its complex, multi-factorial nature. Most existing frameworks fail to model realistic human motion, leading to oversimplified and less realistic behavior modeling. Furthermore, many current models rely on synthetic assumptions and fail to account for realistic environmental structures, transportation systems, and behavioral heterogeneity across occupation groups. To address these limitations, we introduce AVSim, an agent-based simulation framework designed to model airborne and vector-borne disease dynamics under realistic conditions. A distinguishing feature of AVSim is its ability to accurately model the dual nature of human mobility (both the destinations individuals visit and the duration of their stay) by utilizing GPS traces from real-world participants, characterized by occupation. This enables a significantly more granular and realistic representation of human movement compared to existing approaches. Furthermore, spectral clustering combined with graph-theoretic analysis is used to uncover latent behavioral patterns within occupations, enabling fine-grained modeling of agent behavior. We validate the synthetic human mobility patterns against ground-truth GPS data and demonstrate AVSim's capabilities via simulations of COVID-19 and dengue. The results highlight AVSim's capacity to trace infection pathways, identify high-risk zones, and evaluate interventions such as vaccination, quarantine, and vector control with occupational and geographic specificity.

Authors:Varun Madabushi, Yocheved Kopel, Adam Polevoy, Joseph Moore
Title: Dense Fixed-Wing Swarming using Receding-Horizon NMPC
Abstract:
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinear model predictive control (NMPC) to plan maneuvers across an expanded flight envelope to enable inter-agent collision avoidance. To facilitate robust collision avoidance and characterize the likelihood of inter-agent collisions, we compute a statistical bound on the probability of the system leaving a tube around the planned nominal trajectory. Finally, we propose a metric for evaluating highly dynamic swarms and use this metric to evaluate our approach. We successfully demonstrated our approach through both simulation and hardware experiments, and to our knowledge, this the first time close-quarters swarming has been achieved with physical aerobatic fixed-wing vehicles.

Authors:Alejandro Antón Ruiz, John Kvarnstrand, Klas Arvidsson, Andrés Alayón Glazunov
Title: RC Measurement Uncertainty Estimation Method for Directive Antennas and Turntable Stirring
Abstract:
This paper investigates measurement uncertainty in a Reverberation Chamber (RC) within the lower FR2 bands (24.25-29.5 GHz). The study focuses on the impact of several factors contributing to RC measurement uncertainty, including finite sample size, polarization imbalance, and spatial non-uniformity. A series of 24 measurements were conducted using a horn antenna, known for its directivity in mmWave frequencies, varying antenna parameters such as height, orientation, position on the turntable, and polarization within a predefined chamber volume. The measurement uncertainty was evaluated by a method based on the standardized 3GPP and CTIA approaches, incorporating uncorrelated measurements and analyzing Pearson correlation coefficients between measurement pairs. An analysis of variance (ANOVA) was performed on the frequency-averaged power transfer function to identify the significance and impact of each variable on measurement variability. Additionally, the K-factor was estimated for each measurement set as part of the RC characterization, using an alternative approach to account for the turntable stirring effect. The findings highlight which variables most significantly influence measurement uncertainty, where the antenna orientation emerges as the most significant factor for the mmWave directive antenna setup.

Authors:Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch, Leonardo Colombo
Title: Geometric Stabilization of Virtual Nonlinear Nonholonomic Constraints
Abstract:
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant through feedback control. Virtual nonholonomic constraints represent a specific class of virtual constraints that depend on the system's velocities in addition to its configurations. We derive a control law under which a mechanical control system achieves exponential convergence to the virtual constraint submanifold, and rendering it control-invariant. The proposed controller's performance is validated through simulation results in two distinct applications: flocking motion in multi-agent systems and the control of an unmanned surface vehicle (USV) navigating a stream.

Authors:Litian Liu, Reza Pourreza, Sunny Panchal, Apratim Bhattacharyya, Yao Qin, Roland Memisevic
Title: Enhancing Hallucination Detection through Noise Injection
Abstract:
Large Language Models (LLMs) are prone to generating plausible yet incorrect responses, known as hallucinations. Effectively detecting hallucinations is therefore crucial for the safe deployment of LLMs. Recent research has linked hallucinations to model uncertainty, suggesting that hallucinations can be detected by measuring dispersion over answer distributions obtained from a set of samples drawn from a model. While drawing from the distribution over tokens defined by the model is a natural way to obtain samples, in this work, we argue that it is sub-optimal for the purpose of detecting hallucinations. We show that detection can be improved significantly by taking into account model uncertainty in the Bayesian sense. To this end, we propose a very simple and efficient approach that perturbs an appropriate subset of model parameters, or equivalently hidden unit activations, during sampling. We demonstrate its effectiveness across a wide range of datasets and model architectures.

Authors:Dengyu Zhang, Chenghao, Feng Xue, Qingrui Zhang
Title: Learning Efficient Flocking Control based on Gibbs Random Fields
Abstract:
Flocking control is essential for multi-robot systems in diverse applications, yet achieving efficient flocking in congested environments poses challenges regarding computation burdens, performance optimality, and motion safety. This paper addresses these challenges through a multi-agent reinforcement learning (MARL) framework built on Gibbs Random Fields (GRFs). With GRFs, a multi-robot system is represented by a set of random variables conforming to a joint probability distribution, thus offering a fresh perspective on flocking reward design. A decentralized training and execution mechanism, which enhances the scalability of MARL concerning robot quantity, is realized using a GRF-based credit assignment method. An action attention module is introduced to implicitly anticipate the motion intentions of neighboring robots, consequently mitigating potential non-stationarity issues in MARL. The proposed framework enables learning an efficient distributed control policy for multi-robot systems in challenging environments with success rate around $99\%$, as demonstrated through thorough comparisons with state-of-the-art solutions in simulations and experiments. Ablation studies are also performed to validate the efficiency of different framework modules.

Authors:Mohamed-Khalil Bouzidi, Bojan Derajic, Daniel Goehring, Joerg Reichardt
Title: Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC
Abstract:
This paper presents a novel contingency planning framework that integrates learning-based multi-modal predictions of traffic participants into Branch Model Predictive Control (MPC). Leveraging reachability analysis, we address the computational challenges associated with Branch MPC by organizing the multitude of predictions into driving corridors. Analyzing the overlap between these corridors, their number can be reduced through pruning and clustering while ensuring safety since all prediction modes are preserved. These processed corridors directly correspond to the distinct branches of the scenario tree and provide an efficient constraint representation for the Branch MPC. We further utilize the reachability for determining maximum feasible decision postponing times, ensuring that branching decisions remain executable. Qualitative and quantitative evaluations demonstrate significantly reduced computational complexity and enhanced safety and comfort.

Authors:Afonso Oliveira, Diogo Costa, Gonçalo Moreira, José Martins, Sandro Pinto
Title: H-MBR: Hypervisor-level Memory Bandwidth Reservation for Mixed Criticality Systems
Abstract:
Recent advancements in fields such as automotive and aerospace have driven a growing demand for robust computational resources. Applications that were once designed for basic MCUs are now deployed on highly heterogeneous SoC platforms. While these platforms deliver the necessary computational performance, they also present challenges related to resource sharing and predictability. These challenges are particularly pronounced when consolidating safety and non-safety-critical systems, the so-called Mixed-Criticality Systems (MCS) to adhere to strict SWaP-C requirements. MCS consolidation on shared platforms requires stringent spatial and temporal isolation to comply with functional safety standards. Virtualization, mainly leveraged by hypervisors, is a key technology that ensures spatial isolation across multiple OSes and applications; however, ensuring temporal isolation remains challenging due to contention on shared hardwar resources, which impacts real-time performance and predictability. To mitigate this problem, several strategies as cache coloring and memory bandwidth reservation have been proposed. Although cache coloring is typically implemented on state-of-the-art hypervisors, memory bandwidth reservation approaches are commonly implemented at the Linux kernel level or rely on dedicated hardware and typically do not consider the concept of VMs that can run different OSes. To fill the gap between current memory bandwidth reservation solutions and the deployment of MCSs that operate on a hypervisor, this work introduces H-MBR, an open-source VM-centric memory bandwidth reservation mechanism. H-MBR features (i) VM-centric bandwidth reservation, (ii) OS and platform agnosticism, and (iii) reduced overhead. Empirical results evidenced no overhead on non-regulated workloads, and negligible overhead (<1%) for regulated workloads for regulation periods of 2 us or higher.

Authors:Umberto Casti, Giacomo Baggio, Sandro Zampieri, Fabio Pasqualetti
Title: Controllable Neural Architectures for Multi-Task Control
Abstract:
This paper studies a multi-task control problem where multiple linear systems are to be regulated by a single non-linear controller. In particular, motivated by recent advances in multi-task learning and the design of brain-inspired architectures, we consider a neural controller with (smooth) ReLU activation function. The parameters of the controller are a connectivity matrix and a bias vector: although both parameters can be designed, the connectivity matrix is constant while the bias vector can be varied and is used to adapt the controller across different control tasks. The bias vector determines the equilibrium of the neural controller and, consequently, of its linearized dynamics. Our multi-task control strategy consists of designing the connectivity matrix and a set of bias vectors in a way that the linearized dynamics of the neural controller for the different bias vectors provide a good approximation of a set of desired controllers. We show that, by properly choosing the bias vector, the linearized dynamics of the neural controller can replicate the dynamics of any single, linear controller. Further, we design gradient-based algorithms to train the parameters of the neural controller, and we provide upper and lower bounds for the performance of our neural controller. Finally, we validate our results using different numerical examples.

Authors:Haoying Zhou, Hao Yang, Anton Deguet, Loris Fichera, Jie Ying Wu, Peter Kazanzides
Title: Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification
Abstract:
The da Vinci Research Kit (dVRK, also known as dVRK Classic) is an open-source teleoperated surgical robotic system whose hardware is obtained from the first generation da Vinci Surgical System (Intuitive, Sunnyvale, CA, USA). The dVRK has greatly facilitated research in robot-assisted surgery over the past decade and helped researchers address multiple major challenges in this domain. Recently, the dVRK-Si system, a new version of the dVRK which uses mechanical components from the da Vinci Si Surgical System, became available to the community. The major difference between the first generation da Vinci and the da Vinci Si is in the structural upgrade of the Patient Side Manipulator (PSM). Because of this upgrade, the gravity of the dVRK-Si PSM can no longer be ignored as in the dVRK Classic. The high gravity offset may lead to relatively low control accuracy and longer response time. In addition, although substantial progress has been made in addressing the dynamic model identification problem for the dVRK Classic, further research is required on model-based control for the dVRK-Si, due to differences in mechanical components and the demand for enhanced control performance. To address these problems, in this work, we present (1) a novel full kinematic model of the dVRK-Si PSM, and (2) a gravity compensation approach based on the dynamic model identification.

Authors:Donghwa Kang, Woojin Shin, Cheol-Ho Hong, Minsuk Koo, Brent ByungHoon Kang, Jinkyu Lee, Hyeongboo Baek
Title: Real Time Scheduling Framework for Multi Object Detection via Spiking Neural Networks
Abstract:
Given the energy constraints in autonomous mobile agents (AMAs), such as unmanned vehicles, spiking neural networks (SNNs) are increasingly favored as a more efficient alternative to traditional artificial neural networks. AMAs employ multi-object detection (MOD) from multiple cameras to identify nearby objects while ensuring two essential objectives, (R1) timing guarantee and (R2) high accuracy for safety. In this paper, we propose RT-SNN, the first system design, aiming at achieving R1 and R2 in SNN-based MOD systems on AMAs. Leveraging the characteristic that SNNs gather feature data of input image termed as membrane potential, through iterative computation over multiple timesteps, RT-SNN provides multiple execution options with adjustable timesteps and a novel method for reusing membrane potential to support R1. Then, it captures how these execution strategies influence R2 by introducing a novel notion of mean absolute error and membrane confidence. Further, RT-SNN develops a new scheduling framework consisting of offline schedulability analysis for R1 and a run-time scheduling algorithm for R2 using the notion of membrane confidence. We deployed RT-SNN to Spiking-YOLO, the SNN-based MOD model derived from ANN-to-SNN conversion, and our experimental evaluation confirms its effectiveness in meeting the R1 and R2 requirements while providing significant energy efficiency.

Authors:Jiabao He, Ingvar Ziemann, Cristian R. Rojas, S. Joe Qin, HÃ¥kan Hjalmarsson
Title: Finite Sample Analysis of Open-loop Subspace Identification Methods
Abstract:
Subspace identification methods (SIMs) are known for their simple parameterization for MIMO systems and robust numerical properties. However, a comprehensive statistical analysis of SIMs remains an open problem. Following a three-step procedure generally used in SIMs, this work presents a finite sample analysis for open-loop SIMs. In Step 1 we begin with a parsimonious SIM. Leveraging a recent analysis of an individual ARX model, we obtain a union error bound for a Hankel-like matrix constructed from a bank of ARX models. Step 2 involves model reduction via weighted singular value decomposition (SVD), where we use robustness results for SVD to obtain error bounds on extended controllability and observability matrices, respectively. The final Step 3 focuses on deriving error bounds for system matrices, where two different realization algorithms, the MOESP type and the CVA type, are studied. Our results not only agree with classical asymptotic results, but also show how much data is needed to guarantee a desired error bound with high probability. The proposed method generalizes related finite sample analyses and applies broadly to many variants of SIMs.

Authors:Diogo Costa, Gonçalo Moreira, Afonso Oliveira, José Martins, Sandro Pinto
Title: SP-IMPact: A Framework for Static Partitioning Interference Mitigation and Performance Analysis
Abstract:
Modern embedded systems are evolving toward complex, heterogeneous architectures to accommodate increasingly demanding applications. Driven by SWAP-C constraints, this shift has led to consolidating multiple systems onto single hardware platforms. Static Partitioning Hypervisors offer a promising solution to partition hardware resources and provide spatial isolation between critical workloads. However, shared resources like the Last-Level Cache and system bus can introduce temporal interference between virtual machines (VMs), negatively impacting performance and predictability. Over the past decade, academia and industry have developed interference mitigation techniques, such as cache partitioning and memory bandwidth reservation. However, configuring these techniques is complex and time-consuming. Cache partitioning requires balancing cache sections across VMs, while memory bandwidth reservation needs tuning bandwidth budgets and periods. Testing all configurations is impractical and often leads to suboptimal results. Moreover, understanding how these techniques interact is limited, as their combined use can produce compounded or conflicting effects on performance. Static analysis tools estimating worst-case execution times offer guidance for configuring mitigation techniques but often fail to capture the complexity of modern multi-core systems. They typically focus on limited shared resources while neglecting others, such as IOMMUs and interrupt controllers. To address these challenges, we present SP-IMPact, an open-source framework for analyzing and guiding interference mitigation configurations. SP-IMPact supports (i) cache coloring and (ii) memory bandwidth reservation, while evaluating their interactions and cumulative impact. By providing insights on real hardware, SP-IMPact helps optimize configurations for mixed-criticality systems, ensuring performance and predictability.

Authors:Yiwei Qiu, Jiatong Li, Yangjun Zeng, Yi Zhou, Shi Chen, Xiaoyan Qiu, Buxiang Zhou, Ge He, Xu Ji, Wenying Li
Title: Dynamic Operation and Control of a Multi-Stack Alkaline Water Electrolysis System with Shared Gas Separators and Lye Circulation: A Model-Based Study
Abstract:
An emerging approach for large-scale hydrogen production using renewable energy is to integrate multiple alkaline water electrolysis (AWE) stacks into a single balance of plant (BoP) system, sharing components such as gas-lye separation and lye circulation. This configuration, termed the $N$-in-1 AWE system, packs $N$ stacks into a modular system, reducing land requirements, the complexity of plant topology, and overall capital costs. However, the coupling of these stacks through the shared BoP introduces challenges in dynamic operation under varying energy inputs, making their performance unclear compared to traditional 1-in-1 systems. To address this, we develop a state-space model of the $N$-in-1 AWE system, capturing the dynamic behaviors of lye circulation, temperature, and HTO impurity, and their impact on energy conversion efficiency. We then propose a nonlinear model predictive controller (NMPC) to coordinately optimize inter-stack electrolytic current distribution, lye flow, and cooling, enabling the system to dynamically track varying load commands while maximizing efficiency, stabilizing temperature, and limiting HTO impurity accumulation. Simulation studies on a 4,000 Nm$^3$/h-rated 4-in-1 system verify the proposed controller under dynamic operation. Comparison with 4 independent 1-in-1 systems reveals that, with proper control, the $N$-in-1 configuration offers comparable flexibility in accommodating real-world wind power inputs. The average differences in the root-mean-square errors (RMSEs) for load-tracking and stack temperature stabilization, and specific energy consumption are below 0.014 MW, 2.356 K, and 0.003 kWh/Nm$^3$.

Authors:Vito Cerone, Sophie M. Fosson, Diego Regruto
Title: Fast sparse optimization via adaptive shrinkage
Abstract:
The need for fast sparse optimization is emerging, e.g., to deal with large-dimensional data-driven problems and to track time-varying systems. In the framework of linear sparse optimization, the iterative shrinkage-thresholding algorithm is a valuable method to solve Lasso, which is particularly appreciated for its ease of implementation. Nevertheless, it converges slowly. In this paper, we develop a proximal method, based on logarithmic regularization, which turns out to be an iterative shrinkage-thresholding algorithm with adaptive shrinkage hyperparameter. This adaptivity substantially enhances the trajectory of the algorithm, in a way that yields faster convergence, while keeping the simplicity of the original method. Our contribution is twofold: on the one hand, we derive and analyze the proposed algorithm; on the other hand, we validate its fast convergence via numerical experiments and we discuss the performance with respect to state-of-the-art algorithms.

Authors:Sharaf K. Magableh, Xuesong Wang, Oraib Dawaghreh, Caisheng Wang
Title: Unlocking the Potential: A Novel Tool for Assessing Untapped Micro-Pumped Hydro Energy Storage Systems in Michigan
Abstract:
This study presents an innovative tool designed to unlock the potential of Michigan's lakes and dams for applications such as water resource management and renewable energy generation. Given Michigan's relatively flat landscape, the focus is on systems that could serve as micro-hydro energy storage solutions. To ensure accuracy and reliability, the tool incorporates extensive data gathered from authorized sources, covering more than 420 water facilities and potential reservoirs in the state. These data are used as part of a case study to evaluate the tool's capabilities. Key parameters assessed include horizontal and vertical distances (head), volume, and the total storage capacity of each reservoir, measured in GWh. By analyzing these factors, the tool determines the suitability of various lakes and dams for hydroelectric power generation, and other uses based on the horizontal and vertical threshold distances. Its robust assessment framework integrates these metrics to comprehensively evaluate each site's potential. The tool's friendly interface and advanced data visualization features make the findings easy to interpret, facilitating optimal resource utilization and informed decision-making for state authorities. Hence, this tool represents a meaningful advancement in managing Michigan's water resources sustainably, promoting environmentally friendly practices, and supporting economic development.

Authors:Yu-Han Huang, Venugopal V. Veeravalli
Title: Sequential Change Detection for Learning in Piecewise Stationary Bandit Environments
Abstract:
A finite-horizon variant of the quickest change detection problem is investigated, which is motivated by a change detection problem that arises in piecewise stationary bandits. The goal is to minimize the \emph{latency}, which is smallest threshold such that the probability that the detection delay exceeds the threshold is below a desired low level, while controlling the false alarm probability to a desired low level. When the pre- and post-change distributions are unknown, two tests are proposed as candidate solutions. These tests are shown to attain order optimality in terms of the horizon. Furthermore, the growth in their latencies with respect to the false alarm probability and late detection probability satisfies a property that is desirable in regret analysis for piecewise stationary bandits. Numerical results are provided to validate the theoretical performance results.

Authors:Rui Feng, Cheng-Xiang Wang, Jie Huang, Xiqi Gao
Title: Recent Advances of 6G Ultra-Massive MIMO Technologies in Spatial and Beam Domains
Abstract:
To explore the full potential of ultra-massive multiple-input multiple-output (MIMO) communication systems, it is fundamental to understand new ultra-massive MIMO channel characteristics and establish pervasive channel models. On this basis, large dimensional spatial-temporal transmission and random access technologies need to be investigated and evaluated for better practical implementation. Firstly, this paper reviews recent advances of ultra-massive MIMO technologies in the traditional spatial domain, including wireless channel characterization and modeling, channel estimation, spatial multiplexing, and precoding. Secondly, considering the dramatic increase of base station (BS) antennas and access users in ultra-massive MIMO systems, the confronted high dimensional complexity and computing burden of these ultra-massive MIMO technologies are indicated. To provide efficient and systematic solution, the emerging tendency to transform related technologies from the traditional spatial domain to beam domain is introduced. The utilities of large sparsity merit, reduced energy consumption, and improved usage of radio frequency (RF) chains in the beam domain channel are elaborated. At last, future challenges of ultra-massive MIMO communication systems are discussed.

Authors:Yi-Ping Chen, Ying-Kuan Tsai, Vispi Karkaria, Wei Chen
Title: Uncertainty-Aware Digital Twins: Robust Model Predictive Control using Time-Series Deep Quantile Learning
Abstract:
Digital Twins, virtual replicas of physical systems that enable real-time monitoring, model updates, predictions, and decision-making, present novel avenues for proactive control strategies for autonomous systems. However, achieving real-time decision-making in Digital Twins considering uncertainty necessitates an efficient uncertainty quantification (UQ) approach and optimization driven by accurate predictions of system behaviors, which remains a challenge for learning-based methods. This paper presents a simultaneous multi-step robust model predictive control (MPC) framework that incorporates real-time decision-making with uncertainty awareness for Digital Twin systems. Leveraging a multistep ahead predictor named Time-Series Dense Encoder (TiDE) as the surrogate model, this framework differs from conventional MPC models that provide only one-step ahead predictions. In contrast, TiDE can predict future states within the prediction horizon in a one-shot, significantly accelerating MPC. Furthermore, quantile regression is employed with the training of TiDE to perform flexible while computationally efficient UQ on data uncertainty. Consequently, with the deep learning quantiles, the robust MPC problem is formulated into a deterministic optimization problem and provides a safety buffer that accommodates disturbances to enhance constraint satisfaction rate. As a result, the proposed method outperforms existing robust MPC methods by providing less-conservative UQ and has demonstrated efficacy in an engineering case study involving Directed Energy Deposition (DED) additive manufacturing. This proactive while uncertainty-aware control capability positions the proposed method as a potent tool for future Digital Twin applications and real-time process control in engineering systems.

Authors:Huu-Thinh Do, Franco Blanchini, Stefano Miani, Ionela Prodan
Title: Reducing real-time complexity via sub-control Lyapunov functions: from theory to experiments
Abstract:
The techniques to design control Lyapunov functions (CLF), along with a proper stabilizing feedback, possibly in the presence of constraints, often provide control laws that are too complex for proper implementation online, especially when an optimization problem is involved. In this work, we show how to acquire an alternative, computationally attractive feedback. Given a nominal CLF and a nominal state feedback, we say that a different positive definite function is a Sub-control Lyapunov function (SCLF) if its Lyapunov derivative is negative-definite and bounded above by the Lyapunov derivative of the nominal function with the nominal control. It turns out that if we consider a family of basis functions, then a SCLF can be computed by linear programming, with an infinite number of constraints. The idea is that although the offline computational burden to achieve the new controller and solve the linear program is considerable, the online computational burden is drastically reduced. Comprehensive simulations and experiments on drone control are conducted to demonstrate the effectiveness of the study.

Authors:Zijiang Yan, Hao Zhou, Jianhua Pei, Aryan Kaushik, Hina Tabassum, Ping Wang
Title: CVaR-Based Variational Quantum Optimization for User Association in Handoff-Aware Vehicular Networks
Abstract:
Efficient resource allocation is essential for optimizing various tasks in wireless networks, which are usually formulated as generalized assignment problems (GAP). GAP, as a generalized version of the linear sum assignment problem, involves both equality and inequality constraints that add computational challenges. In this work, we present a novel Conditional Value at Risk (CVaR)-based Variational Quantum Eigensolver (VQE) framework to address GAP in vehicular networks (VNets). Our approach leverages a hybrid quantum-classical structure, integrating a tailored cost function that balances both objective and constraint-specific penalties to improve solution quality and stability. Using the CVaR-VQE model, we handle the GAP efficiently by focusing optimization on the lower tail of the solution space, enhancing both convergence and resilience on noisy intermediate-scale quantum (NISQ) devices. We apply this framework to a user-association problem in VNets, where our method achieves 23.5% improvement compared to the deep neural network (DNN) approach.

Authors:Yutian Pang, Andrew Paul Kendall, John-Paul Clarke
Title: The Reliability of Remotely Piloted Aircraft System Performance under Communication Loss and Latency Uncertainties
Abstract:
Mission-critical use of highly maneuverable Remotely Piloted Aircraft Systems (RPAS) requires a thorough understanding of the reliability of their communication systems. Investigations into system-level performance under stochastic aviation communication conditions are critical for estimating mission success rates and assessing the risks associated with integrating RPAS into existing airspace, ensuring overall aviation safety. This study aims to quantify the impact of communication latency and complete signal loss on the mission completion performance of a highly maneuverable RPAS. The mission is defined as a static waypoint tracking task in three-dimensional airspace. We start with examining and deriving mathematical formulations of key reliability metrics of Required Communication Performance (RCP). These stochastic factors are then embedded into flight control simulations (i.e., communication availability and latency) to examine the system behavior. Lastly, we generate mission success rate and mission completion time envelopes through extensive multiprocessing Monte Carlo simulations through high-performance computing. We discover a drastic deterioration in flight performance while latency or availability erodes the stability margin. In addition, we propose a new reliability metric, namely \textit{communicability}, which integrates three key RCP metrics and helps understanding the maximum tolerable latency to flight control. The procedure and results obtained from this research inform engineers designing RPAS with better trade-off between communication capability and flight control performance. Future works includes exploring alternative flight simulators (i.e., nonlinear dynamic inversion) with other missions (i.e., dynamic waypoint following), or develop delay-compensated optimal controls. The analysis on stability margin is also desired for theoretical verification.

Authors:Yi-Ping Chen, Vispi Karkaria, Ying-Kuan Tsai, Faith Rolark, Daniel Quispe, Robert X. Gao, Jian Cao, Wei Chen
Title: Real-Time Decision-Making for Digital Twin in Additive Manufacturing with Model Predictive Control using Time-Series Deep Neural Networks
Abstract:
Digital Twin -- a virtual replica of a physical system enabling real-time monitoring, model updating, prediction, and decision-making -- combined with recent advances in machine learning, offers new opportunities for proactive control strategies in autonomous manufacturing. However, achieving real-time decision-making with Digital Twins requires efficient optimization driven by accurate predictions of highly nonlinear manufacturing systems. This paper presents a simultaneous multi-step Model Predictive Control (MPC) framework for real-time decision-making, using a multivariate deep neural network, named Time-Series Dense Encoder (TiDE), as the surrogate model. Unlike conventional MPC models which only provide one-step ahead prediction, TiDE is capable of predicting future states within the prediction horizon in one shot (multi-step), significantly accelerating the MPC. Using Directed Energy Deposition (DED) additive manufacturing as a case study, we demonstrate the effectiveness of the proposed MPC in achieving melt pool temperature tracking to ensure part quality, while reducing porosity defects by regulating laser power to maintain melt pool depth constraints. In this work, we first show that TiDE is capable of accurately predicting melt pool temperature and depth. Second, we demonstrate that the proposed MPC achieves precise temperature tracking while satisfying melt pool depth constraints within a targeted dilution range (10\%-30\%), reducing potential porosity defects. Compared to PID controller, the MPC results in smoother and less fluctuating laser power profiles with competitive or superior melt pool temperature control performance. This demonstrates the MPC's proactive control capabilities, leveraging time-series prediction and real-time optimization, positioning it as a powerful tool for future Digital Twin applications and real-time process optimization in manufacturing.

Authors:Xiangyu Li, Bodong Shang, Qingqing Wu, Chao Ren
Title: Coverage and Spectral Efficiency of NOMA-Enabled LEO Satellite Networks with Ordering Schemes
Abstract:
This paper investigates an analytical model for low-earth orbit (LEO) multi-satellite downlink non-orthogonal multiple access (NOMA) networks. The satellites transmit data to multiple NOMA user terminals (UTs), each employing successive interference cancellation (SIC) for decoding. Two ordering schemes are adopted for NOMA-enabled LEO satellite networks, i.e., mean signal power (MSP)-based ordering and instantaneous-signal-to-inter-satellite-interference-plus-noise ratio (ISINR)-based ordering. For each ordering scheme, we derive the coverage probabilities of UTs under different channel conditions. Moreover, we discuss how coverage is influenced by SIC, main-lobe gain, and tradeoffs between the number of satellites and their altitudes. Additionally, two user fairness-based power allocation (PA) schemes are considered, and PA coefficients with the optimal number of UTs that maximize their sum spectral efficiency (SE) are studied. Simulation results show that there exists a maximum signal-to-inter-satellite-interference-plus-noise ratio (SINR) threshold for each PA scheme that ensures the operation of NOMA in LEO satellite networks, and the benefit of NOMA only exists when the target SINR is below a certain threshold. Compared with orthogonal multiple access (OMA), NOMA increases UTs' sum SE by as much as 35\%. Furthermore, for most SINR thresholds, the sum SE increases with the number of UTs to the highest value, whilst the maximum sum SE is obtained when there are two UTs.

Authors:Ahan Basu, Bhabani Shankar Dey, Pushpak Jagtap
Title: Formally Verified Neural Lyapunov Function for Incremental Input-to-State Stability of Unknown Systems
Abstract:
This work presents an approach to synthesize a Lyapunov-like function to ensure incrementally input-to-state stability ($δ$-ISS) property for an unknown discrete-time system. To deal with challenges posed by unknown system dynamics, we parameterize the Lyapunov-like function as a neural network, which we train using the data samples collected from the unknown system along with appropriately designed loss functions. We propose a validity condition to test the obtained function and incorporate it into the training framework to ensure provable correctness at the end of the training. Finally, the usefulness of the proposed technique is proved using two case studies: a scalar non-linear dynamical system and a permanent magnet DC motor.

Authors:Xiangyu Li, Bodong Shang
Title: Downlink Performance of Cell-Free Massive MIMO for LEO Satellite Mega-Constellation
Abstract:
Low-earth orbit (LEO) satellite communication (SatCom) has emerged as a promising technology for improving wireless connectivity in global areas. Cell-free massive multiple-input multiple-output (CF-mMIMO), an architecture recently proposed for next-generation networks, has yet to be fully explored for LEO satellites. In this paper, we investigate the downlink performance of a CF-mMIMO LEO SatCom network, where many satellite access points (SAPs) simultaneously serve the corresponding ground user terminals (UTs). Using tools from stochastic geometry, we model the locations of SAPs and UTs on surfaces of concentric spheres using Poisson point processes (PPPs) and present expressions based on linear minimum-mean-square-error (LMMSE) channel estimation and conjugate beamforming. Then, we derive the coverage probabilities in both fading and non-fading scenarios, with significant system parameters such as the Nakagami fading parameter, number of UTs, number of SAPs, orbital altitude, and service range brought by the dome angle. Finally, the analytical model is verified by extensive Monte Carlo simulations. Simulation results show that stronger line-of-sight (LoS) effects and a more comprehensive service range of the UT bring higher coverage probability despite existing multi-user interference. Moreover, we found that there exist optimal numbers of UTs for different orbital altitudes and dome angles, which provides valuable system design insights.

Authors:Xuesong Wang, Caisheng Wang
Title: A Deep Learning-Based Method for Power System Resilience Evaluation
Abstract:
Power systems are critical infrastructure in modern society, and power outages can cause significant disruptions to communities and individuals' daily lives. The resilience of a power system measures its ability to maintain power supply during highly disruptive events such as hurricanes, earthquakes, and thunderstorms. Traditional methods for quantifying power system resilience include statistics-based and simulation-based approaches. Statistics-based methods offer a retrospective analysis of system performance without requiring a physical model, while simulation-based methods necessitate detailed physical system information and often simplify real-world scenarios. This paper introduces a deep learning-based method for evaluating power system resilience using historical power outage data. The method leverages the generalization capabilities of deep learning models and incorporates socio-economic and demographic factors as weighting terms to highlight the impacts on vulnerable demographic groups. The effectiveness of the proposed method is demonstrated through two case studies: one with real historical outage data and the other with simulated outage records. This approach provides valuable insights into measuring power system resilience against hazardous weather events without requiring a physical model of the target systems. The evaluation results can further guide the planning of distributed energy resources for resilience enhancement.

Authors:Brian Lai, Dimitra Panagou, Dennis S. Bernstein
Title: Recursive Least Squares with Fading Regularization for Finite-Time Convergence without Persistent Excitation
Abstract:
This paper extends recursive least squares (RLS) to include time-varying regularization. This extension provides flexibility for updating the least squares regularization term in real time. Existing results with constant regularization imply that the parameter-estimation error dynamics of RLS are globally attractive to zero if and only the regressor is weakly persistently exciting. This work shows that, by extending classical RLS to include a time-varying (fading) regularization term that converges to zero, the parameter-estimation error dynamics are globally attractive to zero without weakly persistent excitation. Moreover, if the fading regularization term converges to zero in finite time, then the parameter estimation error also converges to zero in finite time. Finally, we propose rank-1 fading regularization (R1FR) RLS, a time-varying regularization algorithm with fading regularization that converges to zero, and which runs in the same computational complexity as classical RLS. Numerical examples are presented to validate theoretical guarantees and to show how R1FR-RLS can protect against over-regularization.

Authors:Lin Hou, Hengtai Chang, Cheng-Xiang Wang, Jie Huang, Songjiang Yang
Title: Beam Domain Channel Estimation for Spatial Non-Stationary Massive MIMO Systems
Abstract:
In massive multiple-input multiple-output (MIMO) systems, the channel estimation scheme is subject to the spatial non-stationarity and inevitably power leakage in the beam domain. In this paper, a beam domain channel estimation scheme is investigated for spatial non-stationary (SNS) massive MIMO systems considering power leakage. %a novel beam domain channel estimation scheme is proposed for spatial non-stationary (SNS) massive MIMO systems. Specifically, a realistic massive MIMO beam domain channel model (BDCM) is introduced to capture the spatial non-stationarity considering power leakage by introducing the illustration of visibility region (VR). Then, a beam domain structure-based sparsity adaptive matching pursuit (BDS-SAMP) scheme is proposed based on the cross-block sparse structure and power ratio threshold of beam domain channel. Finally, the simulation results validate the accuracy of proposed BDS-SAMP scheme with low pilot overhead and reasonable complexity by comparing with conventional schemes.

Authors:Yuan Zong, Lijian Xin, Jie Huang, Cheng-Xiang Wang
Title: A Novel Non-Stationary Channel Emulator for 6G MIMO Wireless Channels
Abstract:
The performance evaluation of sixth generation (6G) communication systems is anticipated to be a controlled and repeatable process in the lab, which brings up the demand for wireless channel emulators. However, channel emulation for 6G space-time-frequency (STF) non-stationary channels is missing currently. In this paper, a non-stationary multiple-input multiple-output (MIMO) geometry-based stochastic model (GBSM) that accurately characterizes the channel STF properties is introduced firstly. Then, a subspace-based method is proposed for reconstructing the channel fading obtained from the GBSM and a channel emulator architecture with frequency domain processing is presented for 6G MIMO systems. Moreover, the spatial time-varying channel transfer functions (CTFs) of the channel simulation and the channel emulation are compared and analyzed. The Doppler power spectral density (PSD) and delay PSD are further derived and compared between the channel model simulation and subspace-based emulation. The results demonstrate that the proposed channel emulator is capable of reproducing the non-stationary channel characteristics.

Authors:Yue Yang, Cheng-Xiang Wang, Jie Huang, John Thompson, H. Vincent Poor
Title: A 3D Continuous-Space Electromagnetic Channel Model for 6G Tri-Polarized Multi-user Communications
Abstract:
It is envisioned that the sixth generation (6G) and beyond 6G (B6G) wireless communication networks will enable global coverage in space, air, ground, and sea. In this case, both base stations and users can be mobile and will tend to move continuously in three-dimensional (3D) space. Therefore, obtaining channel state information (CSI) in 3D continuous-space is crucial for the design and performance evaluation of future 6G and B6G wireless systems. On the other hand, new 6G technologies such as integrated sensing and communications (ISAC) will also require prior knowledge of CSI in 3D continuous-space. In this paper, a 3D continuous-space electromagnetic channel model is proposed for tri-polarized multi-user communications, taking into account scatterers and spherical wavefronts. Scattered fields are calculated using the method of moments (MoM) with high accuracy. Spherical wave functions are utilized to decompose the dyadic Green's functions that connect the transmitted source currents and the received electric fields. Simulation results demonstrate that transmit power, apertures, scatterers, and sample intervals have significant impacts on statistical properties and channel capacities, providing insights into the performance of continuous-space electromagnetic channel models and the design of future wireless systems.

Authors:Li Zhang, Cheng-Xiang Wang, Zihao Zhou, Yuxiao Li, Jie Huang, Lijian Xin, Chun Pan, Dabo Zheng, Xiping Wu
Title: Wireless Channel Measurements and Characterization in Industrial IoT Scenarios
Abstract:
Wireless Fidelity (Wi-Fi) communication technologies hold significant potential for realizing the Industrial Internet of Things (IIoT). In this paper, both Single-Input Single-Output (SISO) and polarized Multiple-Input Multiple-Output (MIMO) channel measurements are conducted in an IIoT scenario at the less congested Wi-Fi band, i.e., 5.5~GHz. The purpose is to investigate wireless characteristics of communications between access points and terminals mounted on automated guided vehicles as well as those surrounding manufacturing areas. For SISO channel measurements, statistical properties including the delay Power Spectral Density (PSD), path loss, shadowing fading, delay spread, excess delay, K-factor, and amplitude distribution of small-scale fading are analyzed and compared with those observed in an office scenario. For MIMO channel measurements, results show that there are multiple Dense Multipath Component (DMC) processes in the delay PSD. An estimation algorithm based on the algorithm for a single DMC process is proposed to effectively process the multi-processes data. Moreover, delay, angular, power, and polarization properties of DMCs are investigated and compared with those of specular multipath components. Furthermore, effects of DMCs on Singular Values (SVs) and channel capacities are explored. Ignoring DMCs can overestimate SVs and underestimate channel capacities.

Authors:Jianhua Pei, Ping Wang, Jingyu Wang, Dongyuan Shi
Title: Deep Generative Model-Aided Power System Dynamic State Estimation and Reconstruction with Unknown Control Inputs or Data Distributions
Abstract:
Fast and robust dynamic state estimation (DSE) is essential for accurately capturing the internal dynamic processes of power systems, and it serves as the foundation for reliably implementing real-time dynamic modeling, monitoring, and control applications. Nonetheless, on one hand, traditional DSE methods based on Kalman filtering or particle filtering have high accuracy requirements for system parameters, control inputs, phasor measurement unit (PMU) data, and centralized DSE communication. Consequently, these methods often face accuracy bottlenecks when dealing with structural or system process errors, unknown control vectors, PMU anomalies, and communication contingencies. On the other hand, deep learning-aided DSE, while parameter-free, often suffers from generalization issues under unforeseen operating conditions. To address these challenges, this paper proposes an effective approach that leverages deep generative models from AI-generated content (AIGC) to assist DSE. The proposed approach employs an encoder-decoder architecture to estimate unknown control input variables, a robust encoder to mitigate the impact of bad PMU data, and latent diffusion model to address communication issues in centralized DSE. Additionally, a lightweight adaptor is designed to quickly adjust the latent vector distribution. Extensive experimental results on the IEEE 39-bus system and the NPCC 140-bus system demonstrate the effectiveness and superiority of the proposed method in addressing DSE modeling imperfection, measurement uncertainties, communication contingencies, and unknown distribution challenges, while also proving its ability to reduce data storage and communication resource requirements.

Authors:Bodong Shang, Xiangyu Li, Zheng Wang, Junchao Ma
Title: Spectrum Sharing in 6G Space-Ground Integrated Networks: A Ground Protection Zone-Based Design
Abstract:
Space-ground integrated network (SGIN) has been envisioned as a competitive solution for large scale and wide coverage of future wireless networks. By integrating both the non-terrestrial network (NTN) and the terrestrial network (TN), SGIN can provide high speed and omnipresent wireless network access for the users using the predefined licensed spectrums. Considering the scarcity of the spectrum resource and the low spectrum efficiency of the SGIN, we enable the NTN and TN to share the spectrum to improve overall system performance, i.e., weighted-sum area data rate (WS-ADR). However, mutual interference between NTN and TN is often inevitable and thus causes SGIN performance degradation. In this work, we consider a ground protection zone for the TN base stations, in which the NTN users are only allowed to use the NTN reserved spectrum to mitigate the NTN and TN mutual interference. We analytically derive the coverage probability and area data rate (ADR) of the typical users and study the performance under various protection zone sizes and spectrum allocation parameter settings. Simulation and numerical results demonstrate that the WS-ADR could be maximized by selecting the appropriate radius of protection zone and bandwidth allocation factor in the SGIN.

Authors:Jiahao Ning, Jinhao Deng, Yuanfang Li, Chi Zhao, Jiashu Liu, Songjiang Yang, Yinghua Wang, Jie Huang, Cheng-Xiang Wang
Title: Ray-Tracing Channel Modeling for LEO Satellite-to-Ground Communication Systems
Abstract:
Based on the vision of global coverage for sixth-generation (6G) wireless communication systems, the low earth orbit (LEO) satellite-to-ground channel model for urban scenarios has emerged as highly important for the system design. In this paper, we propose an LEO satellite-to-ground channel model through shooting and bouncing rays (SBR) algorithm to analyze the channel characteristics. The orbit of LEO is modeled by the simplified general perturbations 4 (SGP4), and an accurate celestial model is applied to calculate the Doppler shift of multipath in a transmission time window of LEO satellite-to-ground communications. Channel characteristics of LEO satellite-to-ground communications such as the root-mean-square (RMS) delay spread, the Doppler shift, and the received power at different times are obtained. The simulation results show that the received power is only significantly noticeable in the transmission time window when the satellite is close to the receiver. Proposed model validates the effectiveness of ray-tracing in actual LEO satellite-to-ground communication scenarios and extends the calculation of the Doppler shift.

Authors:Bodong Shang, Zheng Wang, Xiangyu Li, Chungang Yang, Chao Ren, Haijun Zhang
Title: Spectrum Sharing in Satellite-Terrestrial Integrated Networks: Frameworks, Approaches, and Opportunities
Abstract:
With the construction of low-earth orbit (LEO) satellite constellations, ubiquitous connectivity has been achieved. Terrestrial networks (TNs), such as cellular networks, are mainly deployed in specific urban areas and use licensed spectrum. However, in remote areas where terrestrial infrastructure is sparse, licensed spectrum bands are often underutilized. To accommodate the increasing communication needs, non-terrestrial networks (NTNs) can opportunistically access this idle spectrum to improve spectrum efficiency via spectrum sharing (SS). Therefore, bringing NTNs to a shared spectrum with TNs can improve network capacity under reasonable interference management. In satellite-terrestrial integrated networks (STINs), the comprehensive coverage of a satellite and the unbalanced communication resources of STINs make it challenging to manage mutual interference between NTN and TN effectively. This article presents the fundamentals and prospects of SS in STINs by introducing four SS frameworks, their potential application scenarios, and technical challenges. Furthermore, advanced SS approaches related to interference management in STINs and performance metrics of SS in STINs are introduced. Moreover, a preliminary performance evaluation showcases the potential for sharing the spectrum between NTN and TN. Finally, future research opportunities for SS in STINs are discussed.

Authors:Natalie L. Brace, Nicholas B. Andrews, Jeremy Upsal, Kristi A. Morgansen
Title: Sensor Placement on a Cantilever Beam Using Observability Gramians
Abstract:
Working from an observability characterization based on output energy sensitivity to changes in initial conditions, we derive both analytical and empirical observability Gramian tools for a class of continuum material systems. Using these results, optimal sensor placement is calculated for an Euler-Bernoulli cantilever beam for the following cases: analytical observability for the continuum system and analytical observability for a finite number of modes. Error covariance of an Unscented Kalman Filter is determined for both cases and compared to randomly placed sensors to demonstrate effectiveness of the techniques.

Authors:Nicholas B. Andrews, Kristi A. Morgansen
Title: Optimal Fiducial Marker Placement for Satellite Proximity Operations Using Observability Gramians
Abstract:
This paper investigates optimal fiducial marker placement on the surface of a satellite performing relative proximity operations with an observer satellite. The absolute and relative translation and attitude equations of motion for the satellite pair are modeled using dual quaternions. The observability of the relative dual quaternion system is analyzed using empirical observability Gramian methods. The optimal placement of a fiducial marker set, in which each marker gives simultaneous optical range and attitude measurements, is determined for the pair of satellites. A geostationary flyby between the observing body (chaser) and desired (target) satellites is numerically simulated and the optimal fiducial placement sets of five and ten on the surface of the desired satellite are solved. It is shown that the optimal solution maximizes the distance between fiducial markers and selects marker locations that are most sensitive to measuring changes in the state during the nonlinear trajectory, despite being visible for less time than other candidate marker locations. Definitions and properties of quaternions and dual quaternions, and parallels between the two, are presented alongside the relative motion model.

Authors:Yu-Han Huang, Argyrios Gerogiannis, Subhonmesh Bose, Venugopal V. Veeravalli
Title: Detection Augmented Bandit Procedures for Piecewise Stationary MABs: A Modular Approach
Abstract:
Conventional Multi-Armed Bandit (MAB) algorithms are designed for stationary environments, where the reward distributions associated with the arms do not change with time. In many applications, however, the environment is more accurately modeled as being nonstationary. In this work, piecewise stationary MAB (PS-MAB) environments are investigated, in which the reward distributions associated with a subset of the arms change at some change-points and remain stationary between change-points. Our focus is on the asymptotic analysis of PS-MABs, for which practical algorithms based on change detection (CD) have been previously proposed. Our goal is to modularize the design and analysis of such CD-based Bandit (CDB) procedures. To this end, we identify the requirements for stationary bandit algorithms and change detectors in a CDB procedure that are needed for the modularization. We assume that the rewards are sub-Gaussian. Under this assumption and a condition on the separation of the change-points, we show that the analysis of CDB procedures can indeed be modularized, so that regret bounds can be obtained in a unified manner for various combinations of change detectors and bandit algorithms. Through this analysis, we develop new modular CDB procedures that are order-optimal. We compare the performance of our modular CDB procedures with various other methods in simulations.

Authors:Nicholas B. Andrews, Kristi A. Morgansen
Title: Relative Pose Observability Analysis Using Dual Quaternions
Abstract:
Relative pose (position and orientation) estimation is an essential component of many robotics applications. Fiducial markers, such as the AprilTag visual fiducial system, yield a relative pose measurement from a single marker detection and provide a powerful tool for pose estimation. In this paper, we perform a Lie algebraic nonlinear observability analysis on a nonlinear dual quaternion system that is composed of a relative pose measurement model and a relative motion model. We prove that many common dual quaternion expressions yield Jacobian matrices with advantageous block structures and rank properties that are beneficial for analysis. We show that using a dual quaternion representation yields an observability matrix with a simple block triangular structure and satisfies the necessary full rank condition.

Authors:Oraib Dawaghreh, Sharaf K. Magableh, Xuesong Wang, Mohammad Adnan Magableh, Caisheng Wang
Title: Integrating Cascade Pumped Micro-Hydro Storage: A Sustainable Approach to Energy and Water Management
Abstract:
As traditional large hydropower has been extensively exploited, micro-hydro systems have caught research increasing interest. New engineering challenges arise in developing micro-hydro systems in areas with significant elevation but prohibitive horizontal distances between primary reservoirs. This study addresses these challenges by proposing a cascade-pumped micro-hydro storage (CPMHS) system that leverages intermediate reservoirs to bridge long horizontal distances, enabling efficient energy transfer and storage. The methodology utilizes naturally occurring lakes with substantial head heights but limited feasibility for direct pumped storage due to horizontal separations. Integrating smaller, strategically placed intermediate reservoirs maximizes energy capture along the cascading path, making pumped storage viable in geographically constrained locations. The proposed system will enhance energy generation potential and provide additional benefits for water management. Using geographical data and a detailed case study focused on Mountain Lake and surrounding lakes, this paper demonstrates the energy efficiency and viability of cascade-based micro-hydro storage. A practical methodology for implementing CPMHS systems is proposed and validated by case studies. An optimization framework is developed for efficient energy capture in regions with challenging topography.

Authors:Yifei Li, Joshua A. Robbins, Guha Manogharan, Herschel C. Pangborn, Ilya Kovalenko
Title: A Model Predictive Control Framework to Enhance Safety and Quality in Mobile Additive Manufacturing Systems
Abstract:
In recent years, the demand for customized, on-demand production has grown in the manufacturing sector. Additive Manufacturing (AM) has emerged as a promising technology to enhance customization capabilities, enabling greater flexibility, reduced lead times, and more efficient material usage. However, traditional AM systems remain constrained by static setups and human worker dependencies, resulting in long lead times and limited scalability. Mobile robots can improve the flexibility of production systems by transporting products to designated locations in a dynamic environment. By integrating AM systems with mobile robots, manufacturers can optimize travel time for preparatory tasks and distributed printing operations. Mobile AM robots have been deployed for on-site production of large-scale structures, but often neglect critical print quality metrics like surface roughness. Additionally, these systems do not have the precision necessary for producing small, intricate components. We propose a model predictive control framework for a mobile AM platform that ensures safe navigation on the plant floor while maintaining high print quality in a dynamic environment. Three case studies are used to test the feasibility and reliability of the proposed systems.

Authors:Jingyuan Li, Dawei Shi, Ling Shi
Title: Online Coreset Selection for Learning Dynamic Systems
Abstract:
With the increasing availability of streaming data in dynamic systems, a critical challenge in data-driven modeling for control is how to efficiently select informative data to characterize system dynamics. In this work, we design an online coreset selection method under the framework of set-membership identification for systems subject to process disturbances, with the objective of improving data efficiency while ensuring convergence guarantees. Specifically, we first propose a stacked polyhedral representation that over-approximates the feasible set of system parameters. Leveraging a generalized Grünbaum's inequality, we design a geometric selection criterion for constructing the coreset. To reduce computational complexity, an online double-description-based constraint reduction method is introduced to simplify the polyhedral representation. Finally, we analyze the convergence of the feasible set with respect to the coreset and derive upper bounds on the selection probability and the expected number of data in the coreset. The effectiveness of the proposed method is demonstrated through comprehensive simulation studies.

Authors:Mohammad Reza Fasihi, Brian L. Mark
Title: QoS-aware State-Augmented Learnable Algorithm for Wireless Coexistence Parameter Management
Abstract:
Efficient and fair coexistence in unlicensed spectrum is essential to support heterogeneous networks such as 5G NR-U and Wi-Fi, which often contend for shared wireless resources. We introduce a general framework for wireless Coexistence Parameter Management (CPM) based on state-augmented constrained reinforcement learning. We propose a novel algorithm, QaSAL-CPM, which incorporates state-augmentation by embedding the dual variables in the constrained optimization formulation directly into the agent's observation space. This method enables the agent to respond to constraint violations in real time while continuing to optimize a primary performance objective. Through extensive simulations of 5G NR-U and Wi-Fi coexistence scenarios, we show that QaSAL-CPM achieves reliable QoS compliance and improved policy robustness across various transmitter densities compared to previous approaches. The proposed framework offers a scalable and adaptive solution for real-time coexistence optimization in next-generation wireless networks.

Authors:Avik Ghosh, Adil Khurram, Jan Kleissl, Sonia Martinez
Title: Economic Model Predictive Control with a Non-Fixed Reference Trajectory for Optimal Microgrid Dispatch
Abstract:
Economic Model Predictive Control (EMPC), instead of stabilizing a reference trajectory/state in the objective function like a Tracking MPC, optimizes the economic performance over the prediction horizon, making it attractive for economical microgrid (MG) dispatch. However, the demand charge component in the monthly electricity cost, make it difficult to be encapsulated in additive stage costs, and can make solutions violate the principle of optimality if naively introduced in the objective function. Moreover, previous EMPC based works mostly rely on a-priori knowledge of an optimal economic steady state or optimal periodic trajectory for performance guarantees, which are not useful or possibly don't exist respectively, for real-time economical MG dispatch where load/generation forecasts are known only 24-48 h in advance. This paper, first, proposes an EMPC formulation for a generic deterministic discrete non-linear time varying system with hard state and input constraints, without any a-priori requirements of an optimal economic steady state or optimal periodic trajectory. It is proved that under mild assumptions on terminal cost and region, the asymptotic average economic cost of the proposed method is no worse than the asymptotic average economic cost of any other non-fixed arbitrary reference trajectory which is known only until the current time-step. The EMPC framework is then leveraged for optimal MG dispatch by showing that the problem can be reformulated to satisfy the assumptions required for the asymptotic performance guarantee. Realistic simulations at the Port of San Diego MG demonstrated that the proposed method can also reduce monthly electricity costs in closed-loop with respect to reference trajectories generated by directly optimizing the electricity cost function over the prediction horizon or by tracking an ideal grid import curve in a majority of the cases.

Authors:Jakob Niehues, Anna Büttner, Anne Riegler, Frank Hellmann
Title: Complex Phase Analysis of Power Grid Dynamics
Abstract:
With an increasing share of renewable energy sources, accurate and efficient modeling of grid-forming inverters is becoming crucial for system stability. Linear methods are a powerful tool for understanding dynamics close to an operating point, but usually depend on the reference trajectory. Thus, small deviations can render linear models invalid over time, posing a significant challenge in practice, and complicating theoretical analysis. As a solution, we show that the complex phase offers a robust formulation independent of reference phases and frequencies, thus preserving invariance properties under linearization. This enables robust system identification during realistic conditions and opens the road to powerful stability analysis of inverter-based grids.

Authors:Kamal Fenza, Moussa Labbadi, Mohamed Ouzahra
Title: A Decomposition Method for Finite-Time Stabilization of Bilinear Systems with Applications to Parabolic and Hyperbolic Equations
Abstract:
In this work, we address the problem of finite-time stabilization for a class of bilinear system. We propose a decomposition-based approach in which the nominal system is split into two subsystems, one of which is inherently finite-time stable without control. This allows the stabilization analysis to focus solely on the remaining subsystem. To ensure the well-posedness of the closed-loop system, we establish sufficient conditions on the system and control operators. The stabilization results are then derived using a suitable Lyapunov function and an observation condition. The effectiveness of the proposed approach is demonstrated through examples involving both parabolic and hyperbolic infinite-dimensional systems.

Authors:Shihao Li, Jiachen Li, Christopher Martin, Soovadeep Bakshi, Dongmei Chen
Title: MDR-DeePC: Model-Inspired Distributionally Robust Data-Enabled Predictive Control
Abstract:
This paper presents a Model-Inspired Distributionally Robust Data-enabled Predictive Control (MDR-DeePC) framework for systems with partially known and uncertain dynamics. The proposed method integrates model-based equality constraints for known dynamics with a Hankel matrix-based representation of unknown dynamics. A distributionally robust optimization problem is formulated to account for parametric uncertainty and stochastic disturbances. Simulation results on a triple-mass-spring-damper system demonstrate improved disturbance rejection, reduced output oscillations, and lower control cost compared to standard DeePC. The results validate the robustness and effectiveness of MDR-DeePC, with potential for real-time implementation pending further benchmarking.

Authors:Xin Mao, Can Chen
Title: Model Reduction of Homogeneous Polynomial Dynamical Systems via Tensor Decomposition
Abstract:
Model reduction plays a critical role in system control, with established methods such as balanced truncation widely used for linear systems. However, extending these methods to nonlinear settings, particularly polynomial dynamical systems that are often used to model higher-order interactions in physics, biology, and ecology, remains a significant challenge. In this article, we develop a novel model reduction method for homogeneous polynomial dynamical systems (HPDSs) with linear input and output grounded in tensor decomposition. Leveraging the inherent tensor structure of HPDSs, we construct reduced models by extracting dominant mode subspaces via higher-order singular value decomposition. Notably, we establish that key system-theoretic properties, including stability, controllability, and observability, are preserved in the reduced model. We demonstrate the effectiveness of our method using numerical examples.

Authors:Yihong Zhou, Hanbin Yang, Thomas Morstyn
Title: FICA: Faster Inner Convex Approximation of Chance Constrained Grid Dispatch with Decision-Coupled Uncertainty
Abstract:
This paper proposes a Faster Inner Convex Approximation (FICA) method for solving power system dispatch problems with Wasserstein distributionally robust joint chance constraints (WJCC) and incorporating the modelling of the automatic generation control factors. The problem studied belongs to the computationally challenging class of WJCC with left-hand-side uncertainty (LHS-WJCC). By exploiting the special one-dimensional structure (even if only partially present) of the problem, the proposed FICA incorporates a set of strong valid inequalities to accelerate the solution process. We prove that FICA achieves the same optimality as the well-known conditional value-at-risk (CVaR) inner convex approximation method. Our numerical experiments demonstrate that the proposed FICA can yield 40x computational speedup compared to CVaR, and can even reach up to 500x speedup when the optimisation horizon exceeds 16 time steps. This speedup is achieved when only 50% of constraints in a WJCC have the one-dimensional structure. The approximation quality is numerically verified to be the same as CVaR, and the quality gap is below 1% when compared to the computationally demanding exact reformulation of the LHS-WJCC in most cases. We also discuss the applications of FICA in optimisation problems from other domains that (partially) exhibit the one-dimensional structure.

Authors:Pei-An Hsieh, Kong Yao Chee, M. Ani Hsieh
Title: Online Adaptation for Flying Quadrotors in Tight Formations
Abstract:
The task of flying in tight formations is challenging for teams of quadrotors because the complex aerodynamic wake interactions can destabilize individual team members as well as the team. Furthermore, these aerodynamic effects are highly nonlinear and fast-paced, making them difficult to model and predict. To overcome these challenges, we present L1 KNODE-DW MPC, an adaptive, mixed expert learning based control framework that allows individual quadrotors to accurately track trajectories while adapting to time-varying aerodynamic interactions during formation flights. We evaluate L1 KNODE-DW MPC in two different three-quadrotor formations and show that it outperforms several MPC baselines. Our results show that the proposed framework is capable of enabling the three-quadrotor team to remain vertically aligned in close proximity throughout the flight. These findings show that the L1 adaptive module compensates for unmodeled disturbances most effectively when paired with an accurate dynamics model. A video showcasing our framework and the physical experiments is available here: https://youtu.be/9QX1Q5Ut9Rs

Authors:Nesrine Benchoubane, Eray Guven, Gunes Karabulut Kurt
Title: Open Sky, Open Threats: Replay Attacks in Space Launch and Re-entry Phases
Abstract:
This paper examines the effects of replay attacks on the integrity of both uplink and downlink communications during critical phases of spacecraft communication. By combining software-defined radios (SDRs) with a real-time channel emulator, we replicate realistic attack conditions on the Orion spacecraft's communication systems in both launch and reentry. Our evaluation shows that, under replay attacks, the attacker's signal can overpower legitimate transmissions, leading to a Signal to Noise Ratio (SNR) difference of up to -7.8 dB during reentry and -6.5 dB during launch. To mitigate these threats, we propose a more secure receiver design incorporating a phase-coherency-dependent decision-directed (DD) equalizer with a narrowed phase-locked loop (PLL) bandwidth. This configuration enhances resilience by making synchronization more sensitive to phase distortions caused by replay interference.

Authors:Nicolas Samson, William Larrivée-Hardy, William Dubois, Élie Roy-Brouard, Edith Brotherton, Dominic Baril, Julien Lépine, François Pomerleau
Title: DRIVE Through the Unpredictability:From a Protocol Investigating Slip to a Metric Estimating Command Uncertainty
Abstract:
Off-road autonomous navigation is a challenging task as it is mainly dependent on the accuracy of the motion model. Motion model performances are limited by their ability to predict the interaction between the terrain and the UGV, which an onboard sensor can not directly measure. In this work, we propose using the DRIVE protocol to standardize the collection of data for system identification and characterization of the slip state space. We validated this protocol by acquiring a dataset with two platforms (from 75 kg to 470 kg) on six terrains (i.e., asphalt, grass, gravel, ice, mud, sand) for a total of 4.9 hours and 14.7 km. Using this data, we evaluate the DRIVE protocol's ability to explore the velocity command space and identify the reachable velocities for terrain-robot interactions. We investigated the transfer function between the command velocity space and the resulting steady-state slip for an SSMR. An unpredictability metric is proposed to estimate command uncertainty and help assess risk likelihood and severity in deployment. Finally, we share our lessons learned on running system identification on large UGV to help the community.

Authors:Seyed Moein Abtahi, Akramul Azim
Title: Algorithmic Approaches to Enhance Safety in Autonomous Vehicles: Minimizing Lane Changes and Merging
Abstract:
The rapid advancements in autonomous vehicle (AV) technology promise enhanced safety and operational efficiency. However, frequent lane changes and merging maneuvers continue to pose significant safety risks and disrupt traffic flow. This paper introduces the Minimizing Lane Change Algorithm (MLCA), a state-machine-based approach designed to reduce unnecessary lane changes, thereby enhancing both traffic safety and efficiency. The MLCA algorithm prioritizes maintaining lane stability unless safety-critical conditions necessitate a lane change. The algorithm's effectiveness was evaluated through simulations conducted on the SUMO platform, comparing its performance against established models, including LC2017 and MOBIL. Results demonstrate substantial reductions in lane changes and collisions, leading to smoother traffic flow and improved safety metrics. Additionally, the study highlights the MLCA's adaptability to various traffic densities and roadway configurations, showcasing its potential for wide-scale deployment in real-world AV systems. Future work aims to validate these findings in more complex scenarios using the CARLA simulator, which will enable the testing of the algorithm under more dynamic and high-fidelity conditions, such as urban traffic environments with diverse road users. Moreover, the integration of cybersecurity measures for vehicle-to-vehicle (V2V) communication will be explored to ensure robust and secure data exchange, further enhancing the reliability and safety of AV operations. This research contributes to the broader goal of developing intelligent traffic systems that optimize both individual vehicle performance and overall traffic network efficiency.

Authors:Young-ho Cho, Min-Seung Ko, Hao Zhu
Title: PGLib-CO2: A Power Grid Library for Computing and Optimizing Carbon Emissions
Abstract:
A sustainable electricity infrastructure requires the explicit integration of carbon emissions into power system modeling and optimization paradigms. However, existing open-source datasets for power system R&D lack generator-level carbon emission profiling, limiting the ability to benchmark and compare various carbon-aware grid operational strategies. To address this gap, this work introduces PGLib-CO2, an open-source extension to the widely adopted PGLib-OPF test case library. PGLib-CO2 enriches standard network cases with CO2 and CO2-equivalent emission intensity factors by expanding the fuel-type categorization used by PGLib-OPF, attaining a realistic generator-level carbon profiling. It is also packaged for both Python's pandapower and Julia's PowerModels.jl, for a seamless, user-friendly integration of emission modeling into grid computation and optimization tasks. The dataset produced by PGLib-CO2 can support grid-based carbon accounting, emission metric evaluation, and integration into AC optimal power flow (OPF) and optimal load shifting (OLS) formulations. We demonstrate PGLib-CO2's utility through case studies that quantify cost-emission trade-offs and optimize a carbon-aware objective function. By standardizing carbon-enhanced test cases, PGLib-CO2 provides an open-source, reproducible foundation for benchmarking carbon-aware computation, facilitating future research in sustainable power system operation.

Authors:Jared Miller, Maitraya Avadhut Desai, Xiuqiang He, Roy S. Smith, Gabriela Hug
Title: Network-Independent Incremental Passivity Conditions for Grid-Forming Inverter Control
Abstract:
Grid-forming inverters control the power transfer between the AC and DC sides of an electrical grid while maintaining the frequency and voltage of the AC side. This paper focuses on ensuring large-signal stability of an electrical grid with inverter-interfaced renewable sources. We prove that the Hybrid-Angle Control (HAC) scheme for grid-forming inverters can exhibit incremental passivity properties between current and voltage at both the AC and DC ports. This incremental passivity can be certified through decentralized conditions. Inverters operating under HAC can, therefore, be connected to other passive elements (e.g. transmission lines) with an immediate guarantee of global transient stability regardless of the network topology or parameters. Passivity of Hybrid Angle Control is also preserved under small-signal (linearized) analyses, in contrast to conventional proportional droop laws that are passivity-short at low frequencies. Passivity and interconnected-stability properties are demonstrated through an example case study.

Authors:Ioannis Mandralis, Richard M. Murray, Morteza Gharib
Title: Quadrotor Morpho-Transition: Learning vs Model-Based Control Strategies
Abstract:
Quadrotor Morpho-Transition, or the act of transitioning from air to ground through mid-air transformation, involves complex aerodynamic interactions and a need to operate near actuator saturation, complicating controller design. In recent work, morpho-transition has been studied from a model-based control perspective, but these approaches remain limited due to unmodeled dynamics and the requirement for planning through contacts. Here, we train an end-to-end Reinforcement Learning (RL) controller to learn a morpho-transition policy and demonstrate successful transfer to hardware. We find that the RL control policy achieves agile landing, but only transfers to hardware if motor dynamics and observation delays are taken into account. On the other hand, a baseline MPC controller transfers out-of-the-box without knowledge of the actuator dynamics and delays, at the cost of reduced recovery from disturbances in the event of unknown actuator failures. Our work opens the way for more robust control of agile in-flight quadrotor maneuvers that require mid-air transformation.

Authors:Chenggang Cui, Jiaming Liu, Peifeng Hui, Pengfeng Lin, Chuanlin Zhang
Title: GenControl: Generative AI-Driven Autonomous Design of Control Algorithms
Abstract:
Designing controllers for complex industrial electronic systems is challenging due to nonlinearities and parameter uncertainties, and traditional methods are often slow and costly. To address this, we propose a novel autonomous design framework driven by Large Language Models (LLMs). Our approach employs a bi-level optimization strategy: an LLM intelligently explores and iteratively improves the control algorithm's structure, while a Particle Swarm Optimization (PSO) algorithm efficiently refines the parameters for any given structure. This method achieves end-to-end automated design. Validated through a simulation of a DC-DC Boost converter, our framework successfully evolved a basic controller into a high-performance adaptive version that met all stringent design specifications for fast response, low error, and robustness. This work presents a new paradigm for control design that significantly enhances automation and efficiency.

Authors:Sebastián Rojas-Innocenti, Enrique Baeyens, Alejandro Martín-Crespo, Sergio Saludes-Rodil, Fernando Frechoso Escudero
Title: A Robust Optimization Framework for Flexible Industrial Energy Scheduling: Application to a Cement Plant with Market Participation
Abstract:
This paper presents a scenario based robust optimization framework for short term energy scheduling in electricity intensive industrial plants, explicitly addressing uncertainty in planning decisions. The model is formulated as a two-stage Mixed Integer Linear Program (MILP) and integrates a hybrid scenario generation method capable of representing uncertain inputs such as electricity prices, renewable generation, and internal demand. A convex objective function combining expected and worst case operational costs allows for tunable risk aversion, enabling planners to balance economic performance and robustness. The resulting schedule ensures feasibility across all scenarios and supports coordinated use of industrial flexibility assets, including battery energy storage and shiftable production. To isolate the effects of market volatility, the framework is applied to a real world cement manufacturing case study considering only day-ahead electricity price uncertainty, with all other inputs treated deterministically. Results show improved resilience to forecast deviations, reduced cost variability, and more consistent operations. The proposed method offers a scalable and risk-aware approach for industrial flexibility planning under uncertainty.

Authors:Tom Westermann, Aljosha Köcher, Felix Gehlhoff
Title: Automated Validation of Textual Constraints Against AutomationML via LLMs and SHACL
Abstract:
AutomationML (AML) enables standardized data exchange in engineering, yet existing recommendations for proper AML modeling are typically formulated as informal and textual constraints. These constraints cannot be validated automatically within AML itself. This work-in-progress paper introduces a pipeline to formalize and verify such constraints. First, AML models are mapped to OWL ontologies via RML and SPARQL. In addition, a Large Language Model translates textual rules into SHACL constraints, which are then validated against the previously generated AML ontology. Finally, SHACL validation results are automatically interpreted in natural language. The approach is demonstrated on a sample AML recommendation. Results show that even complex modeling rules can be semi-automatically checked -- without requiring users to understand formal methods or ontology technologies.

Authors:Nadine Ehmann, Matthias Köhler, Frank Allgöwer
Title: Transient performance of MPC for tracking without terminal constraints
Abstract:
Model predictive control (MPC) for tracking is a recently introduced approach, which extends standard MPC formulations by incorporating an artificial reference as an additional optimization variable, in order to track external and potentially time-varying references. In this work, we analyze the performance of such an MPC for tracking scheme without a terminal cost and terminal constraints. We derive a transient performance estimate, i.e. a bound on the closed-loop performance over an arbitrary time interval, yielding insights on how to select the scheme's parameters for performance. Furthermore, we show that in the asymptotic case, where the prediction horizon and observed time interval tend to infinity, the closed-loop solution of MPC for tracking recovers the infinite horizon optimal solution.

Authors:Zahra Shahrooei, Ali Baheri
Title: Wasserstein Barycenter Soft Actor-Critic
Abstract:
Deep off-policy actor-critic algorithms have emerged as the leading framework for reinforcement learning in continuous control domains. However, most of these algorithms suffer from poor sample efficiency, especially in environments with sparse rewards. In this paper, we take a step towards addressing this issue by providing a principled directed exploration strategy. We propose Wasserstein Barycenter Soft Actor-Critic (WBSAC) algorithm, which benefits from a pessimistic actor for temporal difference learning and an optimistic actor to promote exploration. This is achieved by using the Wasserstein barycenter of the pessimistic and optimistic policies as the exploration policy and adjusting the degree of exploration throughout the learning process. We compare WBSAC with state-of-the-art off-policy actor-critic algorithms and show that WBSAC is more sample-efficient on MuJoCo continuous control tasks.

Authors:Amir Hossein Barjini, Seyed Adel Alizadeh Kolagar, Sadeq Yaqubi, Jouni Mattila
Title: Deep Reinforcement Learning-Based Motion Planning and PDE Control for Flexible Manipulators
Abstract:
This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches that focus solely on control, we demonstrate that the desired trajectory significantly influences endpoint vibrations. To address this, a DRL motion planner, trained using the soft actor-critic (SAC) algorithm, generates optimized trajectories that inherently minimize vibrations. The PDE nonlinear controller then computes the required torques to track the planned trajectory while ensuring closed-loop stability using Lyapunov analysis. The proposed methodology is validated through both simulations and real-world experiments, demonstrating superior vibration suppression and tracking accuracy compared to traditional methods. The results underscore the potential of combining learning-based motion planning with model-based control for enhancing the precision and stability of flexible robotic manipulators.

Authors:Romeo Ortega, Jose Guadalupe Romero, Stanislav Aranovskiy, Gang Tao
Title: Standard LSParameter Estimators Ensure Finite Convergence Time for Linear Regression Equations Under an Interval Excitation Assumption
Abstract:
In this brief note we recall the little-known fact that, for linear regression equations (LRE) with intervally excited (IE) regressors, standard Least Square (LS) parameter estimators ensure finite convergence time (FCT) of the estimated parameters. The convergence time being equal to the time length needed to comply with the IE assumption. As is well-known, IE is necessary and sufficient for the identifiability of the LRE-hence, it is the weakest assumption for the on-or off-line solution of the parameter estimation problem.

Authors:Ryan Piansky, Rahul K. Gupta, Daniel K. Molzahn
Title: Optimizing Battery and Line Undergrounding Investments for Transmission Systems under Wildfire Risk Scenarios: A Benders Decomposition Approach
Abstract:
With electric power infrastructure posing an increasing risk of igniting wildfires under continuing climate change, utilities are frequently de-energizing power lines to mitigate wildfire ignition risk, which can cause load shedding. Recent research advocates for installing battery energy storage systems as well as undergrounding risky overhead lines to reduce the load shedding during such de-energizations. Since wildfire ignition risk can exhibit substantial geographic and temporal variations, it is important to plan battery installation and line undergrounding investments while considering multiple possible scenarios. This paper presents a scenario-based framework for optimizing battery installation and line undergrounding investments while considering many scenarios, each consisting of a day-long time series of uncertain parameters for the load demand, renewable generation, and wildfire ignition risks. This problem is difficult to solve due to a large number of scenarios and binary variables associated with the battery placements as well as the lines to be undergrounded. To address the computational challenges, we decompose the problem in a two-stage scheme via a Benders decomposition approach. The first stage is a master problem formulated as a mixed integer linear programming (MILP) model that makes decisions on the locations and sizes of batteries as well as the lines to be undergrounded. The second stage consists of a linear programming model that assesses these battery and line undergrounding decisions as modeled by a DC OPF formulation. We demonstrate the effectiveness of the proposed scheme on a large-scale transmission network with real world data on wildfire ignition risks, load, and renewable generation.

Authors:Pavel Osinenko, Grigory Yaremenko
Title: Some remarks on stochastic converse Lyapunov theorems
Abstract:
In this brief note, we investigate some constructions of Lyapunov functions for stochastic discrete-time stabilizable dynamical systems, in other words, controlled Markov chains. The main question here is whether a Lyapunov function in some statistical sense exists if the respective controlled Markov chain admits a stabilizing policy. We demonstrate some constructions extending on the classical results for deterministic systems. Some limitations of the constructed Lyapunov functions for stabilization are discussed, particularly for stabilization in mean. Although results for deterministic systems are well known, the stochastic case was addressed in less detail, which the current paper remarks on. A distinguishable feature of this work is the study of stabilizers that possess computationally tractable convergence certificates.

Authors:Noah Rhodes, James Luedkte, Line Roald
Title: Second-Order-Cone Formulations of Power Flow for Topology Optimization
Abstract:
Optimization problems that involve topology optimization in scenarios with large scale outages, such as post-disaster restoration or public safety power shutoff planning, are very challenging to solve. Using simple power flow representations such as DC power flow or network flow models results in low quality solutions which requires significantly higher-than-predicted load shed to become AC feasible. Recent work has shown that formulations based on the Second Order Cone (SOC) power flow formulation find very high quality solutions with low load shed, but the computational burden of these formulations remains a significant challenge. With the aim of reducing computational time while maintaining high solution quality, this work explores formulations which replace the conic constraints with a small number of linear cuts. The goal of this approach is not to find an exact power flow solution, but rather to identify good binary decisions, where the power flow can be resolved after the binary variables are fixed. We find that a simple reformulation of the Second Order Cone Optimal Power Shutoff problem can greatly improve the solution speed, but that a full linearization of the SOC voltage cone equation results in an overestimation of the amount of power that can be delivered to loads.

Authors:Zeinab Nezami, Syed Danial Ali Shah, Maryam Hafeez, Karim Djemame, Syed Ali Raza Zaidi
Title: From Connectivity to Autonomy: The Dawn of Self-Evolving Communication Systems
Abstract:
This paper envisions 6G as a self-evolving telecom ecosystem, where AI-driven intelligence enables dynamic adaptation beyond static connectivity. We explore the key enablers of autonomous communication systems, spanning reconfigurable infrastructure, adaptive middleware, and intelligent network functions, alongside multi-agent collaboration for distributed decision-making. We explore how these methodologies align with emerging industrial IoT frameworks, ensuring seamless integration within digital manufacturing processes. Our findings emphasize the potential for improved real-time decision-making, optimizing efficiency, and reducing latency in networked control systems. The discussion addresses ethical challenges, research directions, and standardization efforts, concluding with a technology stack roadmap to guide future developments. By leveraging state-of-the-art 6G network management techniques, this research contributes to the next generation of intelligent automation solutions, bridging the gap between theoretical advancements and real-world industrial applications.

Authors:Viraj Nadkarni, Pramod Viswanath
Title: Split the Yield, Share the Risk: Pricing, Hedging and Fixed rates in DeFi
Abstract:
We present the first formal treatment of \emph{yield tokenization}, a mechanism that decomposes yield-bearing assets into principal and yield components to facilitate risk transfer and price discovery in decentralized finance (DeFi). We propose a model that characterizes yield token dynamics using stochastic differential equations. We derive a no-arbitrage pricing framework for yield tokens, enabling their use in hedging future yield volatility and managing interest rate risk in decentralized lending pools. Taking DeFi lending as our focus, we show how both borrowers and lenders can use yield tokens to achieve optimal hedging outcomes and mitigate exposure to adversarial interest rate manipulation. Furthermore, we design automated market makers (AMMs) that incorporate a menu of bonding curves to aggregate liquidity from participants with heterogeneous risk preferences. This leads to an efficient and incentive-compatible mechanism for trading yield tokens and yield futures. Building on these foundations, we propose a modular \textit{fixed-rate} lending protocol that synthesizes on-chain yield token markets and lending pools, enabling robust interest rate discovery and enhancing capital efficiency. Our work provides the theoretical underpinnings for risk management and fixed-income infrastructure in DeFi, offering practical mechanisms for stable and sustainable yield markets.

Authors:Davide Corsi, Kaushik Mallik, Andoni Rodriguez, Cesar Sanchez
Title: Efficient Dynamic Shielding for Parametric Safety Specifications
Abstract:
Shielding has emerged as a promising approach for ensuring safety of AI-controlled autonomous systems. The algorithmic goal is to compute a shield, which is a runtime safety enforcement tool that needs to monitor and intervene the AI controller's actions if safety could be compromised otherwise. Traditional shields are designed statically for a specific safety requirement. Therefore, if the safety requirement changes at runtime due to changing operating conditions, the shield needs to be recomputed from scratch, causing delays that could be fatal. We introduce dynamic shields for parametric safety specifications, which are succinctly represented sets of all possible safety specifications that may be encountered at runtime. Our dynamic shields are statically designed for a given safety parameter set, and are able to dynamically adapt as the true safety specification (permissible by the parameters) is revealed at runtime. The main algorithmic novelty lies in the dynamic adaptation procedure, which is a simple and fast algorithm that utilizes known features of standard safety shields, like maximal permissiveness. We report experimental results for a robot navigation problem in unknown territories, where the safety specification evolves as new obstacles are discovered at runtime. In our experiments, the dynamic shields took a few minutes for their offline design, and took between a fraction of a second and a few seconds for online adaptation at each step, whereas the brute-force online recomputation approach was up to 5 times slower.

Authors:Junhong Liu, Qinfei Long, Rong-Peng Liu, Wenjie Liu, Yunhe Hou
Title: Online distributed optimization for spatio-temporally constrained real-time peer-to-peer energy trading
Abstract:
The proliferation of distributed renewable energy triggers the peer-to-peer (P2P) energy market formations. To make profits, prosumers equipped with photovoltaic (PV) panels and even the energy storage system (ESS) can actively participate in the real-time P2P energy market and trade energy. However, in real situations, system states such as energy demands and renewable energy power generation are highly uncertain, making it difficult for prosumers to make optimal real-time decisions. Moreover, severe problems with the physical network can arise from the real-time P2P energy trading, such as bus voltage violations and line overload. To handle these problems, this work first formulates the real-time P2P energy trading problem as a spatio-temporally constrained stochastic optimization problem by considering ESS and the spatial physical network constraints. To deal with the uncertainties online, a modified Lyapunov optimization method is innovatively proposed to approximately reformulate the stochastic optimization problem into an online one by relaxing the time-coupling constraints. Compared with the state-of-the-art online methods, the proposed one renders more flexibility and better performance for the real-time P2P energy market operation. Additionally, to protect the prosumers' privacy, an online distributed algorithm based on the consensus alternating direction method of multipliers (ADMM) is developed to solve the reformulated online problem by decoupling the spatial constraints. The theoretical near-optimal performance guarantee of the proposed online distributed algorithm is derived, and its performance can be further improved by minimizing the performance gap. Simulation results demonstrate that the proposed online distributed algorithm can guarantee the fast, stable, and safe long-term operation of the real-time P2P energy market.

Authors:Zhaoyi Zhang, Chenggang Cui, Ning Yang, Chuanlin Zhang
Title: Research on a Two-Layer Demand Response Framework for Electric Vehicle Users and Aggregators Based on LLMs
Abstract:
The widespread adoption of electric vehicles (EVs) has increased the importance of demand response in smart grids. This paper proposes a two-layer demand response optimization framework for EV users and aggregators, leveraging large language models (LLMs) to balance electricity supply and demand and optimize energy utilization during EV charging. The upper-layer model, focusing on the aggregator, aims to maximize profits by adjusting retail electricity prices. The lower-layer model targets EV users, using LLMs to simulate charging demands under varying electricity prices and optimize both costs and user comfort. The study employs a multi-threaded LLM decision generator to dynamically analyze user behavior, charging preferences, and psychological factors. The framework utilizes the PSO method to optimize electricity prices, ensuring user needs are met while increasing aggregator profits. Simulation results show that the proposed model improves EV charging efficiency, alleviates peak power loads, and stabilizes smart grid operations.

Authors:Junhong Liu, Qinfei Long, Rong-Peng Liu, Wenjie Liu, Xin Cui, Yunhe Hou
Title: Privacy-Preserving Peer-to-Peer Energy Trading via Hybrid Secure Computations
Abstract:
The massive integration of uncertain distributed renewable energy resources into power systems raises power imbalance concerns. Peer-to-peer (P2P) energy trading provides a promising way to balance the prosumers' volatile energy power generation and demands locally. Particularly, to protect the privacy of prosumers, distributed P2P energy trading is broadly advocated. However, severe privacy leakage issues can emerge in the realistic fully distributed P2P energy trading paradigm. Meanwhile, in this paradigm, two-party and multi-party computations coexist, challenging the naive privacy-preserving techniques. To tackle privacy leakage issues arising from the fully distributed P2P energy trading, this paper proposes a privacy-preserving approach via hybrid secure computations. A secure multi-party computation mechanism consisting of offline and online phases is developed to ensure the security of shared data by leveraging the tailored secret sharing method. In addition, the Paillier encryption method based on the Chinese Remainder Theorem is proposed for both the secure two-party computation and the offline phase of the multi-party computation. The random encryption coefficient is designed to enhance the security of the two-party computation and simultaneously guarantee the convergence of the distributed optimization. The feasible range for the encryption coefficient is derived with a strict mathematical proof. Numerical simulations demonstrate the exactness, effectiveness, and scalability of the proposed privacy-preserving approach.

Authors:Junhong Liu, Qinfei Long, Rong-Peng Liu, Wenjie Liu, Yunhe Hou
Title: Byzantine-Resilient Distributed P2P Energy Trading via Spatial-Temporal Anomaly Detection
Abstract:
Distributed peer-to-peer (P2P) energy trading mandates an escalating coupling between the physical power network and communication network, necessitating high-frequency sharing of real-time data among prosumers. However, this data-sharing scheme renders the system vulnerable to various malicious behaviors, as Byzantine agents can initiate cyberattacks by injecting sophisticated false data. To better investigate the impacts of malicious Byzantine faults, this paper develops a fully distributed P2P energy trading model by accounting for the high-fidelity physical network constraints. To further detect Byzantine faults and mitigate their impacts on distributed P2P energy trading problem, we propose an online spatial-temporal anomaly detection approach by leveraging the tensor learning method, which is informed by the domain knowledge to enable awesome detection performance. Moreover, to enhance its computational efficiency, we further develop closed-form solutions for the proposed detection approach. Subsequently, we derive theoretical conditions for guaranteeing optimality and convergence of the distributed P2P energy trading problem with anomaly detection mechanisms. Results from numerical simulations validate the effectiveness, optimality, and scalability of the proposed approach.

Authors:Suyang Hu, Xiaoxu Lyu, Peihu Duan, Dawei Shi, Ling Shi
Title: An Autocovariance Least-Squares-Based Data-Driven Kalman Filter for Unknown Systems
Abstract:
This article investigates the problem of data-driven state estimation for linear systems with both unknown system dynamics and noise covariances. We propose an Autocovariance Least-squares-based Data-driven Kalman Filter (ADKF), which provides a unified framework for simultaneous system identification and state estimation by utilizing pre-collected input-output trajectories and estimated initial states. Specifically, we design a SDP-based algorithm for estimating the noise covariances. We quantify the impact of model inaccuracy on noise covariances estimation using this identification algorithm, and introduce a feedback control mechanism for data collection to enhance the accuracy and stability of noise covariance estimation. The estimated noise covariances account for model inaccuracy, which are shown to be more suitable for state estimation. We also quantify the performance gap between the ADKF and the traditional Kalman filter with known system dynamics and noise covariances, showing that this gap decreases as the number and length of pre-collected trajectories increase. Finally, numerical simulations validate the robustness and effectiveness of the proposed ADKF.

Authors:Steven Dahdah, James Richard Forbes
Title: Discretization of Linear Systems using the Matrix Exponential
Abstract:
Discretizing continuous-time linear systems typically requires numerical integration. This document presents a convenient method for discretizing the dynamics, input, and process noise state-space matrices of a continuous-time linear system using a single matrix exponential.

Authors:Hazhar Rahmani, Jie Fu
Title: Automata Learning of Preferences over Temporal Logic Formulas from Pairwise Comparisons
Abstract:
Many preference elicitation algorithms consider preference over propositional logic formulas or items with different attributes. In sequential decision making, a user's preference can be a preorder over possible outcomes, each of which is a temporal sequence of events. This paper considers a class of preference inference problems where the user's unknown preference is represented by a preorder over regular languages (sets of temporal sequences), referred to as temporal goals. Given a finite set of pairwise comparisons between finite words, the objective is to learn both the set of temporal goals and the preorder over these goals. We first show that a preference relation over temporal goals can be modeled by a Preference Deterministic Finite Automaton (PDFA), which is a deterministic finite automaton augmented with a preorder over acceptance conditions. The problem of preference inference reduces to learning the PDFA. This problem is shown to be computationally challenging, with the problem of determining whether there exists a PDFA of size smaller than a given integer $k$, consistent with the sample, being NP-Complete. We formalize the properties of characteristic samples and develop an algorithm that guarantees to learn, given a characteristic sample, the minimal PDFA equivalent to the true PDFA from which the sample is drawn. We present the method through a running example and provide detailed analysis using a robotic motion planning problem.

Authors:Wang Chen, Hongzheng Shi, Jintao Ke
Title: HRSim: An agent-based simulation platform for high-capacity ride-sharing services
Abstract:
The rapid growth of ride-sharing services presents a promising solution to urban transportation challenges, such as congestion and carbon emissions. However, developing efficient operational strategies, such as pricing, matching, and fleet management, requires robust simulation tools that can replicate real-world dynamics at scale. Existing platforms often lack the capacity, flexibility, or open-source accessibility needed to support large-scale, high-capacity ride-sharing services. To address these gaps, we introduce HRSim, an open-source, agent-based High-capacity Ride-sharing Simulator. HRSim integrates real-world road networks and demand data to simulate dynamic ride-sharing operations, including pricing, routing, matching, and repositioning. Its module design supports both ride-sharing and solo-hailing service modes. Also, it includes a visualization module for real-time performance analysis. In addition, HRSim incorporates integer linear programming and heuristic algorithms, which can achieve large-scale simulations of high-capacity ride-sharing services. Applications demonstrate HRSim's utility in various perspectives, including quantifying carbon emissions, scaling ride-sharing performance, evaluating new strategies, etc. By bridging the gap between theoretical research and practical implementation, HRSim serves as a versatile testbed for policymakers and transportation network companies to optimize ride-sharing systems for efficiency and sustainability.

Authors:Julie Rousseau, Carlo Tajoli, Hanmin Cai, Philipp Heer, Kristina Orehounig, Gabriela Hug
Title: Trajectory-Independent Flexibility Envelopes of Energy-Constrained Systems with State-Dependent Losses
Abstract:
As non-dispatchable renewable power units become prominent in electric power grids, demand-side flexibility appears as a key element of future power systems' operation. Power and energy bounds are intuitive metrics to describe the flexibility of energy-constrained loads. However, to be used in operation, any power consumption trajectory fulfilling the power and energy bounds must necessarily fulfill the load's constraints. In this paper, we demonstrate that energy bounds defined as the minimum and maximum energy consumption potential of a load with state-dependent losses are Trajectory-Dependent (TD), i.e., for any energy value in the bounds a feasible power trajectory exists, but not all power trajectories enclosed in the energy envelopes satisfy the load's constraints. To guarantee the satisfaction of load constraints for all trajectories, we define Trajectory-Independent (TI) energy bounds. We present TI envelope formulations for individual loads, as well as physically coupled loads and assess the proposed formulations in a building heating system, a system with state-dependent losses. We find that using a TD envelope as energy bounds in operation may yield room temperature up to 3.8°C higher and 3.4°C lower than admissible. Overall, poorly insulated buildings observe a TI energy envelope that differs significantly from their TD envelope.

Authors:Sina Sharifi, Erfan Yazdandoost Hamedani, Mahyar Fazlyab
Title: Sequential QCQP for Bilevel Optimization with Line Search
Abstract:
Bilevel optimization involves a hierarchical structure where one problem is nested within another, leading to complex interdependencies between levels. We propose a single-loop, tuning-free algorithm that guarantees anytime feasibility, i.e., approximate satisfaction of the lower-level optimality condition, while ensuring descent of the upper-level objective. At each iteration, a convex quadratically-constrained quadratic program (QCQP) with a closed-form solution yields the search direction, followed by a backtracking line search inspired by control barrier functions to ensure safe, uniformly positive step sizes. The resulting method is scalable, requires no hyperparameter tuning, and converges under mild local regularity assumptions. We establish an O(1/k) ergodic convergence rate in terms of a first-order stationary metric and demonstrate the algorithm's effectiveness on representative bilevel tasks.

Authors:Simran Kumari, Anand Ronald K., Siddhartha Mukhopadhyay, Ashish R. Hota
Title: Development of a Scaled Setup for Experimental Study of the Effect of Lateral Dynamics on Energy Consumption in Electric Vehicles: An Extension
Abstract:
Most of the existing state-of-the-art approaches for energy consumption analysis do not account for the effect of lateral dynamics on energy consumption in electric vehicles (EVs) during vehicle maneuvers. This paper aims to validate this effect through an experimental study. We develop a scaled model using a radio-controlled (RC) car, modified to achieve dynamic similitude with on-road vehicles, to conduct scaled experiments. The experimental results confirm the impact of lateral dynamics on both energy demand and driving range in electric vehicles, aligning with our previous findings [1], and emphasize the need to incorporate these factors into energy consumption models. This is an extended version of a paper accepted at IEEE ITEC 2025. It includes additional results and analysis.

Authors:Anton Bolychev, Georgiy Malaniya, Grigory Yaremenko, Anastasia Krasnaya, Pavel Osinenko
Title: A universal policy wrapper with guarantees
Abstract:
We introduce a universal policy wrapper for reinforcement learning agents that ensures formal goal-reaching guarantees. In contrast to standard reinforcement learning algorithms that excel in performance but lack rigorous safety assurances, our wrapper selectively switches between a high-performing base policy -- derived from any existing RL method -- and a fallback policy with known convergence properties. Base policy's value function supervises this switching process, determining when the fallback policy should override the base policy to ensure the system remains on a stable path. The analysis proves that our wrapper inherits the fallback policy's goal-reaching guarantees while preserving or improving upon the performance of the base policy. Notably, it operates without needing additional system knowledge or online constrained optimization, making it readily deployable across diverse reinforcement learning architectures and tasks.

Authors:Georgiy Malaniya, Anton Bolychev, Grigory Yaremenko, Anastasia Krasnaya, Pavel Osinenko
Title: Multi-CALF: A Policy Combination Approach with Statistical Guarantees
Abstract:
We introduce Multi-CALF, an algorithm that intelligently combines reinforcement learning policies based on their relative value improvements. Our approach integrates a standard RL policy with a theoretically-backed alternative policy, inheriting formal stability guarantees while often achieving better performance than either policy individually. We prove that our combined policy converges to a specified goal set with known probability and provide precise bounds on maximum deviation and convergence time. Empirical validation on control tasks demonstrates enhanced performance while maintaining stability guarantees.

Authors:Parham Oveissi, Ankit Goel
Title: Model-free Dynamic Mode Adaptive Control using Matrix RLS
Abstract:
This paper presents a novel, model-free, data-driven control synthesis technique known as dynamic mode adaptive control (DMAC) for synthesizing controllers for complex systems whose mathematical models are not suitable for classical control design. DMAC consists of a dynamics approximation module and a controller module. The dynamics approximation module is motivated by data-driven reduced-order modeling techniques and directly approximates the system's dynamics in state-space form using a matrix version of the recursive least squares algorithm. The controller module includes an output tracking controller that utilizes sparse measurements from the system to generate the control signal. The DMAC controller design technique is demonstrated through various dynamic systems commonly found in engineering applications. A systematic sensitivity study demonstrates the robustness of DMAC with respect to its own hyperparameters and the system's parameters.

Authors:Yuxin Xia, Yihong Zhou, Iacopo Savelli, Thomas Morstyn
Title: Bilevel Transmission Expansion Planning with Joint Chance-Constrained Dispatch
Abstract:
In transmission expansion planning (TEP), network planners make long-term investment decisions while anticipating market clearing outcomes that are increasingly affected by renewable generation uncertainty. Additionally, market participants' sensitivity to network charges and the requirement for cost recovery by the network planner introduce further complexity. Since the day-ahead market clears before uncertainty realizes, explicitly modelling these uncertainties at the lower-level market clearing becomes important in bilevel TEP problems. In this paper, we introduce a novel bilevel TEP framework with lower-level joint chance-constrained market clearing that manages line flow constraints under wind uncertainty and accounts for the effect of network tariffs on participants' actual marginal costs and utility. To solve this complex problem, we propose a Strengthened Linear Approximation (SLA) technique for handling Wasserstein distributionally robust joint chance constraints with right-hand-side uncertainties (RHS-WDRJCC). The proposed method offers more efficient approximations without additional conservativeness and avoids the numerical issues encountered in existing approaches by introducing valid inequalities. The case study demonstrates that the proposed model achieves the desired out-of-sample constraint satisfaction probability. Moreover, the numerical results highlight the significant computational advantage of SLA, achieving up to a 26x speedup compared to existing methods such as worst-case conditional value-at-risk, while maintaining high solution quality.

Authors:Yuta Higuchi, Rikuto Nagai, Atsushi Okazaki, Masaki Ogura, Naoki Wakamiya
Title: Comparative Analysis of Black-Box Optimization Methods for Weather Intervention Design
Abstract:
As climate change increases the threat of weather-related disasters, research on weather control is gaining importance. The objective of weather control is to mitigate disaster risks by administering interventions with optimal timing, location, and intensity. However, the optimization process is highly challenging due to the vast scale and complexity of weather phenomena, which introduces two major challenges. First, obtaining accurate gradient information for optimization is difficult. In addition, numerical weather prediction (NWP) models demand enormous computational resources, necessitating parameter optimization with minimal function evaluations. To address these challenges, this study proposes a method for designing weather interventions based on black-box optimization, which enables efficient exploration without requiring gradient information. The proposed method is evaluated in two distinct control scenarios: one-shot initial value intervention and sequential intervention based on model predictive control. Furthermore, a comparative analysis is conducted among four representative black-box optimization methods in terms of total rainfall reduction. Experimental results show that Bayesian optimization achieves higher control effectiveness than the others, particularly in high-dimensional search spaces. These findings suggest that Bayesian optimization is a highly effective approach for weather intervention computation.

Authors:Angel L. Cedeño, Rodrigo A. González, Juan C. Agüero
Title: The Quadrature Gaussian Sum Filter and Smoother for Wiener Systems
Abstract:
Block-Oriented Nonlinear (BONL) models, particularly Wiener models, are widely used for their computational efficiency and practicality in modeling nonlinear behaviors in physical systems. Filtering and smoothing methods for Wiener systems, such as particle filters and Kalman-based techniques, often struggle with computational feasibility or accuracy. This work addresses these challenges by introducing a novel Gaussian Sum Filter for Wiener system state estimation that is built on a Gauss-Legendre quadrature approximation of the likelihood function associated with the output signal. In addition to filtering, a two-filter smoothing strategy is proposed, enabling accurate computation of smoothed state distributions at single and consecutive time instants. Numerical examples demonstrate the superiority of the proposed method in balancing accuracy and computational efficiency compared to traditional approaches, highlighting its benefits in control, state estimation and system identification, for Wiener systems.

Authors:Negar Monir, Mahdieh S. Sadabadi, Sadegh Soudjani
Title: Robust Control of Uncertain Switched Affine Systems via Scenario Optimization
Abstract:
Switched affine systems are often used to model and control complex dynamical systems that operate in multiple modes. However, uncertainties in the system matrices can challenge their stability and performance. This paper introduces a new approach for designing switching control laws for uncertain switched affine systems using data-driven scenario optimization. Instead of relaxing invariant sets, our method creates smaller invariant sets with quadratic Lyapunov functions through scenario-based optimization, effectively reducing chattering effects and regulation error. The framework ensures robustness against parameter uncertainties while improving accuracy. We validate our method with applications in multi-objective interval Markov decision processes and power electronic converters, demonstrating its effectiveness.

Authors:Emir Cem Gezer, Mael Korentin Ivan Moreau, Anders Sandneseng Høgden, Dong Trong Nguyen, Roger Skjetne, Asgeir Sørensen
Title: Digital-physical testbed for ship autonomy studies in the Marine Cybernetics Laboratory basin
Abstract:
The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate risks, but they may not accurately represent real-world dynamics for the given tasks. Utilizing small-scale model ships and robotic vessels in conjunction with a laboratory basin provides an accessible testing environment for the early stages of validation processes. However, designing and developing a model vessel for a single test can be costly and cumbersome, and researchers often lack access to such infrastructure. To address these challenges and enable streamlined testing, we have developed an in-house testbed that facilitates the development, testing, verification, and validation of MASS algorithms in a digital-physical laboratory. This infrastructure includes a set of small-scale model vessels, a simulation environment for each vessel, a comprehensive testbed environment, and a digital twin in Unity. With this, we aim to establish a full design and verification pipeline that starts with high-fidelity simulation models of each model vessel, to the model-scale testing in the laboratory basin, allowing possibilities for moving towards semi-fullscale validation with R/V milliAmpere1 and full-scale validation with R/V Gunnerus. In this work, we present our progress on the development of this testbed environment and its components, demonstrating its effectiveness in enabling ship guidance, navigation, and control (GNC), including autonomy.

Authors:Max Sokolich, Ceren Kirmizitas, Sambeeta Das, Ron Weiss
Title: Autonomous Vision-Based Magnetic Microrobotic Pushing of Micro-Objects and Cells
Abstract:
Accurate and autonomous transportation of micro-objects and biological cells can enable significant advances in a wide variety of research disciplines. Here, we present a novel, vision-based, model-free microrobotic pushing algorithm for the autonomous manipulation of micro objects and biological cells. The algorithm adjusts the axis of a rotating magnetic field that in turn controls the heading angle and spin axis of a spherical Janus rolling microrobot. We introduce the concept of a microrobotic guiding corridor to constrain the object and to avoid pushing failures. We then show that employing only two simple conditions, the microrobot is able to successfully and autonomously push microscale objects along predefined trajectories. We evaluate the performance of the algorithm by measuring the mean absolute error and completion time relative to a desired path at different actuation frequencies and guiding corridor widths. Finally, we demonstrate biomedical applicability by autonomously transporting a single biological cell, highlighting the methods potential for applications in tissue engineering, drug delivery and synthetic biology.

Authors:Shangqing Cao, Aparimit Kasliwal, Huangyi Zheng, Masoud Reihanifar, Francesc Robuste, Mark Hansen
Title: Robust Management of Airport Security Queues Considering Passenger Non-compliance with Chance-Constrained Optimization
Abstract:
The long waiting time at airport security has become an emergent issue as demand for air travel continues to grow. Not only does queuing at security cause passengers to miss their flights, but also reduce the amount of time passengers spend at the airport post-security, potentially leading to less revenue for the airport operator. One of the key issues to address to reduce waiting time is the management of arrival priority. As passengers on later flights can arrive before passengers on earlier flights, the security system does not always process passengers in the order of the degree of urgency. In this paper, we propose a chance-constrained optimization model that decides in which time slot passengers should be recommended to arrive. We use chance constraints to obtain solutions that take the uncertainty in passenger non-compliance into account. The experimental results, based on a sample day of flight schedules at the Barcelona airport, show a reduction of 85% in the total waiting time. Compared to the deterministic case, in which passengers are assumed to fully comply with the recommendations, we see a 30% increase in the reduction of the total waiting time. This highlights the importance of considering variation in passenger compliance in the management of airport security queues.

Authors:Feiran Zhao, Alessandro Chiuso, Florian Dörfler
Title: Policy Gradient Adaptive Control for the LQR: Indirect and Direct Approaches
Abstract:
Motivated by recent advances of reinforcement learning and direct data-driven control, we propose policy gradient adaptive control (PGAC) for the linear quadratic regulator (LQR), which uses online closed-loop data to improve the control policy while maintaining stability. Our method adaptively updates the policy in feedback by descending the gradient of the LQR cost and is categorized as indirect, when gradients are computed via an estimated model, versus direct, when gradients are derived from data using sample covariance parameterization. Beyond the vanilla gradient, we also showcase the merits of the natural gradient and Gauss-Newton methods for the policy update. Notably, natural gradient descent bridges the indirect and direct PGAC, and the Gauss-Newton method of the indirect PGAC leads to an adaptive version of the celebrated Hewer's algorithm. To account for the uncertainty from noise, we propose a regularization method for both indirect and direct PGAC. For all the considered PGAC approaches, we show closed-loop stability and convergence of the policy to the optimal LQR gain. Simulations validate our theoretical findings and demonstrate the robustness and computational efficiency of PGAC.

Authors:Daniel Alazard, Francesco Sanfedino, Ervan Kassarian
Title: Non-linear dynamics of multibody systems: a system-based approach
Abstract:
This paper presents causal block-diagram models to represent the equations of motion of multi-body systems in a very compact and simple closed form. Both the forward dynamics (from the forces and torques imposed at the various degrees-of-freedom to the motions of these degrees-of-freedom) or the inverse dynamics (from the motions imposed at the degrees-of-freedom to the resulting forces and torques) can be considered and described by a block diagram model. This work extends the Two-Input Two-Output Port (TITOP) theory by including all non-linear terms and uniform or gravitational acceleration fields. Connection among different blocks is possible through the definition of the motion vector. The model of a system composed of a floating base, rigid bodies, revolute and prismatic joints, working under gravity is developed to illustrate the methodology. The proposed model is validated by simulation and cross-checking with a model built using an alternative modeling tool on a scenario where the nonlinear terms are determining.

Authors:Mingyu Kim, Daniel J. Stilwell, Harun Yetkin, Jorge Jimenez
Title: Near-optimal Sensor Placement for Detecting Stochastic Target Trajectories in Barrier Coverage Systems
Abstract:
This paper addresses the deployment of sensors for a 2-D barrier coverage system. The challenge is to compute near-optimal sensor placements for detecting targets whose trajectories follow a log-Gaussian Cox line process. We explore sensor deployment in a transformed space, where linear target trajectories are represented as points. While this space simplifies handling the line process, the spatial functions representing sensor performance (i.e. probability of detection) become less intuitive. To illustrate our approach, we focus on positioning sensors of the barrier coverage system on the seafloor to detect passing ships. Through numerical experiments using historical ship data, we compute sensor locations that maximize the probability all ship passing over the barrier coverage system are detected.

Authors:Joowon Lee, Donggil Lee, Junsoo Kim
Title: Stabilization by Controllers Having Integer Coefficients
Abstract:
The system property of ``having integer coefficients,'' that is, a transfer function has an integer monic polynomial as its denominator, is significant in the field of encrypted control as it is required for a dynamic controller to be realized over encrypted data. This paper shows that there always exists a controller with integer coefficients stabilizing a given discrete-time linear time-invariant plant. A constructive algorithm to obtain such a controller is provided, along with numerical examples. Furthermore, the proposed method is applied to converting a pre-designed controller to have integer coefficients, while the original performance is preserved in the sense that the transfer function of the closed-loop system remains unchanged.

Authors:Yuji Takubo, Walter Manuel, Ethan Foss, Simone D'Amico
Title: Safe and Optimal N-Spacecraft Swarm Reconfiguration in Non-Keplerian Cislunar Orbits
Abstract:
This paper presents a novel fuel-optimal guidance and control methodology for spacecraft swarm reconfiguration in Restricted Multi-Body Problems (RMBPs) with a guarantee of passive safety, maintaining miss distance even under abrupt loss of control authority. A new set of constraints exploits a quasi-periodic structure of RMBPs to guarantee passive safety. Particularly, this can be expressed as simple geometric constraints by solving optimal control in Local Toroidal Coordinates, which is based on a local eigenspace of a quasi-periodic motion around the corresponding periodic orbit. The proposed formulation enables a significant simplification of problem structure, which is highly applicable to large-scale swarm reconfiguration in cislunar orbits. The method is demonstrated in various models of RMBPs (Elliptical Restricted Three-Body Problem and Bi-Circular Restricted Four-Body Problem) and also validated in the full-ephemeris dynamics. By extending and generalizing well-known concepts from the two- to the three- and four-body problems, this paper lays the foundation for the practical control schemes of relative motion in cislunar space.

Authors:Negar Monir, Mahdieh S. Sadabadi, Sadegh Soudjani
Title: Logic-based Resilience Computation of Power Systems Against Frequency Requirements
Abstract:
Incorporating renewable energy sources into modern power grids has significantly decreased system inertia, which has raised concerns about power system vulnerability to disturbances and frequency instability. The conventional methods for evaluating transient stability by bounding frequency deviations are often conservative and may not accurately reflect real-world conditions and operational constraints. To address this, we propose a framework for assessing the resilience of power systems against disturbances while adhering to realistic operational frequency constraints. Our approach leverages the Lure system representation of power system dynamics and Signal Temporal Logic (STL) to capture the essential frequency response requirements set by grid operators. This enables us to translate frequency constraints into formal robustness semantics. We then formulate an optimization problem to identify the maximum disturbance that the system can withstand without violating these constraints. The resulting optimization is translated into a scenario optimization while addressing the uncertainty in the obtained solution. The proposed methodology has been simulated on the Single Machine Infinite Bus case study and 9-Bus IEEE benchmark system, demonstrating its effectiveness in assessing resilience across various operating conditions and delivering promising results.

Authors:Oliver Bause, Julia Werner, Oliver Bringmann
Title: Systematic Hardware Integration Testing for Smart Video-based Medical Device Prototypes
Abstract:
This paper presents a hardware-in-the-loop (HIL) verification system for intelligent, camera-based in-body medical devices. A case study of a Video Capsule Endoscopy (VCE) prototype is used to illustrate the system's functionality. The field-programmable gate array (FPGA)-based approach simulates the capsule's traversal through the strointestinal (GI) tract by injecting on-demand pre-recorded images from VCE studies. It is demonstrated that the HIL configuration is capable of meeting the real-time requirements of the prototypes and automatically identifying errors. The integration of machine learning (ML) hardware accelerators within medical devices can be facilitated by utilising this configuration, as it enables the verification of its functionality prior to the initiation of clinical testing.

Authors:Jonathan Gornet, Yiannis Kantaros, Bruno Sinopoli
Title: HyperController: A Hyperparameter Controller for Fast and Stable Training of Reinforcement Learning Neural Networks
Abstract:
We introduce Hyperparameter Controller (HyperController), a computationally efficient algorithm for hyperparameter optimization during training of reinforcement learning neural networks. HyperController optimizes hyperparameters quickly while also maintaining improvement of the reinforcement learning neural network, resulting in faster training and deployment. It achieves this by modeling the hyperparameter optimization problem as an unknown Linear Gaussian Dynamical System, which is a system with a state that linearly changes. It then learns an efficient representation of the hyperparameter objective function using the Kalman filter, which is the optimal one-step predictor for a Linear Gaussian Dynamical System. To demonstrate the performance of HyperController, it is applied as a hyperparameter optimizer during training of reinforcement learning neural networks on a variety of OpenAI Gymnasium environments. In four out of the five Gymnasium environments, HyperController achieves highest median reward during evaluation compared to other algorithms. The results exhibit the potential of HyperController for efficient and stable training of reinforcement learning neural networks.

Authors:Siying Li, Lang Tong, Timothy Mount, Kanchan Upadhyay, Harris Eisenhardt, Pradip Kumar
Title: Renewable-Colocated Green Hydrogen Production: Optimal Scheduling and Profitability
Abstract:
We study the optimal green hydrogen production and energy market participation of a renewable-colocated hydrogen producer (RCHP) that utilizes onsite renewable generation for both hydrogen production and grid services. Under deterministic and stochastic profit-maximization frameworks, we analyze RCHP's multiple market participation models and derive closed-form optimal scheduling policies that dynamically allocate renewable energy to hydrogen production and electricity export to the wholesale market. Analytical characterizations of the RCHP's operating profit and the optimal sizing of renewable and electrolyzer capacities are obtained. We use real-time renewable production and electricity price data from three independent system operators to assess the impacts of hydrogen market prices, renewable generation, and electricity prices on RCHP's profitability.

Authors:Eric R. Damm, Jason M. Gregory, Eli S. Lancaster, Felix A. Sanchez, Daniel M. Sahu, Thomas M. Howard
Title: Terrain-Aware Kinodynamic Planning with Efficiently Adaptive State Lattices for Mobile Robot Navigation in Off-Road Environments
Abstract:
To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle roll and pitch as a function of pose, vehicle suspension, and ground elevation map to weigh the cost of edges in the search space. Encoding such information in a traditional two-dimensional cost map is limiting because it is unable to capture the influence of orientation on the roll and pitch estimates from sloped terrain. The research presented herein addresses this problem by encoding kinodynamic information in the edges of a recombinant motion planning search space based on the Efficiently Adaptive State Lattice (EASL). This approach, which we describe as a Kinodynamic Efficiently Adaptive State Lattice (KEASL), differs from the prior representation in two ways. First, this method uses a novel encoding of velocity and acceleration constraints and vehicle direction at expanded nodes in the motion planning graph. Second, this approach describes additional steps for evaluating the roll, pitch, constraints, and velocities associated with poses along each edge during search in a manner that still enables the graph to remain recombinant. Velocities are computed using an iterative bidirectional method using Eulerian integration that more accurately estimates the duration of edges that are subject to terrain-dependent velocity limits. Real-world experiments on a Clearpath Robotics Warthog Unmanned Ground Vehicle were performed in a non-flat, unstructured environment. Results from 2093 planning queries from these experiments showed that KEASL provided a more efficient route than EASL in 83.72% of cases when EASL plans were adjusted to satisfy terrain-dependent velocity constraints. An analysis of relative runtimes and differences between planned routes is additionally presented.

Authors:Stefan Jonas, Angela Meyer
Title: Fault Detection in New Wind Turbines with Limited Data by Generative Transfer Learning
Abstract:
Intelligent condition monitoring of wind turbines is essential for reducing downtimes. Machine learning models trained on wind turbine operation data are commonly used to detect anomalies and, eventually, operation faults. However, data-driven normal behavior models (NBMs) require a substantial amount of training data, as NBMs trained with scarce data may result in unreliable fault detection. To overcome this limitation, we present a novel generative deep transfer learning approach to make SCADA samples from one wind turbine lacking training data resemble SCADA data from wind turbines with representative training data. Through CycleGAN-based domain mapping, our method enables the application of an NBM trained on an existing wind turbine to a new one with severely limited data. We demonstrate our approach on field data mapping SCADA samples across 7 substantially different WTs. Our findings show significantly improved fault detection in wind turbines with scarce data. Our method achieves the most similar anomaly scores to an NBM trained with abundant data, outperforming NBMs trained on scarce training data with improvements of +10.3% in F1-score when 1 month of training data is available and +16.8% when 2 weeks are available. The domain mapping approach outperforms conventional fine-tuning at all considered degrees of data scarcity, ranging from 1 to 8 weeks of training data. The proposed technique enables earlier and more reliable fault detection in newly installed wind farms, demonstrating a novel and promising research direction to improve anomaly detection when faced with training data scarcity.

Authors:Rafael I. Cabral Muchacho, Riddhiman Laha, Florian T. Pokorny, Luis F. C. Figueredo, Nilanjan Chakraborty
Title: Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
Abstract:
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints, and each represents a well-developed field. Despite addressing similar problems, their connection remains largely unexplored. This paper bridges this gap by formally proving the equivalence between these two methodologies for sampled-data, first-order systems, considering both single and multiple constraint scenarios. By demonstrating this equivalence, we provide a unified perspective on these techniques. This unification has theoretical and practical implications, facilitating the cross-application of robustness guarantees and algorithmic improvements between complementarity and CBF frameworks. We discuss these synergistic benefits and motivate future work in the comparison of the methods in more general cases.

Authors:Andreas Bouterakos, Joseph McKeon, Georgios Tzounas
Title: On the Eigenvalue Tracking of Large-Scale Systems
Abstract:
The paper focuses on the problem of tracking eigenvalue trajectories in large-scale power system models as system parameters vary. A continuation-based formulation is presented for tracing any single eigenvalue of interest, which supports sparse matrix representations and accommodates both explicit and semi-implicit differential-algebraic models. Key implementation aspects, such as numerical integration, matrix updates, derivative approximations, and handling defective eigenvalues, are discussed in detail and practical recommendations are duly provided. The tracking approach is demonstrated through a comprehensive case study on the IEEE 39-bus system, as well as on a realistic dynamic model of the Irish transmission system.

Authors:Apurva Patil, Kyle Morgenstein, Luis Sentis, Takashi Tanaka
Title: Path Integral Methods for Synthesizing and Preventing Stealthy Attacks in Nonlinear Cyber-Physical Systems
Abstract:
This paper studies the synthesis and mitigation of stealthy attacks in nonlinear cyber-physical systems (CPS). To quantify stealthiness, we employ the Kullback-Leibler (KL) divergence, a measure rooted in hypothesis testing and detection theory, which captures the trade-off between an attacker's desire to remain stealthy and her goal of degrading system performance. First, we synthesize the worst-case stealthy attack in nonlinear CPS using the path integral approach. Second, we consider how a controller can mitigate the impact of such stealthy attacks by formulating a minimax KL control problem, yielding a zero-sum game between the attacker and the controller. Again, we leverage a path integral-based solution that computes saddle-point policies for both players through Monte Carlo simulations. We validate our approach using unicycle navigation and cruise control problems, demonstrating how an attacker can covertly drive the system into unsafe regions, and how the controller can adapt her policy to combat the worst-case attacks.

Authors:Pingcheng Jian, Xiao Wei, Yanbaihui Liu, Samuel A. Moore, Michael M. Zavlanos, Boyuan Chen
Title: LAPP: Large Language Model Feedback for Preference-Driven Reinforcement Learning
Abstract:
We introduce Large Language Model-Assisted Preference Prediction (LAPP), a novel framework for robot learning that enables efficient, customizable, and expressive behavior acquisition with minimum human effort. Unlike prior approaches that rely heavily on reward engineering, human demonstrations, motion capture, or expensive pairwise preference labels, LAPP leverages large language models (LLMs) to automatically generate preference labels from raw state-action trajectories collected during reinforcement learning (RL). These labels are used to train an online preference predictor, which in turn guides the policy optimization process toward satisfying high-level behavioral specifications provided by humans. Our key technical contribution is the integration of LLMs into the RL feedback loop through trajectory-level preference prediction, enabling robots to acquire complex skills including subtle control over gait patterns and rhythmic timing. We evaluate LAPP on a diverse set of quadruped locomotion and dexterous manipulation tasks and show that it achieves efficient learning, higher final performance, faster adaptation, and precise control of high-level behaviors. Notably, LAPP enables robots to master highly dynamic and expressive tasks such as quadruped backflips, which remain out of reach for standard LLM-generated or handcrafted rewards. Our results highlight LAPP as a promising direction for scalable preference-driven robot learning.

Authors:Joshua A. Robbins, Stephen J. Harnett, Andrew F. Thompson, Sean Brennan, Herschel C. Pangborn
Title: Integration of a Graph-Based Path Planner and Mixed-Integer MPC for Robot Navigation in Cluttered Environments
Abstract:
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where the robot's environment is partially known. A medial axis graph-based planner defines a global path plan based on known obstacles, where each edge in the graph corresponds to a unique corridor. A mixed-integer model predictive control (MPC) method detects if a terminal constraint derived from the global plan is infeasible, subject to a non-convex description of the local environment. Infeasibility detection is used to trigger efficient global re-planning via medial axis graph edge deletion. The proposed re-planning strategy is demonstrated experimentally.

Authors:Haonan He, Yuheng Qiu, Junyi Geng
Title: Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control
Abstract:
Modeling and control of nonlinear dynamics are critical in robotics, especially in scenarios with unpredictable external influences and complex dynamics. Traditional cascaded modular control pipelines often yield suboptimal performance due to conservative assumptions and tedious parameter tuning. Pure data-driven approaches promise robust performance but suffer from low sample efficiency, sim-to-real gaps, and reliance on extensive datasets. Hybrid methods combining learning-based and traditional model-based control in an end-to-end manner offer a promising alternative. This work presents a self-supervised learning framework combining learning-based inertial odometry (IO) module and differentiable model predictive control (d-MPC) for Unmanned Aerial Vehicle (UAV) attitude control. The IO denoises raw IMU measurements and predicts UAV attitudes, which are then optimized by MPC for control actions in a bi-level optimization (BLO) setup, where the inner MPC optimizes control actions and the upper level minimizes discrepancy between real-world and predicted performance. The framework is thus end-to-end and can be trained in a self-supervised manner. This approach combines the strength of learning-based perception with the interpretable model-based control. Results show the effectiveness even under strong wind. It can simultaneously enhance both the MPC parameter learning and IMU prediction performance.

Authors:Jan Drgona, Truong X. Nghiem, Thomas Beckers, Mahyar Fazlyab, Enrique Mallada, Colin Jones, Draguna Vrabie, Steven L. Brunton, Rolf Findeisen
Title: Safe Physics-Informed Machine Learning for Dynamics and Control
Abstract:
This tutorial paper focuses on safe physics-informed machine learning in the context of dynamics and control, providing a comprehensive overview of how to integrate physical models and safety guarantees. As machine learning techniques enhance the modeling and control of complex dynamical systems, ensuring safety and stability remains a critical challenge, especially in safety-critical applications like autonomous vehicles, robotics, medical decision-making, and energy systems. We explore various approaches for embedding and ensuring safety constraints, including structural priors, Lyapunov and Control Barrier Functions, predictive control, projections, and robust optimization techniques. Additionally, we delve into methods for uncertainty quantification and safety verification, including reachability analysis and neural network verification tools, which help validate that control policies remain within safe operating bounds even in uncertain environments. The paper includes illustrative examples demonstrating the implementation aspects of safe learning frameworks that combine the strengths of data-driven approaches with the rigor of physical principles, offering a path toward the safe control of complex dynamical systems.

Authors:Jiawei Zhang, Yu Zhang, Wei Xu, Yifei Zhang, Weiran Jiang, Qi Jiao, Yao Ren, Ziyou Song
Title: Enhanced Battery Capacity Estimation in Data-Limited Scenarios through Swarm Learning
Abstract:
Data-driven methods have shown potential in electric-vehicle battery management tasks such as capacity estimation, but their deployment is bottlenecked by poor performance in data-limited scenarios. Sharing battery data among algorithm developers can enable accurate and generalizable data-driven models. However, an effective battery management framework that simultaneously ensures data privacy and fault tolerance is still lacking. This paper proposes a swarm battery management system that unites a decentralized swarm learning (SL) framework and credibility weight-based model merging mechanism to enhance battery capacity estimation in data-limited scenarios while ensuring data privacy and security. The effectiveness of the SL framework is validated on a dataset comprising 66 commercial LiNiCoAlO2 cells cycled under various operating conditions. Specifically, the capacity estimation performance is validated in four cases, including data-balanced, volume-biased, feature-biased, and quality-biased scenarios. Our results show that SL can enhance the estimation accuracy in all data-limited cases and achieve a similar level of accuracy with central learning where large amounts of data are available.

Authors:Arthur N. Montanari, Ana Elisa D. Barioni, Chao Duan, Adilson E. Motter
Title: Optimal flock formation induced by agent heterogeneity
Abstract:
The study of flocking in biological systems has identified conditions for self-organized collective behavior, inspiring the development of decentralized strategies to coordinate the dynamics of swarms of drones and other autonomous vehicles. Previous research has focused primarily on the role of the time-varying interaction network among agents while assuming that the agents themselves are identical or nearly identical. Here, we depart from this conventional assumption to investigate how inter-individual differences between agents affect the stability and convergence in flocking dynamics. We show that flocks of agents with optimally assigned heterogeneous parameters significantly outperform their homogeneous counterparts, achieving 20-40% faster convergence to desired formations across various control tasks. These tasks include target tracking, flock formation, and obstacle maneuvering. In systems with communication delays, heterogeneity can enable convergence even when flocking is unstable for identical agents. Our results challenge existing paradigms in multi-agent control and establish system disorder as an adaptive, distributed mechanism to promote collective behavior in flocking dynamics.

Authors:Ryan Greenough, Kohei Murakami, Jan Kleissl, Adil Khurram
Title: Optimal SVI-Weighted PSPS Decisions with Decision-Dependent Outage Uncertainty
Abstract:
Public Safety Power Shutoffs (PSPS) are a pre-emptive strategy to mitigate the wildfires caused by power system malfunction. System operators implement PSPS to balance wildfire mitigation efforts through de-energization of transmission lines against the risk of widespread blackouts modeled with load shedding. Existing approaches do not incorporate decision-dependent wildfire-driven failure probabilities, as modeling outage scenario probabilities requires incorporating high-order polynomial terms in the objective. This paper uses distribution shaping to develop an efficient MILP problem representation of the distributionally robust PSPS problem. Building upon the author's prior work, the wildfire risk of operating a transmission line is a function of the probability of a wildfire-driven outage and its subsequent expected impact in acres burned. A day-ahead unit commitment and line de-energization PSPS framework is used to assess the trade-off between total cost and wildfire risk at different levels of distributional robustness, parameterized by a level of distributional dissimilarity $κ$. We perform simulations on the IEEE RTS 24-bus test system.

Authors:Shengyuan Yan, Farzad Vazinram, Zeynab Kaseb, Lindsay Spoor, Jochen Stiasny, Betul Mamudi, Amirhossein Heydarian Ardakani, Ugochukwu Orji, Pedro P. Vergara, Yu Xiang, Jerry Guo
Title: Data driven approach towards more efficient Newton-Raphson power flow calculation for distribution grids
Abstract:
Power flow (PF) calculations are fundamental to power system analysis to ensure stable and reliable grid operation. The Newton-Raphson (NR) method is commonly used for PF analysis due to its rapid convergence when initialized properly. However, as power grids operate closer to their capacity limits, ill-conditioned cases and convergence issues pose significant challenges. This work, therefore, addresses these challenges by proposing strategies to improve NR initialization, hence minimizing iterations and avoiding divergence. We explore three approaches: (i) an analytical method that estimates the basin of attraction using mathematical bounds on voltages, (ii) Two data-driven models leveraging supervised learning or physics-informed neural networks (PINNs) to predict optimal initial guesses, and (iii) a reinforcement learning (RL) approach that incrementally adjusts voltages to accelerate convergence. These methods are tested on benchmark systems. This research is particularly relevant for modern power systems, where high penetration of renewables and decentralized generation require robust and scalable PF solutions. In experiments, all three proposed methods demonstrate a strong ability to provide an initial guess for Newton-Raphson method to converge with fewer steps. The findings provide a pathway for more efficient real-time grid operations, which, in turn, support the transition toward smarter and more resilient electricity networks.

Authors:Charis Stamouli, Anastasios Tsiamis, Manfred Morari, George J. Pappas
Title: Layered Multirate Control of Constrained Linear Systems
Abstract:
Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system, and ii) a lower layer, where a high-frequency tracking controller guides a detailed model of the system toward the output of the higher-layer model. A fundamental problem in this layered architecture is the design of planners and tracking controllers that guarantee both higher- and lower-layer system constraints are satisfied. Toward addressing this problem, we introduce a principled approach for layered multirate control of linear systems subject to output and input constraints. Inspired by discrete-time simulation functions, we propose a streamlined control design that guarantees the lower-layer system tracks the output of the higher-layer system with computable precision. Using this design, we derive conditions and present a method for propagating the constraints of the lower-layer system to the higher-layer system. The propagated constraints are integrated into the design of an arbitrary planner that can handle higher-layer system constraints. Our framework ensures that the output constraints of the lower-layer system are satisfied at all high-level time steps, while respecting its input constraints at all low-level time steps. We apply our approach in a scenario of motion planning, highlighting its critical role in ensuring collision avoidance.

Authors:Marc D. Berliner, Minsu Kim, Xiao Cui, Vivek N. Lam, Patrick A. Asinger, Martin Z. Bazant, William C. Chueh, Richard D. Braatz
Title: Bayesian Analysis of Interpretable Aging across Thousands of Lithium-ion Battery Cycles
Abstract:
The Doyle-Fuller-Newman (DFN) model is a common mechanistic model for lithium-ion batteries. The reaction rate constant and diffusivity within the DFN model are key parameters that directly affect the movement of lithium ions, thereby offering explanations for cell aging. This work investigates the ability to uniquely estimate each electrode's diffusion coefficients and reaction rate constants of 95 Tesla Model 3 cells with a nickel cobalt aluminum oxide (NCA) cathode and silicon oxide--graphite (LiC$_\text{6}$--SiO$_{\text{x}}$) anode. The parameters are estimated at intermittent diagnostic cycles over the lifetime of each cell. The four parameters are estimated using Markov chain Monte Carlo (MCMC) for uncertainty quantification (UQ) for a total of 7776 cycles at discharge C-rates of C/5, 1C, and 2C. While one or more anode parameters are uniquely identifiable over every cell's lifetime, cathode parameters become identifiable at mid- to end-of-life, indicating measurable resistive growth in the cathode. The contribution of key parameters to the state of health (SOH) is expressed as a power law. This model for SOH shows a high consistency with the MCMC results performed over the overall lifespan of each cell. Our approach suggests that effective diagnosis of aging can be achieved by predicting the trajectories of the parameters contributing to cell aging. As such, extending our analysis with more physically accurate models building on DFN may lead to more identifiable parameters and further improved aging predictions.

Authors:Rodrigo A. González, Angel L. Cedeño
Title: Simultaneous Input and State Estimation under Output Quantization: A Gaussian Mixture approach
Abstract:
Simultaneous Input and State Estimation (SISE) enables the reconstruction of unknown inputs and internal states in dynamical systems, with applications in fault detection, robotics, and control. While various methods exist for linear systems, extensions to systems with output quantization are scarce, and no formal connections to limit Kalman filters are known in this context. This work addresses these gaps by proposing a novel SISE algorithm for linear systems with quantized output measurements. The proposed algorithm introduces a Gaussian mixture model formulation of the observation model, which leads to closed-form recursive equations in the form of a Gaussian sum filter. In the absence of input prior knowledge, the recursions are shown to converge to a limit-case SISE algorithm, implementable as a bank of linear SISE filters running in parallel. A simulation example is presented to illustrate the effectiveness of the proposed approach.

Authors:Francesco Popolizio, Torsten Wik, Chih Feng Lee, Changfu Zou
Title: Nonlinear Online Optimization for Vehicle-Home-Grid Integration including Household Load Prediction and Battery Degradation
Abstract:
This paper investigates the economic impact of vehicle-home-grid integration, by proposing an online energy management algorithm that optimizes energy flows between an electric vehicle (EV), a household, and the electrical grid. The algorithm leverages vehicle-to-home (V2H) for self-consumption and vehicle-to-grid (V2G) for energy trading, adapting to real-time conditions through a hybrid long short-term memory (LSTM) neural network for accurate household load prediction, alongside a comprehensive nonlinear battery degradation model accounting for both cycle and calendar aging. Simulation results reveal significant economic advantages: compared to smart unidirectional charging, the proposed method yields an annual economic benefit of up to EUR 3046.81, despite a modest 1.96% increase in battery degradation. Even under unfavorable market conditions, where V2G energy selling generates no revenue, V2H alone ensures yearly savings of EUR 425.48. A systematic sensitivity analysis investigates how variations in battery capacity, household load, and price ratios affect economic outcomes, confirming the consistent benefits of bidirectional energy exchange. These findings highlight the potential of EVs as active energy nodes, enabling sustainable energy management and cost-effective battery usage in real-world conditions.

Authors:August Phelps, Juan Augusto Paredes Salazar, Ankit Goel
Title: Data-driven Fuzzy Control for Time-Optimal Aggressive Trajectory Following
Abstract:
Optimal trajectories that minimize a user-defined cost function in dynamic systems require the solution of a two-point boundary value problem. The optimization process yields an optimal control sequence that depends on the initial conditions and system parameters. However, the optimal sequence may result in undesirable behavior if the system's initial conditions and parameters are erroneous. This work presents a data-driven fuzzy controller synthesis framework that is guided by a time-optimal trajectory for multicopter tracking problems. In particular, we consider an aggressive maneuver consisting of a mid-air flip and generate a time-optimal trajectory by numerically solving the two-point boundary value problem. A fuzzy controller consisting of a stabilizing controller near hover conditions and an autoregressive moving average (ARMA) controller, trained to mimic the time-optimal aggressive trajectory, is constructed using the Takagi-Sugeno fuzzy framework.

Authors:E. Petri, R. Postoyan, W. P. M. H. Heemels
Title: Rhythmic neuromorphic control of a pendulum: A hybrid systems analysis
Abstract:
Neuromorphic engineering is an emerging research domain that aims to realize important implementation advantages that brain-inspired technologies can offer over classical digital technologies, including energy efficiency, adaptability, and robustness. For the field of systems and control, neuromorphic controllers could potentially bring many benefits, but their advancement is hampered by lack of systematic analysis and design tools. In this paper, the objective is to show that hybrid systems methods can aid in filling this gap. We do this by formally analyzing rhythmic neuromorphic control of a pendulum system, which was recently proposed as a prototypical setup. The neuromorphic controller generates spikes, which we model as a Dirac delta pulse, whenever the pendulum angular position crosses its resting position, with the goal of inducing a stable limit cycle. This leads to modeling the closed-loop system as a hybrid dynamical system, which in between spikes evolves in open loop and where the jumps correspond to the spiking control actions. Exploiting the hybrid system model, we formally prove the existence, uniqueness, and a stability property of the hybrid limit cycle for the closed-loop system. Numerical simulations illustrate our approach. We finally elaborate on a possible spiking adaptation mechanism on the pulse amplitude to generate a hybrid limit cycle of a desired maximal angular amplitude.

Authors:Shaohang Han, Matti Vahs, Jana Tumova
Title: Risk-Aware Robot Control in Dynamic Environments Using Belief Control Barrier Functions
Abstract:
Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observability. To account for these limitations, it is common to maintain a belief distribution over the true state. This belief could be a non-parametric, sample-based representation to capture uncertainty more flexibly. In this paper, we propose a novel form of Belief Control Barrier Functions (BCBFs) specifically designed to ensure safety in dynamic environments under stochastic dynamics and a sample-based belief about the environment state. Our approach incorporates provable concentration bounds on tail risk measures into BCBFs, effectively addressing possible multimodal and skewed belief distributions represented by samples. Moreover, the proposed method demonstrates robustness against distributional shifts up to a predefined bound. We validate the effectiveness and real-time performance (approximately 1kHz) of the proposed method through two simulated underwater robotic applications: object tracking and dynamic collision avoidance.

Authors:Jonathan Gornet, Yilin Mo, Bruno Sinopoli
Title: An Exploration-free Method for a Linear Stochastic Bandit Driven by a Linear Gaussian Dynamical System
Abstract:
In stochastic multi-armed bandits, a major problem the learner faces is the trade-off between exploration and exploitation. Recently, exploration-free methods -- methods that commit to the action predicted to return the highest reward -- have been studied from the perspective of linear bandits. In this paper, we introduce a linear bandit setting where the reward is the output of a linear Gaussian dynamical system. Motivated by a problem encountered in hyperparameter optimization for reinforcement learning, where the number of actions is much higher than the number of training iterations, we propose Kalman filter Observability Dependent Exploration (KODE), an exploration-free method that utilizes the Kalman filter predictions to select actions. Our major contribution of this work is our analysis of the performance of the proposed method, which is dependent on the observability properties of the underlying linear Gaussian dynamical system. We evaluate KODE via two different metrics: regret, which is the cumulative expected difference between the highest possible reward and the reward sampled by KODE, and action alignment, which measures how closely KODE's chosen action aligns with the linear Gaussian dynamical system's state variable. To provide intuition on the performance, we prove that KODE implicitly encourages the learner to explore actions depending on the observability of the linear Gaussian dynamical system. This method is compared to several well-known stochastic multi-armed bandit algorithms to validate our theoretical results.

Authors:Yutong He, Guangchun Ruan, Haiwang Zhong
Title: Performance-Aware Control of Modular Batteries For Fast Frequency Response
Abstract:
Modular batteries can be aggregated to deliver frequency regulation services for power grids. Although utilizing the idle capacity of battery modules is financially attractive, it remains challenging to consider the heterogeneous module-level characteristics such as dynamic operational efficiencies and battery degradation. In addition, real-time decision making within seconds is required to enable fast frequency response. In order to address these issues, this paper proposes a performance-aware scheduling approach for battery modules to deliver fast frequency response (FFR) support. In particular, the conduction loss and switching loss of battery packs as well as converters are captured within a mix-integer quadratic constrained program (MIQCP). The cycle-based aging model identifies the aging cost of battery modules during frequent cycling by introducing the aging subgradient calculation and linearization. Case studies based on real-world battery data show that the proposed scheduling approach can effectively reduce power loss cost by nearly 28%-57% and battery aging cost by 4%-15% compared to conventional methods, which can also enhance the SoC balance.

Authors:Amy Hodgkin, Nick Pepper, Marc Thomas
Title: Probabilistic Simulation of Aircraft Descent via a Hybrid Physics-Data Approach
Abstract:
This paper presents a method for generating probabilistic descent trajectories in simulations of real-world airspace. A dataset of 116,066 trajectories harvested from Mode S radar returns in UK airspace was used to train and test the model. Thirteen aircraft types with varying performance characteristics were investigated. It was found that the error in the mean prediction of time to reach the bottom of descent for the proposed method was less than that of the the Base of Aircraft Data (BADA) model by a factor of 10. Furthermore, the method was capable of generating a range of trajectories that were similar to the held out test dataset when analysed in distribution. The proposed method is hybrid, with aircraft drag and calibrated airspeed functions generated probabilistically to parameterise the BADA equations, ensuring the physical plausibility of generated trajectories.

Authors:Parwez Alam, Ankit Dubey, Jules M. Moualeu, Telex M. N. Ngatched, Chinmoy Kundu
Title: Secrecy Performance of a Keyhole-based Multi-user System with Multiple Eavesdroppers
Abstract:
This paper investigates the secrecy performance of a keyhole-aided multi-user communication network in the presence of multiple eavesdroppers. The communication happens through the same keyhole for legitimate users and eavesdroppers. In this context, the secrecy performance is evaluated for a user scheduling technique by obtaining the exact closed-form expression of secrecy outage probability (SOP). Further, a simplified asymptotic SOP expression is derived assuming high signal-to-noise ratio (SNR) scenario for a better understanding of the impact of system parameters. The effect of the keyhole parameters, number of users, number of eavesdroppers, and threshold secrecy rate on the SOP performance are also investigated for the considered system model. In the high-SNR regime, the asymptotic SOP saturates to a constant value and does not depend on the keyhole parameter and the channel parameter of the source-to-keyhole channel.

Authors:Ruochen Hou, Gabriel I. Fernandez, Mingzhang Zhu, Dennis W. Hong
Title: Model Predictive Control with Visibility Graphs for Humanoid Path Planning and Tracking Against Adversarial Opponents
Abstract:
In this paper we detail the methods used for obstacle avoidance, path planning, and trajectory tracking that helped us win the adult-sized, autonomous humanoid soccer league in RoboCup 2024. Our team was undefeated for all seated matches and scored 45 goals over 6 games, winning the championship game 6 to 1. During the competition, a major challenge for collision avoidance was the measurement noise coming from bipedal locomotion and a limited field of view (FOV). Furthermore, obstacles would sporadically jump in and out of our planned trajectory. At times our estimator would place our robot inside a hard constraint. Any planner in this competition must also be be computationally efficient enough to re-plan and react in real time. This motivated our approach to trajectory generation and tracking. In many scenarios long-term and short-term planning is needed. To efficiently find a long-term general path that avoids all obstacles we developed DAVG (Dynamic Augmented Visibility Graphs). DAVG focuses on essential path planning by setting certain regions to be active based on obstacles and the desired goal pose. By augmenting the states in the graph, turning angles are considered, which is crucial for a large soccer playing robot as turning may be more costly. A trajectory is formed by linearly interpolating between discrete points generated by DAVG. A modified version of model predictive control (MPC) is used to then track this trajectory called cf-MPC (Collision-Free MPC). This ensures short-term planning. Without having to switch formulations cf-MPC takes into account the robot dynamics and collision free constraints. Without a hard switch the control input can smoothly transition in cases where the noise places our robot inside a constraint boundary. The nonlinear formulation runs at approximately 120 Hz, while the quadratic version achieves around 400 Hz.

Authors:Soutrik Bandyopadhyay, Debasattam Pal, Shubhendu Bhasin
Title: Behavioral Inequalities
Abstract:
We introduce behavioral inequalities as a way to model dynamical systems defined by inequalities among their variables of interest. We claim that such a formulation enables the representation of safety-aware dynamical systems, systems with bounds on disturbances, practical design limits and operational boundaries, etc. We develop a necessary and sufficient condition for the existence of solutions to such behavioral inequalities and provide a parametrization of solutions when they exist. Finally, we show the efficacy of the proposed method in two practical examples.

Authors:Yichen Sun, Chenggang Cui, Chuanlin Zhang, Chunyang Gong
Title: Dynamic Incentive Strategies for Smart EV Charging Stations: An LLM-Driven User Digital Twin Approach
Abstract:
This paper presents an enhanced electric vehicle demand response system based on large language models, aimed at optimizing the application of vehicle-to-grid technology. By leveraging an large language models-driven multi-agent framework to construct user digital twins integrated with multidimensional user profile features, it enables deep simulation and precise prediction of users' charging and discharging decision-making patterns. Additionally, a data- and knowledge-driven dynamic incentive mechanism is proposed, combining a distributed optimization model under network constraints to optimize the grid-user interaction while ensuring both economic viability and security. Simulation results demonstrate that the approach significantly improves load peak-valley regulation and charging/discharging strategies. Experimental validation highlights the system's substantial advantages in load balancing, user satisfaction and grid stability, providing decision-makers with a scalable V2G management tool that promotes the sustainable, synergistic development of vehicle-grid integration.

Authors:Rui Zong, Martin Liang, Yuntian Fang, Ke Wang, Xiaoshuai Chen, Wei Chen, Petar Kormushev
Title: Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER
Abstract:
Knee-less bipedal robots like SLIDER have the advantage of ultra-lightweight legs and improved walking energy efficiency compared to traditional humanoid robots. In this paper, we firstly introduce an improved hardware design of the SLIDER bipedal robot with new line-feet and more optimized mass distribution that enables higher locomotion speeds. Secondly, we propose an extended Hybrid Zero Dynamics (eHZD) method, which can be applied to prismatic joint robots like SLIDER. The eHZD method is then used to generate a library of gaits with varying reference velocities in an offline way. Thirdly, a Guided Deep Reinforcement Learning (DRL) algorithm is proposed to use the pre-generated library to create walking control policies in real-time. This approach allows us to combine the advantages of both HZD (for generating stable gaits with a full-dynamics model) and DRL (for real-time adaptive gait generation). The experimental results show that this approach achieves 150% higher walking velocity than the previous MPC-based approach.

Authors:Karan Mukhi, Alessandro Abate
Title: Aggregate Flexibility of Thermostatically Controlled Loads using Generalized Polymatroids
Abstract:
Leveraging populations of thermostatically controlled loads could provide vast storage capacity to the grid. To realize this potential, their flexibility must be accurately aggregated and represented to the system operator as a single, controllable virtual device. Mathematically this is computed by calculating the Minkowski sum of the individual flexibility of each of the devices. Previous work showed how to exactly characterize the flexibility of lossless storage devices as generalized polymatroids-a family of polytope that enable an efficient computation of the Minkowski sum. In this paper we build on these results to encompass devices with dissipative storage dynamics. In doing so we are able to provide tractable methods of accurately characterizing the flexibility in populations consisting of a variety of heterogeneous devices. Numerical results demonstrate that the proposed characterizations are tight.

Authors:Camilo Gonzalez Arango, Houshyar Asadi, Mohammad Reza Chalak Qazani, Chee Peng Lim
Title: Learning-Based Approximate Nonlinear Model Predictive Control Motion Cueing
Abstract:
Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a novel learning-based MCA for serial robot-based motion simulators. Building on the differentiable predictive control framework, the proposed method merges the advantages of Nonlinear Model Predictive Control (NMPC) - notably nonlinear constraint handling and accurate kinematic modeling - with the computational efficiency of machine learning. By shifting the computational burden to offline training, the new algorithm enables real-time operation at high control rates, thus overcoming the key challenge associated with NMPC-based motion cueing. The proposed MCA incorporates a nonlinear joint-space plant model and a policy network trained to mimic NMPC behavior while accounting for joint acceleration, velocity, and position limits. Simulation experiments across multiple motion cueing scenarios showed that the proposed algorithm performed on par with a state-of-the-art NMPC-based alternative in terms of motion cueing quality as quantified by the RMSE and correlation coefficient with respect to reference signals. However, the proposed algorithm was on average 400 times faster than the NMPC baseline. In addition, the algorithm successfully generalized to unseen operating conditions, including motion cueing scenarios on a different vehicle and real-time physics-based simulations.

Authors:Arthur Castello B. de Oliveira, Leilei Cui, Eduardo D. Sontag
Title: Remarks on the Polyak-Lojasiewicz inequality and the convergence of gradient systems
Abstract:
This work explores generalizations of the Polyak-Lojasiewicz inequality (PLI) and their implications for the convergence behavior of gradient flows in optimization problems. Motivated by the continuous-time linear quadratic regulator (CT-LQR) policy optimization problem -- where only a weaker version of the PLI is characterized in the literature -- this work shows that while weaker conditions are sufficient for global convergence to, and optimality of the set of critical points of the cost function, the "profile" of the gradient flow solution can change significantly depending on which "flavor" of inequality the cost satisfies. After a general theoretical analysis, we focus on fitting the CT-LQR policy optimization problem to the proposed framework, showing that, in fact, it can never satisfy a PLI in its strongest form. We follow up our analysis with a brief discussion on the difference between continuous- and discrete-time LQR policy optimization, and end the paper with some intuition on the extension of this framework to optimization problems with L1 regularization and solved through proximal gradient flows.

Authors:Arash Bahari Kordabad, Arabinda Ghosh, Sybert Stroeve, Sadegh Soudjani
Title: Intent-Aware MPC for Aircraft Detect-and-Avoid with Response Delay: A Comparative Study with ACAS Xu
Abstract:
In this paper, we propose an intent-aware Model Predictive Control (MPC) approach for the remain-well-clear (RWC) functionality of a multi-agent aircraft detect-and-avoid (DAA) system and compare its performance with the standardized Airborne Collision Avoidance System Xu (ACAS Xu). The aircraft system is modeled as a linear system for horizontal maneuvering, with advisories on the rate of turn as the control input. Both deterministic and stochastic time delays are considered to account for the lag between control guidance issuance and the response of the aircraft. The capability of the MPC scheme in producing an optimal control profile over the entire horizon is used to mitigate the impact of the delay. We compare the proposed MPC method with ACAS Xu using various evaluation metrics, including loss of DAA well-clear percentage, near mid-air collision percentage, horizontal miss distance, and additional flight distance across different encounter scenarios. It is shown that the MPC scheme achieves better evaluation metrics than ACAS Xu for both deterministic and stochastic scenarios.

Authors:Karan Mukhi, Georg Loho, Alessandro Abate
Title: Exact Characterization of Aggregate Flexibility via Generalized Polymatroids
Abstract:
It is well established that the aggregate flexibility inherent in populations of distributed energy resources (DERs) can be leveraged to mitigate the intermittency and uncertainty associated with renewable generation, while also providing ancillary grid services. To enable this, aggregators must effectively represent the flexibility in the populations they control to the market or system operator. A key challenge is accurately computing the aggregate flexibility of a population, which can be formally expressed as the Minkowski sum of a collection of polytopes, a problem that is generally computationally intractable. However, the flexibility polytopes of many DERs exhibit structural symmetries that can be exploited for computational efficiency. To this end, we introduce generalized polymatroids, a family of polytopes, into the flexibility aggregation literature. We demonstrate that individual flexibility sets belong to this family, enabling efficient computation of their exact Minkowski sum. For homogeneous populations of DERs we further derive simplifications that yield more succinct representations of aggregate flexibility. Additionally, we develop an efficient optimization framework over these sets and propose a vertex-based disaggregation method, to allocate aggregate flexibility among individual DERs. Finally, we validate the optimality and computational efficiency of our approach through comparisons with existing methods.

Authors:Apurva Patil, Riku Funada, Takashi Tanaka, Luis Sentis
Title: Task Hierarchical Control via Null-Space Projection and Path Integral Approach
Abstract:
This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for hierarchical control is the null-space projection technique, which ensures that higher-priority tasks are executed without interference from lower-priority ones. While effective, the state-of-the-art implementations of this method rely on low-level controllers, such as PID controllers, which can be prone to suboptimal solutions in complex tasks. This paper presents a novel framework for hierarchical task control, integrating the null-space projection technique with the path integral control method. Our approach leverages Monte Carlo simulations for real-time computation of optimal control inputs, allowing for the seamless integration of simpler PID-like controllers with a more sophisticated optimal control technique. Through simulation studies, we demonstrate the effectiveness of this combined approach, showing how it overcomes the limitations of traditional

Authors:Xiaolei Bian, Changfu Zou, Björn Fridholm, Christian Sundvall, Torsten Wik
Title: Smart Sensing Breaks the Accuracy Barrier in Battery State Monitoring
Abstract:
Accurate state-of-charge (SOC) estimation is essential for optimizing battery performance, ensuring safety, and maximizing economic value. Conventional current and voltage measurements, however, have inherent limitations in fully inferring the multiphysics-resolved dynamics inside battery cells. This creates an accuracy barrier that constrains battery usage and reduces cost-competitiveness and sustainability across industries dependent on battery technology. In this work, we introduce an integrated sensor framework that combines novel mechanical, thermal, gas, optical, and electrical sensors with traditional measurements to break through this barrier. We generate three unique datasets with eleven measurement types and propose an explainable machine-learning approach for SOC estimation. This approach renders the measured signals and the predictive result of machine learning physically interpretable with respect to battery SOC, offering fundamental insights into the time-varying importance of different signals. Our experimental results reveal a marked increase in SOC estimation accuracy--enhanced from 46.1% to 74.5%--compared to conventional methods. This approach not only advances SOC monitoring precision but also establishes a foundation for monitoring additional battery states to further improve safety, extend lifespan, and facilitate fast charging.

Authors:Haozhen Cheng, Veit Hagenmeyer, Hüseyin K. Çakmak
Title: Economy and sustainability analysis with a novel modular configurable multi-modal white-box building model
Abstract:
This paper presents a novel modeling approach for building performance simulation, characterized as a white-box model with a high degree of modularity and flexibility, enabling direct integration into complex large-scale energy system co-simulations. The introduced model is described in detail, with a focus on its modular structure, and proposes various configurations that include various building insulation, heating methods, occupancy patterns, and weather data to analyze different scenarios, and the energy consumption, CO2 emissions, and heating costs are compared and analyzed across 36 introduced scenarios. The thermodynamic behavior of the model is shown to be consistent with real-world conditions, and the comparison of the scenarios concludes that the use of heat pumps for indoor heating in well-insulated buildings has significant economic and sustainability benefits, whereas the use of natural gas-fueled boilers is more cost-effective for buildings with low energy ratings.

Authors:Yifei Wang, Shuting Wu, Genke Yang, Jian Chu, Apostolos I. Rikos, Xu Du
Title: ALADIN-$β$: A Distributed Optimization Algorithm for Solving MPCC Problems
Abstract:
Mathematical Programs with Complementarity Constraints (MPCC) are critical in various real-world applications but notoriously challenging due to non-smoothness and degeneracy from complementarity constraints. The $\ell_1$-Exact Penalty-Barrier enhanced \texttt{IPOPT} improves performance and robustness by introducing additional inequality constraints and decision variables. However, this comes at the cost of increased computational complexity due to the higher dimensionality and additional constraints introduced in the centralized formulation. To mitigate this, we propose a distributed structure-splitting reformulation that decomposes these inequality constraints and auxiliary variables into independent sub-problems. Furthermore, we introduce Augmented Lagrangian Alternating Direction Inexact Newton (ALADIN)-$β$, a novel approach that integrates the $\ell_1$-Exact Penalty-Barrier method with ALADIN to efficiently solve the distributed reformulation. Numerical experiments demonstrate that even without a globalization strategy, the proposed distributed approach achieves fast convergence while maintaining high precision.

Authors:Yingqing Chen, Christos G. Cassandras
Title: Optimal Safe Sequencing and Motion Control for Mixed Traffic Roundabouts
Abstract:
This paper develops an Optimal Safe Sequencing (OSS) control framework for Connected and Automated Vehicles (CAVs) navigating a single-lane roundabout in mixed traffic, where both CAVs and Human-Driven Vehicles (HDVs) coexist. The framework jointly optimizes vehicle sequencing and motion control to minimize travel time, energy consumption, and discomfort while ensuring speed-dependent safety guarantees and adhering to velocity and acceleration constraints. This is achieved by integrating (a) a Safe Sequencing (SS) policy that ensures merging safety without requiring any knowledge of HDV behavior, and (b) a Model Predictive Control with Control Lyapunov Barrier Functions (MPC-CLBF) framework, which optimizes CAV motion control while mitigating infeasibility and myopic control issues common in the use of Control Barrier Functions (CBFs) to provide safety guarantees. Simulation results across various traffic demands, CAV penetration rates, and control parameters demonstrate the framework's effectiveness and stability.

Authors:Mayur Sawant, Abdelhamid Tayebi
Title: Extending First-order Motion Planners to Second-order Dynamics
Abstract:
This paper extends first-order motion planners to robots governed by second-order dynamics. Two control schemes are proposed based on the knowledge of a scalar function whose negative gradient aligns with a given first-order motion planner. When such a function is known, the first-order motion planner is combined with a damping velocity vector with a dynamic gain to extend the safety and convergence guarantees of the first-order motion planner to second-order systems. If no such function is available, we propose an alternative control scheme ensuring that the error between the robot's velocity and the first-order motion planner converges to zero. The theoretical developments are supported by simulation results demonstrating the effectiveness of the proposed approaches.

Authors:Saray Bakker, Rodrigo Pérez-Dattari, Cosimo Della Santina, Wendelin Böhmer, Javier Alonso-Mora
Title: TamedPUMA: safe and stable imitation learning with geometric fabrics
Abstract:
Using the language of dynamical systems, Imitation learning (IL) provides an intuitive and effective way of teaching stable task-space motions to robots with goal convergence. Yet, IL techniques are affected by serious limitations when it comes to ensuring safety and fulfillment of physical constraints. With this work, we solve this challenge via TamedPUMA, an IL algorithm augmented with a recent development in motion generation called geometric fabrics. As both the IL policy and geometric fabrics describe motions as artificial second-order dynamical systems, we propose two variations where IL provides a navigation policy for geometric fabrics. The result is a stable imitation learning strategy within which we can seamlessly blend geometrical constraints like collision avoidance and joint limits. Beyond providing a theoretical analysis, we demonstrate TamedPUMA with simulated and real-world tasks, including a 7-DoF manipulator.

Authors:Milin Patel, Rolf Jung, Yasin Cakir
Title: Simulation-based Testing of Foreseeable Misuse by the Driver applicable for Highly Automated Driving
Abstract:
With Highly Automated Driving (HAD), the driver can engage in non-driving-related tasks. In the event of a system failure, the driver is expected to reasonably regain control of the Automated Vehicle (AV). Incorrect system understanding may provoke misuse by the driver and can lead to vehicle-level hazards. ISO 21448, referred to as the standard for Safety of the Intended Functionality (SOTIF), defines misuse as usage of the system by the driver in a way not intended by the system manufacturer. Foreseeable Misuse (FM) implies anticipated system misuse based on the best knowledge about the system design and the driver behaviour. This is the underlying motivation to propose simulation-based testing of FM. The vital challenge is to perform a simulation-based testing for a SOTIF-related misuse scenario. Transverse Guidance Assist System (TGAS) is modelled for HAD. In the context of this publication, TGAS is referred to as the "system," and the driver is the human operator of the system. This publication focuses on implementing the Driver-Vehicle Interface (DVI) that permits the interactions between the driver and the system. The implementation and testing of a derived misuse scenario using the driving simulator ensure reasonable usage of the system by supporting the driver with unambiguous information on system functions and states so that the driver can conveniently perceive, comprehend, and act upon the information.

Authors:Burak Dindar, Can Berk Saner, Hüseyin K. Çakmak, Veit Hagenmeyer
Title: Privacy-Preserving Utilization of Distribution System Flexibility for Enhanced TSO-DSO Interoperability: A Novel Machine Learning-Based Optimal Power Flow Approach
Abstract:
Due to the transformation of the power system, the effective use of flexibility from the distribution system (DS) is becoming crucial for efficient network management. Leveraging this flexibility requires interoperability among stakeholders, including Transmission System Operators (TSOs) and Distribution System Operators (DSOs). However, data privacy concerns among stakeholders present significant challenges for utilizing this flexibility effectively. To address these challenges, we propose a machine learning (ML)-based method in which the technical constraints of the DSs are represented by ML models trained exclusively on non-sensitive data. Using these models, the TSO can solve the optimal power flow (OPF) problem and directly determine the dispatch of flexibility-providing units (FPUs), in our case, distributed generators (DGs), in a single round of communication. To achieve this, we introduce a novel neural network (NN) architecture specifically designed to efficiently represent the feasible region of the DSs, ensuring computational effectiveness. Furthermore, we incorporate various PQ charts rather than idealized ones, demonstrating that the proposed method is adaptable to a wide range of FPU characteristics. To assess the effectiveness of the proposed method, we benchmark it against the standard AC-OPF on multiple DSs with meshed connections and multiple points of common coupling (PCCs) with varying voltage magnitudes. The numerical results indicate that the proposed method achieves performant results while prioritizing data privacy. Additionally, since this method directly determines the dispatch of FPUs, it eliminates the need for an additional disaggregation step. By representing the DSs technical constraints through ML models trained exclusively on non-sensitive data, the transfer of sensitive information between stakeholders is prevented.

Authors:Xiyu Fan, Minghao Lu, Bowen Xu, Peng Lu
Title: Flying in Highly Dynamic Environments with End-to-end Learning Approach
Abstract:
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains challenging. This paper proposes a novel deep-reinforcement learning-based approach for the quadrotors to navigate through highly dynamic environments. We propose a lidar data encoder to extract obstacle information from the massive point cloud data from the lidar. Multi frames of historical scans will be compressed into a 2-dimension obstacle map while maintaining the obstacle features required. An end-to-end deep neural network is trained to extract the kinematics of dynamic and static obstacles from the obstacle map, and it will generate acceleration commands to the quadrotor to control it to avoid these obstacles. Our approach contains perception and navigating functions in a single neural network, which can change from a navigating state into a hovering state without mode switching. We also present simulations and real-world experiments to show the effectiveness of our approach while navigating in highly dynamic cluttered environments.

Authors:Jinyang Dong, Shizhen Wu, Rui Liu, Xiao Liang, Biao Lu, Yongchun Fang
Title: Robust Safety Critical Control Under Multiple State and Input Constraints: Volume Control Barrier Function Method
Abstract:
In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel framework is proposed to generate a safety filter that minimizes changes to reference inputs when safety risks arise, ensuring a balance between safety and performance. A nonlinear disturbance observer (DOB) based on the robust integral of the sign of the error (RISE) is used to estimate system uncertainties, ensuring that the estimation error converges to zero exponentially. This error bound is integrated into the safety-critical controller to reduce conservativeness while ensuring safety. To further address the challenges arising from multiple CBF and input constraints, a novel Volume CBF (VCBF) is proposed by analyzing the feasible space of the quadratic programming (QP) problem. % ensuring solution feasibility by keeping the volume as a positive value. To ensure that the feasible space does not vanish under disturbances, a DOB-VCBF-based method is introduced, ensuring system safety while maintaining the feasibility of the resulting QP. Subsequently, several groups of simulation and experimental results are provided to validate the effectiveness of the proposed controller.

Authors:Jiayu Ding, Rohit Jakkula, Tom Xiao, Zhenyu Gan
Title: Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion
Abstract:
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control, allowing both individual mobility and coordinated locomotion. A hierarchical Central Pattern Generator (CPG) framework governs motion, with a low-level CPG controlling individual modules and a high-level CPG synchronizing inter-module coordination, enabling smooth transitions between independent and collective behaviors. To validate the system, we conduct simulations in MuJoCo and hardware experiments, evaluating locomotion across different configurations. We first analyze single-module motion, followed by two-module cooperative locomotion. Results demonstrate the effectiveness of the CPG-based control framework in achieving robust, flexible, and scalable locomotion. The proposed modular architecture has potential applications in search and rescue, environmental monitoring, and autonomous exploration, where adaptability and reconfigurability are essential.

Authors:Max van Meer, Tim van Meijel, Emile van Halsema, Edwin Verschueren, Gert Witvoet, Tom Oomen
Title: Compensating Hysteresis and Mechanical Misalignment in Piezo-Stepper Actuators
Abstract:
Piezo-stepper actuators enable accurate positioning through the sequential contraction and expansion of piezoelectric elements, generating a walking motion. The aim of this paper is to reduce velocity ripples caused by parasitic effects, due to hysteresis in the piezoelectric material and mechanical misalignments, through suitable feedforward control. The presented approach involves the integration of a rate-dependent hysteresis model with a position-dependent feedforward learning scheme to compensate for these effects. Experimental results show that this approach leads to a significant reduction in the velocity ripples, even when the target velocity is changed. These results enable the use of piezo-stepper actuators in applications requiring high positioning accuracy and stiffness over a long stroke, without requiring expensive position sensors for high-gain feedback.

Authors:Di Meng, Tianhao Zhao, Chaoyu Xue, Jun Wu, Qiuguo Zhu
Title: A Hierarchical Region-Based Approach for Efficient Multi-Robot Exploration
Abstract:
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas. Moreover, finding the exact optimal solution for multi-robot task allocation is NP-hard, resulting in significant computational time consumption. To address these issues, we present a hierarchical multi-robot exploration framework using a new modeling method called RegionGraph. The proposed approach makes two main contributions: 1) A new modeling method for unexplored areas that preserves their spatial information across the entire space in a weighted graph called RegionGraph. 2) A hierarchical multi-robot exploration framework that decomposes the global exploration task into smaller subtasks, reducing the frequency of global planning and enabling asynchronous exploration. The proposed method is validated through both simulation and real-world experiments, demonstrating a 20% improvement in efficiency compared to existing methods.

Authors:Zachary Olkin, Aaron D. Ames
Title: Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems
Abstract:
Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive Control (MPC) architecture for robust stabilization of hybrid systems. A high level "hybrid" MPC is solved at a slow rate to produce a stabilizing hybrid trajectory, potentially sub-optimally, including a domain and guard sequence. This domain and guard sequence is passed to a low level "fixed mode" MPC which is a traditional, time-varying, state-constrained MPC that can be solved rapidly, e.g., using nonlinear programming (NLP) tools. A robust version of the fixed mode MPC is constructed by using tracking error tubes that are not guaranteed to have finite size for all time. Using these tubes, we demonstrate that the speed at which the fixed mode MPC is re-calculated is directly tied to the robustness of the system, thereby justifying the layered approach. Finally, simulation examples of a five link bipedal robot and a controlled nonlinear bouncing ball are used to illustrate the formal results.

Authors:Shizhen Wu, Jinyang Dong, Xu Fang, Ning Sun, Yongchun Fang
Title: Polytope Volume Monitoring Problem: Formulation and Solution via Parametric Linear Program Based Control Barrier Function
Abstract:
Motivated by the latest research on feasible space monitoring of multiple control barrier functions (CBFs) as well as polytopic collision avoidance, this paper studies the Polytope Volume Monitoring (PVM) problem, whose goal is to design a control law for inputs of nonlinear systems to prevent the volume of some state-dependent polytope from decreasing to zero. Recent studies have explored the idea of applying Chebyshev ball method in optimization theory to solve the case study of PVM; however, the underlying difficulties caused by nonsmoothness have not been addressed. This paper continues the study on this topic, where our main contribution is to establish the relationship between nonsmooth CBF and parametric optimization theory through directional derivatives for the first time, to solve PVM problems more conveniently. In detail, inspired by Chebyshev ball approach, a parametric linear program (PLP) based nonsmooth barrier function candidate is established for PVM, and then, sufficient conditions for it to be a nonsmooth CBF are proposed, based on which a quadratic program (QP) based safety filter with guaranteed feasibility is proposed to address PVM problems. Finally, a numerical simulation example is given to show the efficiency of the proposed safety filter.

Authors:Vaneet Aggarwal, Shweta Jain, Subham Pokhriyal, Christopher John Quinn
Title: Bi-Criteria Optimization for Combinatorial Bandits: Sublinear Regret and Constraint Violation under Bandit Feedback
Abstract:
In this paper, we study bi-criteria optimization for combinatorial multi-armed bandits (CMAB) with bandit feedback. We propose a general framework that transforms discrete bi-criteria offline approximation algorithms into online algorithms with sublinear regret and cumulative constraint violation (CCV) guarantees. Our framework requires the offline algorithm to provide an $(α, β)$-bi-criteria approximation ratio with $δ$-resilience and utilize $\texttt{N}$ oracle calls to evaluate the objective and constraint functions. We prove that the proposed framework achieves sub-linear regret and CCV, with both bounds scaling as ${O}\left(δ^{2/3} \texttt{N}^{1/3}T^{2/3}\log^{1/3}(T)\right)$. Crucially, the framework treats the offline algorithm with $δ$-resilience as a black box, enabling flexible integration of existing approximation algorithms into the CMAB setting. To demonstrate its versatility, we apply our framework to several combinatorial problems, including submodular cover, submodular cost covering, and fair submodular maximization. These applications highlight the framework's broad utility in adapting offline guarantees to online bi-criteria optimization under bandit feedback.

Authors:Yuhao Zhang, Xiangru Xu
Title: Efficient Reachability Analysis for Convolutional Neural Networks Using Hybrid Zonotopes
Abstract:
Feedforward neural networks are widely used in autonomous systems, particularly for control and perception tasks within the system loop. However, their vulnerability to adversarial attacks necessitates formal verification before deployment in safety-critical applications. Existing set propagation-based reachability analysis methods for feedforward neural networks often struggle to achieve both scalability and accuracy. This work presents a novel set-based approach for computing the reachable sets of convolutional neural networks. The proposed method leverages a hybrid zonotope representation and an efficient neural network reduction technique, providing a flexible trade-off between computational complexity and approximation accuracy. Numerical examples are presented to demonstrate the effectiveness of the proposed approach.

Authors:Abdullah Tokmak, Kiran G. Krishnan, Thomas B. Schön, Dominik Baumann
Title: Safe exploration in reproducing kernel Hilbert spaces
Abstract:
Popular safe Bayesian optimization (BO) algorithms learn control policies for safety-critical systems in unknown environments. However, most algorithms make a smoothness assumption, which is encoded by a known bounded norm in a reproducing kernel Hilbert space (RKHS). The RKHS is a potentially infinite-dimensional space, and it remains unclear how to reliably obtain the RKHS norm of an unknown function. In this work, we propose a safe BO algorithm capable of estimating the RKHS norm from data. We provide statistical guarantees on the RKHS norm estimation, integrate the estimated RKHS norm into existing confidence intervals and show that we retain theoretical guarantees, and prove safety of the resulting safe BO algorithm. We apply our algorithm to safely optimize reinforcement learning policies on physics simulators and on a real inverted pendulum, demonstrating improved performance, safety, and scalability compared to the state-of-the-art.

Authors:Max Simchowitz, Daniel Pfrommer, Ali Jadbabaie
Title: The Pitfalls of Imitation Learning when Actions are Continuous
Abstract:
We study the problem of imitating an expert demonstrator in a discrete-time, continuous state-and-action control system. We show that, even if the dynamics satisfy a control-theoretic property called exponential stability (i.e. the effects of perturbations decay exponentially quickly), and the expert is smooth and deterministic, any smooth, deterministic imitator policy necessarily suffers error on execution that is exponentially larger, as a function of problem horizon, than the error under the distribution of expert training data. Our negative result applies to any algorithm which learns solely from expert data, including both behavior cloning and offline-RL algorithms, unless the algorithm produces highly "improper" imitator policies--those which are non-smooth, non-Markovian, or which exhibit highly state-dependent stochasticity--or unless the expert trajectory distribution is sufficiently "spread." We provide experimental evidence of the benefits of these more complex policy parameterizations, explicating the benefits of today's popular policy parameterizations in robot learning (e.g. action-chunking and diffusion policies). We also establish a host of complementary negative and positive results for imitation in control systems.

Authors:Junning Liang, Haowen Zheng, Yuying Zhang, Yongzhuo Gao, Wei Dong, Ximin Lyu
Title: Predictor-Based Time Delay Control of A Hex-Jet Unmanned Aerial Vehicle
Abstract:
Turbojet-powered VTOL UAVs have garnered increased attention in heavy-load transport and emergency services, due to their superior power density and thrust-to-weight ratio compared to existing electronic propulsion systems. The main challenge with jet-powered UAVs lies in the complexity of thrust vectoring mechanical systems, which aim to mitigate the slow dynamics of the turbojet. In this letter, we introduce a novel turbojet-powered UAV platform named Hex-Jet. Our concept integrates thrust vectoring and differential thrust for comprehensive attitude control. This approach notably simplifies the thrust vectoring mechanism. We utilize a predictor-based time delay control method based on the frequency domain model in our Hex-Jet controller design to mitigate the delay in roll attitude control caused by turbojet dynamics. Our comparative studies provide valuable insights for the UAV community, and flight tests on the scaled prototype demonstrate the successful implementation and verification of the proposed predictor-based time delay control technique.

Authors:Haozhen Cheng, Verena Buccoliero, Alexander Kocher, Veit Hagenmeyer, Hüseyin K. Çakmak
Title: New Co-Simulation Variants for Emissions and Cost Reduction of Sustainable District Heating Planning
Abstract:
Classical heating of residential areas is very energy-intensive, so alternatives are needed, including renewable energies and advanced heating technologies. Thus, the present paper introduces a new methodology for comprehensive variant analysis for future district heating planning, aiming at optimizing emissions and costs. For this, an extensive Modelica-based modeling study comprising models of heating center, heat grid pipelines and heating interface units to buildings are coupled in co-simulations. These enable a comparative analysis of the economic feasibility and sustainability for various technologies and energy carriers to be carried out. The new modular and highly parameterizable building model serves for validation of the introduced heat grid model. The results show that bio-methane as an energy source reduces carbon equivalent emissions by nearly 70% compared to conventional natural gas heating, and the use of hydrogen as an energy source reduces carbon equivalent emissions by 77% when equipped with a heat pump. In addition, the use of ground source heat pumps has a high economic viability when economic benefits are taken into account. The study findings highlight the importance of strategic planning and flexible design in the early stages of district development in order to achieve improved energy efficiency and a reduced carbon footprint.

Authors:Haozhen Cheng, Jan Stock, André Xhonneux, Hüseyin K. Çakmak, Veit Hagenmeyer
Title: Construction and Control of Validated Highly Configurable Multi-Physics Building Models for Multi-Energy System Analysis in a Co-Simulation Setup
Abstract:
Improving energy efficiency by monitoring system behavior and predicting future energy scenarios in light of increased penetration of renewable energy sources are becoming increasingly important, especially for energy systems that distribute and provide heat. On this background, digital twins of cities become paramount in advancing urban energy system planning and infrastructure management. The use of recorded energy data from sensors in district digital twins in collaborative co-simulation platforms is a promising way to analyze detailed system behavior and estimate future scenarios. However, the development and coupling of multi-physics energy system models need to be validated before they can be used for further in-depth analyses. In the present paper, a new multi-physics/-modal and highly configurable building model is presented. Its accuracy and reliability are validated by comparison with data from the TABULA project, ensuring its relevance and applicability to real-world scenarios. The modularity and flexibility with regard to the system configurability of the developed building model is evaluated on various real building types. In addition, the applicability of the building model in a multi-energy system is highlighted by implementing the model in a collaborative co-simulation setup and by coupling it to a district heating grid model in yearly co-simulations. The simulation results for the proposed multi-physical/-modal building modeling concept show a very high level of agreement compared to published reference building data and can therefore be used individually as flexible and modular building models including both thermal and electrical systems for future sector-coupled energy system analyses in view of sustainability.

Authors:Canlun Zheng, Zhanyu Guo, Zikang Yin, Chunyu Wang, Zhikun Wang, Shiyu Zhao
Title: Non-Equilibrium MAV-Capture-MAV via Time-Optimal Planning and Reinforcement Learning
Abstract:
The capture of flying MAVs (micro aerial vehicles) has garnered increasing research attention due to its intriguing challenges and promising applications. Despite recent advancements, a key limitation of existing work is that capture strategies are often relatively simple and constrained by platform performance. This paper addresses control strategies capable of capturing high-maneuverability targets. The unique challenge of achieving target capture under unstable conditions distinguishes this task from traditional pursuit-evasion and guidance problems. In this study, we transition from larger MAV platforms to a specially designed, compact capture MAV equipped with a custom launching device while maintaining high maneuverability. We explore both time-optimal planning (TOP) and reinforcement learning (RL) methods. Simulations demonstrate that TOP offers highly maneuverable and shorter trajectories, while RL excels in real-time adaptability and stability. Moreover, the RL method has been tested in real-world scenarios, successfully achieving target capture even in unstable states.

Authors:Canlun Zheng, Yize Mi, Hanqing Guo, Huaben Chen, Shiyu Zhao
Title: Vision-Based Cooperative MAV-Capturing-MAV
Abstract:
MAV-capturing-MAV (MCM) is one of the few effective methods for physically countering misused or malicious MAVs.This paper presents a vision-based cooperative MCM system, where multiple pursuer MAVs equipped with onboard vision systems detect, localize, and pursue a target MAV. To enhance robustness, a distributed state estimation and control framework enables the pursuer MAVs to autonomously coordinate their actions. Pursuer trajectories are optimized using Model Predictive Control (MPC) and executed via a low-level SO(3) controller, ensuring smooth and stable pursuit. Once the capture conditions are satisfied, the pursuer MAVs automatically deploy a flying net to intercept the target. These capture conditions are determined based on the predicted motion of the net. To enable real-time decision-making, we propose a lightweight computational method to approximate the net motion, avoiding the prohibitive cost of solving the full net dynamics. The effectiveness of the proposed system is validated through simulations and real-world experiments. In real-world tests, our approach successfully captures a moving target traveling at 4 meters per second with an acceleration of 1 meter per square second, achieving a success rate of 64.7 percent.

Authors:Hesam Mosalli, Saba Sanami, Yu Yang, Hen-Geul Yeh, Amir G. Aghdam
Title: Dynamic Load Balancing for EV Charging Stations Using Reinforcement Learning and Demand Prediction
Abstract:
This paper presents a method for load balancing and dynamic pricing in electric vehicle (EV) charging networks, utilizing reinforcement learning (RL) to enhance network performance. The proposed framework integrates a pre-trained graph neural network to predict demand elasticity and inform pricing decisions. The spatio-temporal EV charging demand prediction (EVCDP) dataset from Shenzhen is utilized to capture the geographic and temporal characteristics of the charging stations. The RL model dynamically adjusts prices at individual stations based on occupancy, maximum station capacity, and demand forecasts, ensuring an equitable network load distribution while preventing station overloads. By leveraging spatially-aware demand predictions and a carefully designed reward function, the framework achieves efficient load balancing and adaptive pricing strategies that respond to localized demand and global network dynamics, ensuring improved network stability and user satisfaction. The efficacy of the approach is validated through simulations on the dataset, showing significant improvements in load balancing and reduced overload as the RL agent iteratively interacts with the environment and learns to dynamically adjust pricing strategies based on real-time demand patterns and station constraints. The findings highlight the potential of adaptive pricing and load-balancing strategies to address the complexities of EV infrastructure, paving the way for scalable and user-centric solutions.

Authors:Arash J. Khabbazi, Elias N. Pergantis, Levi D. Reyes Premer, Panagiotis Papageorgiou, Alex H. Lee, James E. Braun, Gregor P. Henze, Kevin J. Kircher
Title: Lessons learned from field demonstrations of model predictive control and reinforcement learning for residential and commercial HVAC: A review
Abstract:
A large body of simulation research suggests that model predictive control (MPC) and reinforcement learning (RL) for heating, ventilation, and air-conditioning (HVAC) in residential and commercial buildings could reduce energy costs, pollutant emissions, and strain on power grids. Despite this potential, neither MPC nor RL has seen widespread industry adoption. Field demonstrations could accelerate MPC and RL adoption by providing real-world data that support the business case for deployment. Here we review 24 papers that document field demonstrations of MPC and RL in residential buildings and 80 in commercial buildings. After presenting demographic information -- such as experiment scopes, locations, and durations -- this paper analyzes experiment protocols and their influence on performance estimates. We find that 71% of the reviewed field demonstrations use experiment protocols that may lead to unreliable performance estimates. Over the remaining 29% that we view as reliable, the weighted-average cost savings, weighted by experiment duration, are 16% in residential buildings and 13% in commercial buildings. While these savings are potentially attractive, making the business case for MPC and RL also requires characterizing the costs of deployment, operation, and maintenance. Only 13 of the 104 reviewed papers report these costs or discuss related challenges. Based on these observations, we recommend directions for future field research, including: Improving experiment protocols; reporting deployment, operation, and maintenance costs; designing algorithms and instrumentation to reduce these costs; controlling HVAC equipment alongside other distributed energy resources; and pursuing emerging objectives such as peak shaving, arbitraging wholesale energy prices, and providing power grid reliability services.

Authors:Milin Patel, Marzana Khatun, Rolf Jung, Michael Glaß
Title: Simulation-based Analysis Of Highway Trajectory Planning Using High-Order Polynomial For Highly Automated Driving Function
Abstract:
One of the fundamental tasks of autonomous driving is safe trajectory planning, the task of deciding where the vehicle needs to drive, while avoiding obstacles, obeying safety rules, and respecting the fundamental limits of road. Real-world application of such a method involves consideration of surrounding environment conditions and movements such as Lane Change, collision avoidance, and lane merge. The focus of the paper is to develop and implement safe collision free highway Lane Change trajectory using high order polynomial for Highly Automated Driving Function (HADF). Planning is often considered as a higher-level process than control. Behavior Planning Module (BPM) is designed that plans the high-level driving actions like Lane Change maneuver to safely achieve the functionality of transverse guidance ensuring safety of the vehicle using motion planning in a scenario including environmental situation. Based on the recommendation received from the (BPM), the function will generate a desire corresponding trajectory. The proposed planning system is situation specific with polynomial based algorithm for same direction two lane highway scenario. To support the trajectory system polynomial curve can be used to reduces overall complexity and thereby allows rapid computation. The proposed Lane Change scenario is modeled, and results has been analyzed (verified and validate) through the MATLAB simulation environment. The method proposed in this paper has achieved a significant improvement in safety and stability of Lane Changing maneuver.

Authors:Ahmad Hafez, Alireza Naderi Akhormeh, Amr Hegazy, Amr Alanwar
Title: Safe LLM-Controlled Robots with Formal Guarantees via Reachability Analysis
Abstract:
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and decision-making capabilities, their inherent probabilistic nature and lack of formal guarantees raise significant concerns for safety-critical applications. Traditional model-based verification approaches often rely on precise system models, which are difficult to obtain for real-world robotic systems and may not be fully trusted due to modeling inaccuracies, unmodeled dynamics, or environmental uncertainties. To address these challenges, this paper introduces a safety assurance framework for LLM-controlled robots based on data-driven reachability analysis, a formal verification technique that ensures all possible system trajectories remain within safe operational limits. Our framework specifically investigates the problem of instructing an LLM to navigate the robot to a specified goal and assesses its ability to generate low-level control actions that successfully guide the robot safely toward that goal. By leveraging historical data to construct reachable sets of states for the robot-LLM system, our approach provides rigorous safety guarantees against unsafe behaviors without relying on explicit analytical models. We validate the framework through experimental case studies in autonomous navigation and task planning, demonstrating its effectiveness in mitigating risks associated with LLM-generated commands. This work advances the integration of formal methods into LLM-based robotics, offering a principled and practical approach to ensuring safety in next-generation autonomous systems.

Authors:Milin Patel, Rolf Jung
Title: Simulation-Based Performance Evaluation of 3D Object Detection Methods with Deep Learning for a LiDAR Point Cloud Dataset in a SOTIF-related Use Case
Abstract:
Safety of the Intended Functionality (SOTIF) addresses sensor performance limitations and deep learning-based object detection insufficiencies to ensure the intended functionality of Automated Driving Systems (ADS). This paper presents a methodology examining the adaptability and performance evaluation of the 3D object detection methods on a LiDAR point cloud dataset generated by simulating a SOTIF-related Use Case. The major contributions of this paper include defining and modelling a SOTIF-related Use Case with 21 diverse weather conditions and generating a LiDAR point cloud dataset suitable for application of 3D object detection methods. The dataset consists of 547 frames, encompassing clear, cloudy, rainy weather conditions, corresponding to different times of the day, including noon, sunset, and night. Employing MMDetection3D and OpenPCDET toolkits, the performance of State-of-the-Art (SOTA) 3D object detection methods is evaluated and compared by testing the pre-trained Deep Learning (DL) models on the generated dataset using Average Precision (AP) and Recall metrics.

Authors:Milin Patel, Rolf Jung
Title: Simulation-Based Application of Safety of The Intended Functionality to Mitigate Foreseeable Misuse in Automated Driving Systems
Abstract:
The development of Automated Driving Systems (ADS) has the potential to revolutionise the transportation industry, but it also presents significant safety challenges. One of the key challenges is ensuring that the ADS is safe in the event of Foreseeable Misuse (FM) by the human driver. To address this challenge, a case study on simulation-based testing to mitigate FM by the driver using the driving simulator is presented. FM by the human driver refers to potential driving scenarios where the driver misinterprets the intended functionality of ADS, leading to hazardous behaviour. Safety of the Intended Functionality (SOTIF) focuses on ensuring the absence of unreasonable risk resulting from hazardous behaviours related to functional insufficiencies caused by FM and performance limitations of sensors and machine learning-based algorithms for ADS. The simulation-based application of SOTIF to mitigate FM in ADS entails determining potential misuse scenarios, conducting simulation-based testing, and evaluating the effectiveness of measures dedicated to preventing or mitigating FM. The major contribution includes defining (i) test requirements for performing simulation-based testing of a potential misuse scenario, (ii) evaluation criteria in accordance with SOTIF requirements for implementing measures dedicated to preventing or mitigating FM, and (iii) approach to evaluate the effectiveness of the measures dedicated to preventing or mitigating FM. In conclusion, an exemplary case study incorporating driver-vehicle interface and driver interactions with ADS forming the basis for understanding the factors and causes contributing to FM is investigated. Furthermore, the test procedure for evaluating the effectiveness of the measures dedicated to preventing or mitigating FM by the driver is developed in this work.

Authors:Mohammad Abtahi, Mahdis Rabbani, Armin Abdolmohammadi, Shima Nazari
Title: Multi-Step Deep Koopman Network (MDK-Net) for Vehicle Control in Frenet Frame
Abstract:
The highly nonlinear dynamics of vehicles present a major challenge for the practical implementation of optimal and Model Predictive Control (MPC) approaches in path planning and following. Koopman operator theory offers a global linear representation of nonlinear dynamical systems, making it a promising framework for optimization-based vehicle control. This paper introduces a novel deep learning-based Koopman modeling approach that employs deep neural networks to capture the full vehicle dynamics-from pedal and steering inputs to chassis states-within a curvilinear Frenet frame. The superior accuracy of the Koopman model compared to identified linear models is shown for a double lane change maneuver. Furthermore, it is shown that an MPC controller deploying the Koopman model provides significantly improved performance while maintaining computational efficiency comparable to a linear MPC.

Authors:Feiran Zhao, Alessandro Chiuso, Florian Dörfler
Title: Regularization for Covariance Parameterization of Direct Data-Driven LQR Control
Abstract:
As the benchmark of data-driven control methods, the linear quadratic regulator (LQR) problem has gained significant attention. A growing trend is direct LQR design, which finds the optimal LQR gain directly from raw data and bypassing system identification. To achieve this, our previous work develops a direct LQR formulation parameterized by sample covariance. In this paper, we propose a regularization method for the covariance-parameterized LQR. We show that the regularizer accounts for the uncertainty in both the steady-state covariance matrix corresponding to closed-loop stability, and the LQR cost function corresponding to averaged control performance. With a positive or negative coefficient, the regularizer can be interpreted as promoting either exploitation or exploration, which are well-known trade-offs in reinforcement learning. In simulations, we observe that our covariance-parameterized LQR with regularization can significantly outperform the certainty-equivalence LQR in terms of both the optimality gap and the robust closed-loop stability.

Authors:Milin Patel, Rolf Jung, Marzana Khatun
Title: A Systematic Literature Review on Safety of the Intended Functionality for Automated Driving Systems
Abstract:
In the automobile industry, ensuring the safety of automated vehicles equipped with the Automated Driving System (ADS) is becoming a significant focus due to the increasing development and deployment of automated driving. Automated driving depends on sensing both the external and internal environments of a vehicle, utilizing perception sensors and algorithms, and Electrical/Electronic (E/E) systems for situational awareness and response. ISO 21448 is the standard for Safety of the Intended Functionality (SOTIF) that aims to ensure that the ADS operate safely within their intended functionality. SOTIF focuses on preventing or mitigating potential hazards that may arise from the limitations or failures of the ADS, including hazards due to insufficiencies of specification, or performance insufficiencies, as well as foreseeable misuse of the intended functionality. However, the challenge lies in ensuring the safety of vehicles despite the limited availability of extensive and systematic literature on SOTIF. To address this challenge, a Systematic Literature Review (SLR) on SOTIF for the ADS is performed following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. The objective is to methodically gather and analyze the existing literature on SOTIF. The major contributions of this paper are: (i) presenting a summary of the literature by synthesizing and organizing the collective findings, methodologies, and insights into distinct thematic groups, and (ii) summarizing and categorizing the acknowledged limitations based on data extracted from an SLR of 51 research papers published between 2018 and 2023. Furthermore, research gaps are determined, and future research directions are proposed.

Authors:Zihao Ren, Lei Wang, Zhengguang Wu, Guodong Shi
Title: Linear Convergence of Distributed Compressed Optimization with Equality Constraints
Abstract:
In this paper, the distributed strongly convex optimization problem is studied with spatio-temporal compressed communication and equality constraints. For the case where each agent holds an distributed local equality constraint, a distributed saddle-point algorithm is proposed by employing distributed filters to derive errors of the transmitted states for spatio-temporal compression purposes. It is shown that the resulting distributed compressed algorithm achieves linear convergence. Furthermore, the algorithm is generalized to the case where each agent holds a portion of the global equality constraint, i.e., the constraints across agents are coupled. By introducing an additional design freedom, the global equality constraint is shown to be equivalent to the one where each agent holds an equality constraint, for which the proposed distributed compressed saddle-point algorithm can be adapted to achieve linear convergence. Numerical simulations are adopted to validate the effectiveness of the proposed algorithms.

Authors:Milin Patel, Rolf Jung
Title: Uncertainty Representation in a SOTIF-Related Use Case with Dempster-Shafer Theory for LiDAR Sensor-Based Object Detection
Abstract:
Uncertainty in LiDAR sensor-based object detection arises from environmental variability and sensor performance limitations. Representing these uncertainties is essential for ensuring the Safety of the Intended Functionality (SOTIF), which focuses on preventing hazards in automated driving scenarios. This paper presents a systematic approach to identifying, classifying, and representing uncertainties in LiDAR-based object detection within a SOTIF-related scenario. Dempster-Shafer Theory (DST) is employed to construct a Frame of Discernment (FoD) to represent detection outcomes. Conditional Basic Probability Assignments (BPAs) are applied based on dependencies among identified uncertainty sources. Yager's Rule of Combination is used to resolve conflicting evidence from multiple sources, providing a structured framework to evaluate uncertainties' effects on detection accuracy. The study applies variance-based sensitivity analysis (VBSA) to quantify and prioritize uncertainties, detailing their specific impact on detection performance.

Authors:Peng Yan, Ahmed Abdulkadir, Gerrit A. Schatte, Giulia Aguzzi, Joonsu Gha, Nikola Pascher, Matthias Rosenthal, Yunlong Gao, Benjamin F. Grewe, Thilo Stadelmann
Title: Learning Actionable World Models for Industrial Process Control
Abstract:
To go from (passive) process monitoring to active process control, an effective AI system must learn about the behavior of the complex system from very limited training data, forming an ad-hoc digital twin with respect to process inputs and outputs that captures the consequences of actions on the process's world. We propose a novel methodology based on learning world models that disentangles process parameters in the learned latent representation, allowing for fine-grained control. Representation learning is driven by the latent factors influencing the processes through contrastive learning within a joint embedding predictive architecture. This makes changes in representations predictable from changes in inputs and vice versa, facilitating interpretability of key factors responsible for process variations, paving the way for effective control actions to keep the process within operational bounds. The effectiveness of our method is validated on the example of plastic injection molding, demonstrating practical relevance in proposing specific control actions for a notoriously unstable process.

Authors:Zhikang Ge, Fang Yang, Wenwu Lu, Peng Wei, Yibin Ying, Chen Peng
Title: A Navigation System for ROV's inspection on Fish Net Cage
Abstract:
Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a ROS-based framework and develop a localization module, a path planning system, and a control framework. For real-time, local localization, we employ the open-source TagSLAM library. Additionally, we propose a control strategy based on a Nominal Feedback Controller (NFC) to achieve precise trajectory tracking. The proposed system has been implemented and validated through experiments in a controlled laboratory environment, demonstrating its effectiveness for real-world applications.

Authors:Mohammad Reza Fasihi, Brian L. Mark
Title: QaSAL: QoS-aware State-Augmented Learnable Algorithms for Coexistence of 5G NR-U/Wi-Fi
Abstract:
With the increasing demand for wireless connectivity, ensuring the efficient coexistence of multiple radio access technologies in shared unlicensed spectrum has become an important issue. This paper focuses on optimizing Medium Access Control (MAC) parameters to enhance the coexistence of 5G New Radio in Unlicensed Spectrum (NR-U) and Wi-Fi networks operating in unlicensed spectrum with multiple priority classes of traffic that may have varying quality-of-service (QoS) requirements. In this context, we tackle the coexistence parameter management problem by introducing a QoS-aware State-Augmented Learnable (QaSAL) framework, designed to improve network performance under various traffic conditions. Our approach augments the state representation with constraint information, enabling dynamic policy adjustments to enforce QoS requirements effectively. Simulation results validate the effectiveness of QaSAL in managing NR-U and Wi-Fi coexistence, demonstrating improved channel access fairness while satisfying a latency constraint for high-priority traffic.

Authors:Mohammad Reza Fasihi, Brian L. Mark
Title: Traffic Priority-Aware 5G NR-U/Wi-Fi Coexistence with Deep Reinforcement Learning
Abstract:
Coexistence of 5G new radio unlicensed (NR-U) and Wi-Fi is highly prone to the collisions among NR-U gNBs (5G base stations) and Wi-Fi APs (access points). To improve performance and fairness for both networks, various collision resolution mechanisms have been proposed to replace the simple listen-before-talk (LBT) scheme used in the current 5G standard. We address two gaps in the literature: first, the lack of a comprehensive performance comparison among the proposed collision resolution mechanisms and second, the impact of multiple traffic priority classes. Through extensive simulations, we compare the performance of several recently proposed collision resolution mechanisms for NR-U/Wi-Fi coexistence. We extend one of these mechanisms to handle multiple traffic priorities. We then develop a traffic-aware multi-objective deep reinforcement learning algorithm for the scenario of coexistence of high-priority traffic gNB user equipment (UE) with multiple lower-priority traffic UEs and Wi-Fi stations. The objective is to ensure low latency for high-priority gNB traffic while increasing the airtime fairness among the NR-U and Wi-Fi networks. Our simulation results show that the proposed algorithm lowers the channel access delay of high-priority traffic while improving the fairness among both networks.

Authors:Tianxiao Gao, Mingle Zhao, Chengzhong Xu, Hui Kong
Title: Night-Voyager: Consistent and Efficient Nocturnal Vision-Aided State Estimation in Object Maps
Abstract:
Accurate and robust state estimation at nighttime is essential for autonomous robotic navigation to achieve nocturnal or round-the-clock tasks. An intuitive question arises: Can low-cost standard cameras be exploited for nocturnal state estimation? Regrettably, most existing visual methods may fail under adverse illumination conditions, even with active lighting or image enhancement. A pivotal insight, however, is that streetlights in most urban scenarios act as stable and salient prior visual cues at night, reminiscent of stars in deep space aiding spacecraft voyage in interstellar navigation. Inspired by this, we propose Night-Voyager, an object-level nocturnal vision-aided state estimation framework that leverages prior object maps and keypoints for versatile localization. We also find that the primary limitation of conventional visual methods under poor lighting conditions stems from the reliance on pixel-level metrics. In contrast, metric-agnostic, non-pixel-level object detection serves as a bridge between pixel-level and object-level spaces, enabling effective propagation and utilization of object map information within the system. Night-Voyager begins with a fast initialization to solve the global localization problem. By employing an effective two-stage cross-modal data association, the system delivers globally consistent state updates using map-based observations. To address the challenge of significant uncertainties in visual observations at night, a novel matrix Lie group formulation and a feature-decoupled multi-state invariant filter are introduced, ensuring consistent and efficient estimation. Through comprehensive experiments in both simulation and diverse real-world scenarios (spanning approximately 12.3 km), Night-Voyager showcases its efficacy, robustness, and efficiency, filling a critical gap in nocturnal vision-aided state estimation.

Authors:Arwa Alanqary, Chao Zhang, Yechen Li, Neha Arora, Carolina Osorio
Title: Improving Simulation-Based Origin-Destination Demand Calibration Using Sample Segment Counts Data
Abstract:
This paper introduces a novel approach to demand estimation that utilizes partial observations of segment-level track counts. Building on established simulation-based demand estimation methods, we present a modified formulation that integrates sample track counts as a regularization term. This approach effectively addresses the underdetermination challenge in demand estimation, moving beyond the conventional reliance on a prior OD matrix. The proposed formulation aims to preserve the distribution of the observed track counts while optimizing the demand to align with observed path-level travel times. We tested this approach on Seattle's highway network with various congestion levels. Our findings reveal significant enhancements in the solution quality, particularly in accurately recovering ground truth demand patterns at both the OD and segment levels.

Authors:Mohammad Bajelani, Klaske van Heusden
Title: Data-Driven Input-Output Control Barrier Functions
Abstract:
Control Barrier Functions (CBFs) offer a framework for ensuring set invariance and designing constrained control laws. However, crafting a valid CBF relies on system-specific assumptions and the availability of an accurate system model, underscoring the need for systematic data-driven synthesis methods. This paper introduces a data-driven approach to synthesizing a CBF for discrete-time LTI systems using only input-output measurements. The method begins by computing the maximal control invariant set using an input-output data-driven representation, eliminating the need for precise knowledge of the system's order and explicit state estimation. The proposed CBF is then systematically derived from this set, which can accommodate multiple input-output constraints. Furthermore, the proposed CBF is leveraged to develop a minimally invasive safety filter that ensures recursive feasibility with an adaptive decay rate. To improve clarity, we assume a noise-free dataset, though the method can be extended using data-driven reachability to capture noise effects and handle uncertainty. Finally, the effectiveness of the proposed method is demonstrated on an unknown time-delay system.

Authors:Kejun Chen, Shourya Bose, Yu Zhang
Title: Physics-Informed Gradient Estimation for Accelerating Deep Learning based AC-OPF
Abstract:
The optimal power flow (OPF) problem can be rapidly and reliably solved by employing responsive online solvers based on neural networks. The dynamic nature of renewable energy generation and the variability of power grid conditions necessitate frequent neural network updates with new data instances. To address this need and reduce the time required for data preparation time, we propose a semi-supervised learning framework aided by data augmentation. In this context, ridge regression replaces the traditional solver, facilitating swift prediction of optimal solutions for the given input load demands. Additionally, to accelerate the backpropagation during training, we develop novel batch-mean gradient estimation approaches along with a reduced branch set to alleviate the complexity of gradient computation. Numerical simulations demonstrate that our neural network, equipped with the proposed gradient estimators, consistently achieves feasible and near-optimal solutions. These results underline the effectiveness of our approach for practical implementation in real-time OPF applications.

Authors:Saba Sanami, Hesam Mosalli, Yu Yang, Hen-Geul Yeh, Amir G. Aghdam
Title: Demand Forecasting for Electric Vehicle Charging Stations using Multivariate Time-Series Analysis
Abstract:
As the number of electric vehicles (EVs) continues to grow, the demand for charging stations is also increasing, leading to challenges such as long wait times and insufficient infrastructure. High-precision forecasting of EV charging demand is crucial for efficient station management, to address some of these challenges. This paper presents an approach to predict the charging demand at 15-minute intervals for the day ahead using a multivariate long short-term memory (LSTM) network with an attention mechanism. Additionally, the model leverages explainable AI techniques to evaluate the influence of various factors on the predictions, including weather conditions, day of the week, month, and any holiday. SHapley Additive exPlanations (SHAP) are used to quantify the contribution of each feature to the final forecast, providing deeper insights into how these factors affect prediction accuracy. As a result, the framework offers enhanced decision-making for infrastructure planning. The efficacy of the proposed method is demonstrated by simulations using the test data collected from the EV charging stations at California State University, Long Beach.

Authors:Shizhen Wu, Yongchun Fang, Ning Sun, Biao Lu, Xiao Liang, Yiming Zhao
Title: Optimization-free Smooth Control Barrier Function for Polygonal Collision Avoidance
Abstract:
Polygonal collision avoidance (PCA) is short for the problem of collision avoidance between two polygons (i.e., polytopes in planar) that own their dynamic equations. This problem suffers the inherent difficulty in dealing with non-smooth boundaries and recently optimization-defined metrics, such as signed distance field (SDF) and its variants, have been proposed as control barrier functions (CBFs) to tackle PCA problems. In contrast, we propose an optimization-free smooth CBF method in this paper, which is computationally efficient and proved to be nonconservative. It is achieved by three main steps: a lower bound of SDF is expressed as a nested Boolean logic composition first, then its smooth approximation is established by applying the latest log-sum-exp method, after which a specified CBF-based safety filter is proposed to address this class of problems. To illustrate its wide applications, the optimization-free smooth CBF method is extended to solve distributed collision avoidance of two underactuated nonholonomic vehicles and drive an underactuated container crane to avoid a moving obstacle respectively, for which numerical simulations are also performed.

Authors:Sarah Grube, Sarah Latus, Martin Fischer, Vidas Raudonis, Axel Heinemann, Benjamin Ondruschka, Alexander Schlaefer
Title: A Mobile Robotic Approach to Autonomous Surface Scanning in Legal Medicine
Abstract:
Purpose: Comprehensive legal medicine documentation includes both an internal but also an external examination of the corpse. Typically, this documentation is conducted manually during conventional autopsy. A systematic digital documentation would be desirable, especially for the external examination of wounds, which is becoming more relevant for legal medicine analysis. For this purpose, RGB surface scanning has been introduced. While a manual full surface scan using a handheld camera is timeconsuming and operator dependent, floor or ceiling mounted robotic systems require substantial space and a dedicated room. Hence, we consider whether a mobile robotic system can be used for external documentation. Methods: We develop a mobile robotic system that enables full-body RGB-D surface scanning. Our work includes a detailed configuration space analysis to identify the environmental parameters that need to be considered to successfully perform a surface scan. We validate our findings through an experimental study in the lab and demonstrate the system's application in a legal medicine environment. Results: Our configuration space analysis shows that a good trade-off between coverage and time is reached with three robot base positions, leading to a coverage of 94.96 %. Experiments validate the effectiveness of the system in accurately capturing body surface geometry with an average surface coverage of 96.90 +- 3.16 % and 92.45 +- 1.43 % for a body phantom and actual corpses, respectively. Conclusion: This work demonstrates the potential of a mobile robotic system to automate RGB-D surface scanning in legal medicine, complementing the use of post-mortem CT scans for inner documentation. Our results indicate that the proposed system can contribute to more efficient and autonomous legal medicine documentation, reducing the need for manual intervention.

Authors:Niklas Persson, Feiran Zhao, Mojtaba Kaheni, Florian Dörfler, Alessandro V. Papadopoulos
Title: An Adaptive Data-Enabled Policy Optimization Approach for Autonomous Bicycle Control
Abstract:
This paper presents a unified control framework that integrates a Feedback Linearization (FL) controller in the inner loop with an adaptive Data-Enabled Policy Optimization (DeePO) controller in the outer loop to balance an autonomous bicycle. While the FL controller stabilizes and partially linearizes the inherently unstable and nonlinear system, its performance is compromised by unmodeled dynamics and time-varying characteristics. To overcome these limitations, the DeePO controller is introduced to enhance adaptability and robustness. The initial control policy of DeePO is obtained from a finite set of offline, persistently exciting input and state data. To improve stability and compensate for system nonlinearities and disturbances, a robustness-promoting regularizer refines the initial policy, while the adaptive section of the DeePO framework is enhanced with a forgetting factor to improve adaptation to time-varying dynamics. The proposed DeePO+FL approach is evaluated through simulations and real-world experiments on an instrumented autonomous bicycle. Results demonstrate its superiority over the FL-only approach, achieving more precise tracking of the reference lean angle and lean rate.

Authors:Canlun Zheng, Hanqing Guo, Shiyu Zhao
Title: A Cooperative Bearing-Rate Approach for Observability-Enhanced Target Motion Estimation
Abstract:
Vision-based target motion estimation is a fundamental problem in many robotic tasks. The existing methods have the limitation of low observability and, hence, face challenges in tracking highly maneuverable targets. Motivated by the aerial target pursuit task where a target may maneuver in 3D space, this paper studies how to further enhance observability by incorporating the \emph{bearing rate} information that has not been well explored in the literature. The main contribution of this paper is to propose a new cooperative estimator called STT-R (Spatial-Temporal Triangulation with bearing Rate), which is designed under the framework of distributed recursive least squares. This theoretical result is further verified by numerical simulation and real-world experiments. It is shown that the proposed STT-R algorithm can effectively generate more accurate estimations and effectively reduce the lag in velocity estimation, enabling tracking of more maneuverable targets.

Authors:Jiawei Tang, Shilei Li, Ling Shi
Title: Lie-algebra Adaptive Tracking Control for Rigid Body Dynamics
Abstract:
Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are designed for systems with states in vector spaces, often neglecting the manifold constraints inherent to robotic systems. In this work, we propose a novel Lie-algebra-based adaptive control method that leverages the intrinsic relationship between the special Euclidean group and its associated Lie algebra. By transforming the state space from the group manifold to a vector space, we derive a linear error dynamics model that decouples model parameters from the system state. This formulation enables the development of an adaptive optimal control method that is both geometrically consistent and computationally efficient. Extensive simulations demonstrate the effectiveness and efficiency of the proposed method. We have made our source code publicly available to the community to support further research and collaboration.

Authors:Saba Sanami, Amir G. Aghdam
Title: Aero-engines Anomaly Detection using an Unsupervised Fisher Autoencoder
Abstract:
Reliable aero-engine anomaly detection is crucial for ensuring aircraft safety and operational efficiency. This research explores the application of the Fisher autoencoder as an unsupervised deep learning method for detecting anomalies in aero-engine multivariate sensor data, using a Gaussian mixture as the prior distribution of the latent space. The proposed method aims to minimize the Fisher divergence between the true and the modeled data distribution in order to train an autoencoder that can capture the normal patterns of aero-engine behavior. The Fisher divergence is robust to model uncertainty, meaning it can handle noisy or incomplete data. The Fisher autoencoder also has well-defined latent space regions, which makes it more generalizable and regularized for various types of aero-engines as well as facilitates diagnostic purposes. The proposed approach improves the accuracy of anomaly detection and reduces false alarms. Simulations using the CMAPSS dataset demonstrate the model's efficacy in achieving timely anomaly detection, even in the case of an unbalanced dataset.

Authors:Taiyi Wang, Liang Liang, Guang Yang, Thomas Heinis, Eiko Yoneki
Title: A New Paradigm in Tuning Learned Indexes: A Reinforcement Learning Enhanced Approach
Abstract:
Learned Index Structures (LIS) have significantly advanced data management by leveraging machine learning models to optimize data indexing. However, designing these structures often involves critical trade-offs, making it challenging for both designers and end-users to find an optimal balance tailored to specific workloads and scenarios. While some indexes offer adjustable parameters that demand intensive manual tuning, others rely on fixed configurations based on heuristic auto-tuners or expert knowledge, which may not consistently deliver optimal performance. This paper introduces LITune, a novel framework for end-to-end automatic tuning of Learned Index Structures. LITune employs an adaptive training pipeline equipped with a tailor-made Deep Reinforcement Learning (DRL) approach to ensure stable and efficient tuning. To accommodate long-term dynamics arising from online tuning, we further enhance LITune with an on-the-fly updating mechanism termed the O2 system. These innovations allow LITune to effectively capture state transitions in online tuning scenarios and dynamically adjust to changing data distributions and workloads, marking a significant improvement over other tuning methods. Our experimental results demonstrate that LITune achieves up to a 98% reduction in runtime and a 17-fold increase in throughput compared to default parameter settings given a selected Learned Index instance. These findings highlight LITune's effectiveness and its potential to facilitate broader adoption of LIS in real-world applications.

Authors:Meiding Liu, Zhengchun Zhou, Qiao Shi, Guyue Li, Zilong Liu, Pingzhi Fan, Inkyu Lee
Title: Joint Beamforming Design for Integrated Sensing and Communication Systems with Hybrid-Colluding Eavesdroppers
Abstract:
In this paper, we consider the physical layer security (PLS) problem for integrated sensing and communication (ISAC) systems in the presence of hybrid-colluding eavesdroppers, where an active eavesdropper (AE) and a passive eavesdropper (PE) collude to intercept the confidential information. To ensure the accuracy of sensing while preventing the eavesdropping, a base station transmits a signal consisting of information symbols and sensing waveform, in which the sensing waveform can be also used as artificial noise to interfere with eavesdroppers. Under this setup, we propose an alternating optimization-based two stage scheme (AO-TSS) for improving the sensing and communication performance. In the first stage, based on the assumptions that the perfect channel state information (CSI) of the AE and statistical CSI of the PE are known, the communication and sensing beamforming problem is formulated with the objective of minimizing the weighted sum of the beampattern matching mean squared error (MSE) and cross-correlation, subject to the secure transmission constraint. To tackle the non-convexity, we propose a semi-definite relaxation (SDR) algorithm and a reduced-complexity zero-forcing (ZF) algorithm. Then, the scenarios are further extended to more general cases with imperfect AE CSI and unknown PE CSI. To further improve the communication performance, the second-stage problem is developed to optimize the secrecy rate threshold under the radar performance constraint. Finally, numerical results demonstrate the superiority of the proposed scheme in terms of sensing and secure communication.

Authors:Henrik Hose, Jan Weisgerber, Sebastian Trimpe
Title: The Mini Wheelbot: A Testbed for Learning-based Balancing, Flips, and Articulated Driving
Abstract:
The Mini Wheelbot is a balancing, reaction wheel unicycle robot designed as a testbed for learning-based control. It is an unstable system with highly nonlinear yaw dynamics, non-holonomic driving, and discrete contact switches in a small, powerful, and rugged form factor. The Mini Wheelbot can use its wheels to stand up from any initial orientation - enabling automatic environment resets in repetitive experiments and even challenging half flips. We illustrate the effectiveness of the Mini Wheelbot as a testbed by implementing two popular learning-based control algorithms. First, we showcase Bayesian optimization for tuning the balancing controller. Second, we use imitation learning from an expert nonlinear MPC that uses gyroscopic effects to reorient the robot and can track higher-level velocity and orientation commands. The latter allows the robot to drive around based on user commands - for the first time in this class of robots. The Mini Wheelbot is not only compelling for testing learning-based control algorithms, but it is also just fun to work with, as demonstrated in the video of our experiments.

Authors:Saba Sanami, Amir G. Aghdam
Title: Calibrated Unsupervised Anomaly Detection in Multivariate Time-series using Reinforcement Learning
Abstract:
This paper investigates unsupervised anomaly detection in multivariate time-series data using reinforcement learning (RL) in the latent space of an autoencoder. A significant challenge is the limited availability of anomalous data, often leading to misclassifying anomalies as normal events, thus raising false negatives. RL can help overcome this limitation by promoting exploration and balancing exploitation during training, effectively preventing overfitting. Wavelet analysis is also utilized to enhance anomaly detection, enabling time-series data decomposition into both time and frequency domains. This approach captures anomalies at multiple resolutions, with wavelet coefficients extracted to detect both sudden and subtle shifts in the data, thereby refining the anomaly detection process. We calibrate the decision boundary by generating synthetic anomalies and embedding a supervised framework within the model. This supervised element aids the unsupervised learning process by fine-tuning the decision boundary and increasing the model's capacity to distinguish between normal and anomalous patterns effectively.

Authors:Grigorii Gerasimov, Ilia Kamyshev, Sahar Moghimian Hoosh, Elena Gryazina, Henni Ouerdane
Title: Toward Explainable NILM: Real-Time Event-Based NILM Framework for High-Frequency Data
Abstract:
Non-Intrusive Load Monitoring (NILM) is an advanced, and cost-effective technique for monitoring appliance-level energy consumption. However, its adaptability is hindered by the lack of transparency and explainability. To address this challenge, this paper presents an explainable, real-time, event-based NILM framework specifically designed for high-frequency datasets. The proposed framework ensures transparency at every stage by integrating a z-score-based event detector, appliance signature estimation, Fourier-based feature extraction, an XG-Boost classifier, and post hoc SHAP analysis. The SHAP analysis further quantifies the contribution of individual features, such as cosine of specific harmonic phases, to appliance classification. The framework is trained and evaluated on the PLAID dataset, and achieved a classification accuracy of 90% while maintaining low computational requirements and a latency of less than one second.

Authors:Sahar Moghimian Hoosh, Ilia Kamyshev, Henni Ouerdane
Title: Enhancing Non-Intrusive Load Monitoring with Features Extracted by Independent Component Analysis
Abstract:
In this paper, a novel neural network architecture is proposed to address the challenges in energy disaggregation algorithms. These challenges include the limited availability of data and the complexity of disaggregating a large number of appliances operating simultaneously. The proposed model utilizes independent component analysis as the backbone of the neural network and is evaluated using the F1-score for varying numbers of appliances working concurrently. Our results demonstrate that the model is less prone to overfitting, exhibits low complexity, and effectively decomposes signals with many individual components. Furthermore, we show that the proposed model outperforms existing algorithms when applied to real-world data.

Authors:Sina Sharifi, Nazanin Abolfazli, Erfan Yazdandoost Hamedani, Mahyar Fazlyab
Title: Safe Gradient Flow for Bilevel Optimization
Abstract:
Bilevel optimization is a key framework in hierarchical decision-making, where one problem is embedded within the constraints of another. In this work, we propose a control-theoretic approach to solving bilevel optimization problems. Our method consists of two components: a gradient flow mechanism to minimize the upper-level objective and a safety filter to enforce the constraints imposed by the lower-level problem. Together, these components form a safe gradient flow that solves the bilevel problem in a single loop. To improve scalability with respect to the lower-level problem's dimensions, we introduce a relaxed formulation and design a compact variant of the safe gradient flow. This variant minimizes the upper-level objective while ensuring the lower-level decision variable remains within a user-defined suboptimality. Using Lyapunov analysis, we establish convergence guarantees for the dynamics, proving that they converge to a neighborhood of the optimal solution. Numerical experiments further validate the effectiveness of the proposed approaches. Our contributions provide both theoretical insights and practical tools for efficiently solving bilevel optimization problems.

Authors:Pascal J. Sager, Benjamin Meyer, Peng Yan, Rebekka von Wartburg-Kottler, Layan Etaiwi, Aref Enayati, Gabriel Nobel, Ahmed Abdulkadir, Benjamin F. Grewe, Thilo Stadelmann
Title: A Comprehensive Survey of Agents for Computer Use: Foundations, Challenges, and Future Directions
Abstract:
Agents for computer use (ACUs) are an emerging class of systems capable of executing complex tasks on digital devices - such as desktops, mobile phones, and web platforms - given instructions in natural language. These agents can automate tasks by controlling software via low-level actions like mouse clicks and touchscreen gestures. However, despite rapid progress, ACUs are not yet mature for everyday use. In this survey, we investigate the state-of-the-art, trends, and research gaps in the development of practical ACUs. We provide a comprehensive review of the ACU landscape, introducing a unifying taxonomy spanning three dimensions: (I) the domain perspective, characterizing agent operating contexts; (II) the interaction perspective, describing observation modalities (e.g., screenshots, HTML) and action modalities (e.g., mouse, keyboard, code execution); and (III) the agent perspective, detailing how agents perceive, reason, and learn. We review 87 ACUs and 33 datasets across foundation model-based and classical approaches through this taxonomy. Our analysis identifies six major research gaps: insufficient generalization, inefficient learning, limited planning, low task complexity in benchmarks, non-standardized evaluation, and a disconnect between research and practical conditions. To address these gaps, we advocate for: (a) vision-based observations and low-level control to enhance generalization; (b) adaptive learning beyond static prompting; (c) effective planning and reasoning methods and models; (d) benchmarks that reflect real-world task complexity; (e) standardized evaluation based on task success; (f) aligning agent design with real-world deployment constraints. Together, our taxonomy and analysis establish a foundation for advancing ACU research toward general-purpose agents for robust and scalable computer use.

Authors:Michael Muehlebach, Zhiyu He, Michael I. Jordan
Title: The Sample Complexity of Online Reinforcement Learning: A Multi-model Perspective
Abstract:
We study the sample complexity of online reinforcement learning in the general setting of nonlinear dynamical systems with continuous state and action spaces. Our analysis accommodates a large class of dynamical systems ranging from a finite set of nonlinear candidate models to models with bounded and Lipschitz continuous dynamics, to systems that are parametrized by a compact and real-valued set of parameters. In the most general setting, our algorithm achieves a policy regret of $\mathcal{O}(N ε^2 + \mathrm{ln}(m(ε))/ε^2)$, where $N$ is the time horizon, $ε$ is a user-specified discretization width, and $m(ε)$ measures the complexity of the function class under consideration via its packing number. In the special case where the dynamics are parametrized by a compact and real-valued set of parameters (such as neural networks, transformers, etc.), we prove a policy regret of $\mathcal{O}(\sqrt{N p})$, where $p$ denotes the number of parameters, recovering earlier sample-complexity results that were derived for linear time-invariant dynamical systems. While this article focuses on characterizing sample complexity, the proposed algorithms are likely to be useful in practice, due to their simplicity, their ability to incorporate prior knowledge, and their benign transient behavior.

Authors:Paprapee Buason, Sidhant Misra, Daniel K. Molzahn
Title: Sample-Based Piecewise Linear Power Flow Approximations Using Second-Order Sensitivities
Abstract:
The inherent nonlinearity of the power flow equations poses significant challenges in accurately modeling power systems, particularly when employing linearized approximations. Although power flow linearizations provide computational efficiency, they can fail to fully capture nonlinear behavior across diverse operating conditions. To improve approximation accuracy, we propose conservative piecewise linear approximations (CPLA) of the power flow equations, which are designed to consistently over- or under-estimate the quantity of interest, ensuring conservative behavior in optimization. The flexibility provided by piecewise linear functions can yield improved accuracy relative to standard linear approximations. However, applying CPLA across all dimensions of the power flow equations could introduce significant computational complexity, especially for large-scale optimization problems. In this paper, we propose a strategy that selectively targets dimensions exhibiting significant nonlinearities. Using a second-order sensitivity analysis, we identify the directions where the power flow equations exhibit the most significant curvature and tailor the CPLAs to improve accuracy in these specific directions. This approach reduces the computational burden while maintaining high accuracy, making it particularly well-suited for mixed-integer programming problems involving the power flow equations.

Authors:Fabian Raisch, Thomas Krug, Christoph Goebel, Benjamin Tischler
Title: GenTL: A General Transfer Learning Model for Building Thermal Dynamics
Abstract:
Transfer Learning (TL) is an emerging field in modeling building thermal dynamics. This method reduces the data required for a data-driven model of a target building by leveraging knowledge from a source building. Consequently, it enables the creation of data-efficient models that can be used for advanced control and fault detection & diagnosis. A major limitation of the TL approach is its inconsistent performance across different sources. Although accurate source-building selection for a target is crucial, it remains a persistent challenge. We present GenTL, a general transfer learning model for single-family houses in Central Europe. GenTL can be efficiently fine-tuned to a large variety of target buildings. It is pretrained on a Long Short-Term Memory (LSTM) network with data from 450 different buildings. The general transfer learning model eliminates the need for source-building selection by serving as a universal source for fine-tuning. Comparative analysis with conventional single-source to single-target TL demonstrates the efficacy and reliability of the general pretraining approach. Testing GenTL on 144 target buildings for fine-tuning reveals an average prediction error (RMSE) reduction of 42.1 % compared to fine-tuning single-source models.

Authors:Jinhui Pang, Jinglin He, Noureldin Mohamed Abdelaal Ahmed Mohamed, Changqing Lin, Zhihui Zhang, Xiaoshuai Hao
Title: A Hierarchical Reinforcement Learning Framework for Multi-UAV Combat Using Leader-Follower Strategy
Abstract:
Multi-UAV air combat is a complex task involving multiple autonomous UAVs, an evolving field in both aerospace and artificial intelligence. This paper aims to enhance adversarial performance through collaborative strategies. Previous approaches predominantly discretize the action space into predefined actions, limiting UAV maneuverability and complex strategy implementation. Others simplify the problem to 1v1 combat, neglecting the cooperative dynamics among multiple UAVs. To address the high-dimensional challenges inherent in six-degree-of-freedom space and improve cooperation, we propose a hierarchical framework utilizing the Leader-Follower Multi-Agent Proximal Policy Optimization (LFMAPPO) strategy. Specifically, the framework is structured into three levels. The top level conducts a macro-level assessment of the environment and guides execution policy. The middle level determines the angle of the desired action. The bottom level generates precise action commands for the high-dimensional action space. Moreover, we optimize the state-value functions by assigning distinct roles with the leader-follower strategy to train the top-level policy, followers estimate the leader's utility, promoting effective cooperation among agents. Additionally, the incorporation of a target selector, aligned with the UAVs' posture, assesses the threat level of targets. Finally, simulation experiments validate the effectiveness of our proposed method.

Authors:Ali Baheri, Zahra Shahrooei, Chirayu Salgarkar
Title: Wasserstein Adaptive Value Estimation for Actor-Critic Reinforcement Learning
Abstract:
We present Wasserstein Adaptive Value Estimation for Actor-Critic (WAVE), an approach to enhance stability in deep reinforcement learning through adaptive Wasserstein regularization. Our method addresses the inherent instability of actor-critic algorithms by incorporating an adaptively weighted Wasserstein regularization term into the critic's loss function. We prove that WAVE achieves $\mathcal{O}\left(\frac{1}{k}\right)$ convergence rate for the critic's mean squared error and provide theoretical guarantees for stability through Wasserstein-based regularization. Using the Sinkhorn approximation for computational efficiency, our approach automatically adjusts the regularization based on the agent's performance. Theoretical analysis and experimental results demonstrate that WAVE achieves superior performance compared to standard actor-critic methods.

Authors:Peilang Li, Umer Siddique, Yongcan Cao
Title: From Explainability to Interpretability: Interpretable Policies in Reinforcement Learning Via Model Explanation
Abstract:
Deep reinforcement learning (RL) has shown remarkable success in complex domains, however, the inherent black box nature of deep neural network policies raises significant challenges in understanding and trusting the decision-making processes. While existing explainable RL methods provide local insights, they fail to deliver a global understanding of the model, particularly in high-stakes applications. To overcome this limitation, we propose a novel model-agnostic approach that bridges the gap between explainability and interpretability by leveraging Shapley values to transform complex deep RL policies into transparent representations. The proposed approach offers two key contributions: a novel approach employing Shapley values to policy interpretation beyond local explanations and a general framework applicable to off-policy and on-policy algorithms. We evaluate our approach with three existing deep RL algorithms and validate its performance in two classic control environments. The results demonstrate that our approach not only preserves the original models' performance but also generates more stable interpretable policies.

Authors:Xiong Xu, Jean-Pierre Talpin, Shuling Wang, Hao Wu, Bohua Zhan, Xinxin Liu, Naijun Zhan
Title: HpC: A Calculus for Hybrid and Mobile Systems -- Full Version
Abstract:
Networked cybernetic and physical systems of the Internet of Things (IoT) immerse civilian and industrial infrastructures into an interconnected and dynamic web of hybrid and mobile devices. The key feature of such systems is the hybrid and tight coupling of mobile and pervasive discrete communications in a continuously evolving environment (discrete computations with predominant continuous dynamics). In the aim of ensuring the correctness and reliability of such heterogeneous infrastructures, we introduce the hybrid π-calculus (HpC), to formally capture both mobility, pervasiveness and hybridisation in infrastructures where the network topology and its communicating entities evolve continuously in the physical world. The π-calculus proposed by Robin Milner et al. is a process calculus that can model mobile communications and computations in a very elegant manner. The HpC we propose is a conservative extension of the classical π-calculus, i.e., the extension is ``minimal'', and yet describes mobility, time and physics of systems, while allowing to lift all theoretical results (e.g. bisimulation) to the context of that extension. We showcase the HpC by considering a realistic handover protocol among mobile devices.

Authors:Timothy E. Amish, Jeffrey T. Auletta, Chad C. Kessens, Joshua R. Smith, Jeffrey I. Lipton
Title: Electrostatic Clutches Enable Simultaneous Mechanical Multiplexing
Abstract:
Actuating robotic systems with multiple degrees of freedom (DoF) traditionally requires numerous motors, leading to increased size, weight, cost, and power consumption. Mechanical multiplexing offers a solution by enabling a single actuator to control multiple DoF. However, existing multiplexers have either been limited to electrically controlled time-based multiplexing that control one DoF at a time or have relied on mechanical switching to control multiple DoF simultaneously. There is a strong need for a system that can perform electrically controlled multiplexing for both time-based and simultaneous control of multiple DoF. This study introduces a novel electrostatic capstan clutch-based mechanical multiplexer that enables high-force, single-motor control of multiple DoF. Here, we show that our system achieves both single-input-single-output (SISO) and single-input-multipleoutput (SIMO) actuation, allowing bidirectional control and position holding with minimal power consumption. Each output can actuate a 22.24 N load, limited by clutch performance, up to 5 cm. The number of outputs and actuation length is currently limited by the length of the drive shaft. We demonstrate the integration of our system into a 4-DoF commercial robotic hand using a single motor. These findings show that electrostatic clutchbased multiplexing provides a scalable and energy-efficient design solution for high-DoF robotic platforms, opening new possibilities for lightweight and power-efficient actuation in robotics.

Authors:Iasson Karafyllis, Dionysios Theodosis, Markos Papageorgiou
Title: Nonlinear Cruise Controllers with Bidirectional Sensing for a String of Vehicles
Abstract:
We introduce a nonlinear cruise controller that is fully decentralized (by vehicle) and uses spacing and speed measurements from the preceding and following vehicles to decide on the appropriate control action (acceleration) for each vehicle. The proposed cruise controller is studied on both a ring-road and an open road and guarantees that there are no collisions between vehicles, while their speeds are always positive and never exceed the road speed limits. For both cases of the open road and the ring-road, we rigorously prove that the set of equilibrium points is globally asymptotically stable and provide KL estimates that guarantee uniform convergence to the said set. Moreover, we show that for the ring-road, and under certain conditions, there is a single equilibrium point which is exponentially attractive.

Authors:Ross Henry, Martin Huber, Anestis Mablekos-Alexiou, Carlo Seneci, Mohamed Abdelaziz, Hans Natalius, Lyndon da Cruz, Christos Bergeles
Title: Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar
Abstract:
Advances in vitreoretinal robotic surgery enable precise techniques for gene therapies. This study evaluates three robotic approaches using the 7-DoF robotic arm for docking a micro-precise tool to a trocar: fully co-manipulated, hybrid co-manipulated/teleoperated, and hybrid with camera assistance. The fully co-manipulated approach was the fastest but had a 42% success rate. Hybrid methods showed higher success rates (91.6% and 100%) and completed tasks within 2 minutes. NASA Task Load Index (TLX) assessments indicated lower physical demand and effort for hybrid approaches.

Authors:Rahul K. Gupta, Daniel K. Molzahn
Title: Optimizing Phase Allocation in Unbalanced Power Distribution Networks using a Linearized DistFlow Formulation
Abstract:
Power distribution networks, especially in North America, are often unbalanced but are designed to keep unbalance levels within the limits specified by IEEE, IEC, and NEMA standards. However, rapid integration of unbalanced devices, such as electric vehicle (EV) chargers and single-phase solar plants, can exacerbate these imbalances. This increase can trigger protection devices, increase losses, and potentially damage devices. To address this issue, phase swapping (or phase allocation) has been proposed. Existing approaches predominantly rely on heuristic methods. In this work, we develop a mixed integer linear programming (MILP) approach for phase allocation. Our approach uses linearized DistFlow equations to represent the distribution network and incorporates a phase consistency constraint, enforced with binary variables, to ensure that downstream phase configurations align with upstream configurations. We validate the proposed approach on multiple benchmark test cases and demonstrate that it effectively improves network balance, as quantified by various metrics.

Authors:Jaimin Shah, Martina Cardone, Cynthia Rush, Alex Dytso
Title: Generalized Linear Models with 1-Bit Measurements: Asymptotics of the Maximum Likelihood Estimator
Abstract:
This work establishes regularity conditions for consistency and asymptotic normality of the multiple parameter maximum likelihood estimator(MLE) from censored data, where the censoring mechanism is in the form of $1$-bit measurements. The underlying distribution of the uncensored data is assumed to belong to the exponential family, with natural parameters expressed as a linear combination of the predictors, known as generalized linear model (GLM). As part of the analysis, the Fisher information matrix is also derived for both censored and uncensored data, which helps to quantify the impact of censoring and assess the performance of the MLE. The choice of GLM allows one to consider a variety of practical examples where 1-bit estimation is of interest. In particular, it is shown how the derived results can be used to analyze two practically relevant scenarios: the Gaussian model with both unknown mean and variance, and the Poisson model with an unknown mean.

Authors:Chao Zhang, Yechen Li, Neha Arora, Damien Pierce, Carolina Osorio
Title: Traffic Simulations: Multi-City Calibration of Metropolitan Highway Networks
Abstract:
This paper proposes an approach to perform travel demand calibration for high-resolution stochastic traffic simulators. It employs abundant travel times at the path-level, departing from the standard practice of resorting to scarce segment-level sensor counts. The proposed approach is shown to tackle high-dimensional instances in a sample-efficient way. For the first time, case studies on 6 metropolitan highway networks are carried out, considering a total of 54 calibration scenarios. This is the first work to show the ability of a calibration algorithm to systematically scale across networks. Compared to the state-of-the-art simultaneous perturbation stochastic approximation (SPSA) algorithm, the proposed approach enhances fit to field data by an average 43.5% with a maximum improvement of 80.0%, and does so within fewer simulation calls.

Authors:Yujie Wang, Xiangru Xu
Title: Proxy Control Barrier Functions: Integrating Barrier-Based and Lyapunov-Based Safety-Critical Control Design
Abstract:
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method employs a modular design procedure, decomposing the original system into a proxy subsystem and a virtual tracking subsystem that are controlled by the control barrier function (CBF)-based and Lyapunov-based controllers, respectively. By integrating these separately designed controllers, the overall system's safety is ensured. Moreover, a new filter-based disturbance observer is utilized to design a PCBF-based safe controller for strict-feedback systems subject to mismatched disturbances. This approach broadens the class of systems to which CBF-based methods can be applied and significantly simplifies CBF construction by requiring only the model of the proxy subsystem. The effectiveness of the proposed method is demonstrated through numerical simulations.

Authors:Torbjörn Wigren, Ruoqi Zhang, Per Mattsson
Title: Convergence in On-line Learning of Static and Dynamic Systems
Abstract:
The paper derives new conditions for global convergence of the adaptive moment generation algorithm when applied for on-line, or equivalently, recursive supervised learning of static and dynamic nonlinear systems. The paper also proposes a difference equation based nonlinear dynamic model, that enforces {\em structure} and results in a new type of recurrent neural network. The convergence analysis applies averaging using Ljung's associated differential equation method. It is first proved that the asymptotic update behaviour of the adaptive moment generation algorithm is equivalent to a scaled stochastic gradient update for the standard hyper-parameter setting, or equivalent to a sign-sign update strategy in case the internal filtering of the algorithm is turned off. The analysis is concluded by proving global convergence to the set of parameters that gives a correct input-output description of the true system. The two hyper-parameter settings are evaluated with a Monte-Carlo analysis when the adaptive moment generation algorithm is applied for learning of nonlinear automotive cruise control dynamics. This validates the correct operation of the structured recurrent neural network and confirms the expected reduced convergence speed for the sign-sign update case.

Authors:Kai Kang, Feng Liu, Yifan Su, Zhaojian Wang
Title: Extreme Scenario Characterization for High Renewable Energy Penetrated Power Systems over Long Time Scales
Abstract:
Power systems with high renewable energy penetration are highly influenced by weather conditions, often facing significant challenges such as persistent power shortages and severe power fluctuations over long time scales. This paper addresses the critical need for effective characterization of extreme scenarios under these situations. First, novel risk indices are proposed to quantify the severity of continuous power shortages and substantial power fluctuations over long-term operations. These indices are independent of specific scheduling strategies and incorporate the system's resource regulation capabilities. By employing a filtering-based approach, the proposed indices focus on retaining key characteristics of continuous power shortages and fluctuation events, enabling the identification of extreme scenarios on long time scales. Secondly, an extreme scenario generation method is developed using Gaussian mixture models and sequential Monte Carlo simulation. Especially, this method periodically evaluates the severity of generated scenarios based on the defined risk indices, retaining extreme scenarios while discarding less critical ones. Finally, case studies based on real-world data demonstrate the efficacy of the proposed method. The results confirm that integrating the identified extreme scenarios significantly enhances the system's ability to ensure long-term security and reliability under high renewable energy penetration.

Authors:Mingqi Zhang, Kaveh Delfanazari
Title: Orthogonal Frequency Division Multiplexing Continuous Variable Terahertz Quantum Key Distribution
Abstract:
We propose a novel continuous-variable quantum key distribution (CVQKD) protocol that employs orthogonal frequency-division multiplexing (OFDM) in the terahertz (THz) band to enable high-throughput and secure quantum communication. By encoding quantum information across multiple subcarriers, the protocol enhances spectral efficiency and mitigates channel dispersion and atmospheric attenuation. We present a comprehensive security analysis under collective Gaussian attacks, considering both terrestrial free-space channels, accounting for humidity-induced absorption, and inter-satellite links, incorporating realistic intermodulation noise. Simulations show secret key rates (SKR) reaching ~72 bits per channel use in open-air conditions. While intermodulation noise imposes trade-offs, optimised modulation variance enables resilience and secure communication range. The maximum terrestrial quantum link extends up to 4.5 m due to atmospheric THz absorption, whereas inter-satellite links can support secure communication over distances exceeding 100 km, owing to minimal propagation channel losses in space. We evaluate the practical implementation of our protocol using recently developed on-chip coherent THz sources based on superconducting Josephson junctions. These compact, voltage-tunable emitters produce wideband coherent radiation, making them ideal candidates for integration in scalable quantum networks. By incorporating their characteristics into our simulations, we assess secure key generation under various environmental conditions. Our results show secure communication over distances up to 3 m in open air, and up to 26 km in cryogenic or vacuum environments. This work advances the prospect of compact, high-capacity CVQKD systems for both terrestrial and space-based THz quantum communication.

Authors:Mingqi Zhang, Shungo Nakagawa, Yuki Enomoto, Yoshihiko Kuzumi, Ryuta Kikuchi, Yuki Yamauchi, Toshiaki Hattori, Richard A. Klemm, Kazuo Kadowaki, Takanari Kashiwagi, Kaveh Delfanazari
Title: Terahertz source-on-a-chip with decade-long stability using layered superconductor elliptical microcavities
Abstract:
Coherent, continuous-wave, and electrically tunable chip-scale terahertz (THz) sources are critical for emerging applications in sensing, imaging, spectroscopy, communication, space and quantum technologies. Here, we demonstrate a robust source-on-a-chip THz emitter based on a layered high-temperature superconductor, engineered with an elliptical microcavity and capable of sustained coherent emission over an unprecedented operational lifetime exceeding 11 years. This compact THz source operates up to 60 K, with Tc= 90 K, delivering stable radiation in the 0.7-0.8 THz range, with on-chip electrical tunability from 100 GHz to 1 THz. Coherence arises from the phase-locked oscillation of intrinsic Josephson junction arrays, resonantly coupled to transverse electromagnetic modes within the cavity, analogous to a laser cavity, yielding collective macroscopic oscillations. THz emission remains detectable across a 0.5 m free-space open-air link at room temperature. We analyse the cavity-mode structure and extract THz photon generation rates up to 503 photons fs-1 in cryogenic conditions and 50-260 photons ps-1 over-the-air. These results establish long-term coherent THz emission from superconductors and chart a viable path toward scalable, tunable, solid-state coherent THz laser-on-a-chip platforms, especially for future classical and quantum systems.

Authors:Yigit Ege Bayiz, Arash Amini, Radu Marculescu, Ufuk Topcu
Title: The Effect of Network Topology on the Equilibria of Influence-Opinion Games
Abstract:
Online social networks exert a powerful influence on public opinion. Adversaries weaponize these networks to manipulate discourse, underscoring the need for more resilient social networks. To this end, we investigate the impact of network connectivity on Stackelberg equilibria in a two-player game to shape public opinion. We model opinion evolution as a repeated competitive influence-propagation process. Players iteratively inject \textit{messages} that diffuse until reaching a steady state, modeling the dispersion of two competing messages. Opinions then update according to the discounted sum of exposure to the messages. This bi-level model captures viral-media correlation effects omitted by standard opinion-dynamics models. To solve the resulting high-dimensional game, we propose a scalable, iterative algorithm based on linear-quadratic regulators that approximates local feedback Stackelberg strategies for players with limited cognition. We analyze how the network topology shapes equilibrium outcomes through experiments on synthetic networks and real Facebook data. Our results identify structural characteristics that improve a network's resilience to adversarial influence, guiding the design of more resilient social networks.

Authors:Ameya Salvi, Venkat Krovi
Title: Experimental investigation of pose informed reinforcement learning for skid-steered visual navigation
Abstract:
Vision-based lane keeping is a topic of significant interest in the robotics and autonomous ground vehicles communities in various on-road and off-road applications. The skid-steered vehicle architecture has served as a useful vehicle platform for human controlled operations. However, systematic modeling, especially of the skid-slip wheel terrain interactions (primarily in off-road settings) has created bottlenecks for automation deployment. End-to-end learning based methods such as imitation learning and deep reinforcement learning, have gained prominence as a viable deployment option to counter the lack of accurate analytical models. However, the systematic formulation and subsequent verification/validation in dynamic operation regimes (particularly for skid-steered vehicles) remains a work in progress. To this end, a novel approach for structured formulation for learning visual navigation is proposed and investigated in this work. Extensive software simulations, hardware evaluations and ablation studies now highlight the significantly improved performance of the proposed approach against contemporary literature.

Authors:Kevin Weinberger, Aydin Sezgin
Title: When Every Symbol Counts: Resilient Wireless Systems Under Finite Blocklength Constraints
Abstract:
As 6G evolves, wireless networks become essential for critical operations and enable innovative applications that demand seamless adaptation to dynamic environments and disruptions. Because these vital services require uninterrupted operation, their resilience to unforeseen disruptions is essential. However, implementing resilience necessitates rapid recovery procedures, which operate in the finite blocklength (FBL) regime, where short packets and added error-correction overhead can severely degrade communication efficiency. Due to this performance loss, always attempting recovery can backfire and result in worse outcomes than simply enduring the disruption under longer blocklengths. In this work, we study these effects of FBL constraints within a resilience framework, incorporating reconfigurable intelligent surfaces (RIS) to enhance adaptation capabilities. By actively shaping the wireless environment, RIS help counteract some of the performance losses caused by FBL, enabling more effective recovery from disruptions. Numerical results reveal two critical blocklength thresholds: the first enables full recovery from the FBL penalty, while the second, at a higher blocklength, allows the system to recover from both the FBL penalty and the initial disruption, yielding a significant improvement in resilience performance. Additionally, we show that the number of RIS elements shifts these thresholds, enabling faster reconfiguration with shorter blocklengths and providing insights to the trade-offs between rate, blocklength, and reconfiguration effort under FBL conditions.

Authors:Christian Internò, Andrea Castellani, Sebastian Schmitt, Fabio Stella, Barbara Hammer
Title: Industrial Energy Disaggregation with Digital Twin-generated Dataset and Efficient Data Augmentation
Abstract:
Industrial Non-Intrusive Load Monitoring (NILM) is limited by the scarcity of high-quality datasets and the complex variability of industrial energy consumption patterns. To address data scarcity and privacy issues, we introduce the Synthetic Industrial Dataset for Energy Disaggregation (SIDED), an open-source dataset generated using Digital Twin simulations. SIDED includes three types of industrial facilities across three different geographic locations, capturing diverse appliance behaviors, weather conditions, and load profiles. We also propose the Appliance-Modulated Data Augmentation (AMDA) method, a computationally efficient technique that enhances NILM model generalization by intelligently scaling appliance power contributions based on their relative impact. We show in experiments that NILM models trained with AMDA-augmented data significantly improve the disaggregation of energy consumption of complex industrial appliances like combined heat and power systems. Specifically, in our out-of-sample scenarios, models trained with AMDA achieved a Normalized Disaggregation Error of 0.093, outperforming models trained without data augmentation (0.451) and those trained with random data augmentation (0.290). Data distribution analyses confirm that AMDA effectively aligns training and test data distributions, enhancing model generalization.

Authors:Daniele Ravasio, Marcello Farina, Alessio La Bella, Andrea Ballarino
Title: Recurrent neural network-based robust control systems with closed-loop regional incremental ISS and application to MPC design
Abstract:
This paper investigates the design of output-feedback schemes for systems described by a class of recurrent neural networks. We propose a procedure based on linear matrix inequalities for designing an observer and a static state-feedback controller. The algorithm leverages global and regional incremental input-to-state stability (incremental ISS) and enables the tracking of constant setpoints, ensuring robustness to disturbances and state estimation uncertainty. To address the potential limitations of regional incremental ISS, we introduce an alternative scheme in which the static law is replaced with a tube-based nonlinear model predictive controller (NMPC) that exploits regional incremental ISS properties. We show that these conditions enable the formulation of a robust NMPC law with guarantees of convergence and recursive feasibility, leading to an enlarged region of attraction. Theoretical results are validated through numerical simulations on the pH-neutralisation process benchmark, demonstrating the effectiveness of the proposed schemes.

Authors:Mustafa Adam, Kangfeng Ye, David A. Anisi, Ana Cavalcanti, Jim Woodcock, Robert Morris
Title: Probabilistic modelling and safety assurance of an agriculture robot providing light-treatment
Abstract:
Continued adoption of agricultural robots postulates the farmer's trust in the reliability, robustness and safety of the new technology. This motivates our work on safety assurance of agricultural robots, particularly their ability to detect, track and avoid obstacles and humans. This paper considers a probabilistic modelling and risk analysis framework for use in the early development phases. Starting off with hazard identification and a risk assessment matrix, the behaviour of the mobile robot platform, sensor and perception system, and any humans present are captured using three state machines. An auto-generated probabilistic model is then solved and analysed using the probabilistic model checker PRISM. The result provides unique insight into fundamental development and engineering aspects by quantifying the effect of the risk mitigation actions and risk reduction associated with distinct design concepts. These include implications of adopting a higher performance and more expensive Object Detection System or opting for a more elaborate warning system to increase human awareness. Although this paper mainly focuses on the initial concept-development phase, the proposed safety assurance framework can also be used during implementation, and subsequent deployment and operation phases.

Authors:Moh Kamalul Wafi, Katherin Indriawati, Bambang L. Widjiantoro
Title: Model Reference Adaptive Control of Networked Systems with State and Input Delays
Abstract:
Adaptive control strategies have progressively advanced to accommodate increasingly uncertain, delayed, and interconnected systems. This paper addresses the model reference adaptive control (MRAC) of networked, heterogeneous, and unknown dynamical agents subject to both state and input delays. The objective is to ensure that all follower agents asymptotically track the trajectory of a stable leader system, despite system uncertainties and communication constraints. Two communication topologies are considered, full connectivity between each agent and the leader, and partial connectivity wherein agents rely on both neighboring peers and the leader. The agent-to-agent and agent-to-leader interactions are encoded using a Laplacian-like matrix and a diagonal model-weighting matrix, respectively. To compensate for the delays, a predictor-based control structure and an auxiliary dynamic system are proposed. The control framework includes distributed adaptive parameter laws derived via Lyapunov-based analysis, ensuring convergence of the augmented tracking error. Stability conditions are established through a carefully constructed Lyapunov Krasovskii functional, under minimal assumptions on connectivity and excitation. Numerical simulations of both network structures validate the proposed method, demonstrating that exact leader tracking is achieved under appropriately designed learning rates and initializations. This work lays a foundation for future studies on fault-resilient distributed adaptive control incorporating data-driven or reinforcement learning techniques.

Authors:Haoming Jing, Yorie Nakahira
Title: Safety Certificate against Latent Variables with Partially Unidentifiable Dynamics
Abstract:
Many systems contain latent variables that make their dynamics partially unidentifiable or cause distribution shifts in the observed statistics between offline and online data. However, existing control techniques often assume access to complete dynamics or perfect simulators with fully observable states, which are necessary to verify whether the system remains within a safe set (forward invariance) or safe actions are consistently feasible at all times. To address this limitation, we propose a technique for designing probabilistic safety certificates for systems with latent variables. A key technical enabler is the formulation of invariance conditions in probability space, which can be constructed using observed statistics in the presence of distribution shifts due to latent variables. We use this invariance condition to construct a safety certificate that can be implemented efficiently in real-time control. The proposed safety certificate can continuously find feasible actions that control long-term risk to stay within tolerance. Stochastic safe control and (causal) reinforcement learning have been studied in isolation until now. To the best of our knowledge, the proposed work is the first to use causal reinforcement learning to quantify long-term risk for the design of safety certificates. This integration enables safety certificates to efficiently ensure long-term safety in the presence of latent variables. The effectiveness of the proposed safety certificate is demonstrated in numerical simulations.

Authors:Marco Borghesi, Lorenzo Sforni, Giuseppe Notarstefano
Title: DATA-DRIVEN PRONTO: a Model-free Solution for Numerical Optimal Control
Abstract:
This article addresses the problem of data-driven numerical optimal control for unknown nonlinear systems. In our scenario, we suppose to have the possibility of performing multiple experiments (or simulations) on the system. Experiments are performed by relying on a data-driven tracking controller able to steer the system towards a desired reference. Our proposed DATA-DRIVEN PRONTO algorithm iteratively refines a tentative solution of the optimal control problem by computing an approximate descent direction via a local trajectory perturbation. At each iteration, multiple trajectories are gathered by perturbing the current trajectory with a suitable dither signal, and then used to obtain a data-driven, time-varying linearization. The exploration is guided by the tracking controller, so that perturbed trajectories are obtained in closed loop. We show local convergence of DATA-DRIVEN PRONTO to a ball about an isolated optimal solution, whose radius depends on the amplitude of the dither signal. We corroborate the theoretical results by applying it to an underactuated robot.

Authors:David Leprich, Mario Rosenfelder, Mario Hermle, Jingshan Chen, Peter Eberhard
Title: Model Predictive Path-Following Control for a Quadrotor
Abstract:
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach to automate tasks for drones and other vehicles. While different solutions to the path-following problem have been proposed, most of them lack the capability to explicitly handle state and input constraints, are formulated in a conservative two-stage approach, or are only applicable to linear systems. To address these challenges, the paper is built upon a Model Predictive Control-based path-following framework and extends its application to the Crazyflie quadrotor, which is investigated in hardware experiments. A cascaded control structure including an underlying attitude controller is included in the Model Predictive Path-Following Control formulation to meet the challenging real-time demands of quadrotor control. The effectiveness of the proposed method is demonstrated through real-world experiments, representing, to the best of the authors' knowledge, a novel application of this MPC-based path-following approach to the quadrotor. Additionally, as an extension to the original method, to allow for deviations of the path in cases where the precise following of the path might be overly restrictive, a corridor path-following approach is presented.

Authors:Ziqin Chen, Yongqiang Wang
Title: Local Differential Privacy for Distributed Stochastic Aggregative Optimization with Guaranteed Optimality
Abstract:
Distributed aggregative optimization underpins many cooperative optimization and multi-agent control systems, where each agent's objective function depends both on its local optimization variable and an aggregate of all agents' optimization variables. Existing distributed aggregative optimization approaches typically require access to accurate gradients of the objective functions, which, however, are often hard to obtain in real-world applications. For example, in machine learning, gradients are commonly contaminated by two main sources of noise: the randomness inherent in sampled data, and the additional variability introduced by mini-batch computations. In addition to the issue of relying on accurate gradients, existing distributed aggregative optimization approaches require agents to share explicit information, which could breach the privacy of participating agents. We propose an algorithm that can solve both problems with existing distributed aggregative optimization approaches: not only can the proposed algorithm guarantee mean-square convergence to an exact optimal solution when the gradients are subject to noise, it also simultaneously ensures rigorous differential privacy, with the cumulative privacy budget guaranteed to be finite even when the number of iterations tends to infinity. To the best of our knowledge, this is the first algorithm able to guarantee both accurate convergence and rigorous differential privacy in distributed aggregative optimization. Besides characterizing the convergence rates under nonconvex/convex/strongly convex conditions, we also rigorously quantify the cost of differential privacy in terms of convergence rates. Experimental results on personalized machine learning using benchmark datasets confirm the efficacy of the proposed algorithm.

Authors:Dongliang Zheng, Yebin Wang, Stefano Di Cairano, Panagiotis Tsiotras
Title: Delayed Expansion AGT: Kinodynamic Planning with Application to Tractor-Trailer Parking
Abstract:
Kinodynamic planning of articulated vehicles in cluttered environments faces additional challenges arising from high-dimensional state space and complex system dynamics. Built upon [1],[2], this work proposes the DE-AGT algorithm that grows a tree using pre-computed motion primitives (MPs) and A* heuristics. The first feature of DE-AGT is a delayed expansion of MPs. In particular, the MPs are divided into different modes, which are ranked online. With the MP classification and prioritization, DE-AGT expands the most promising mode of MPs first, which eliminates unnecessary computation and finds solutions faster. To obtain the cost-to-go heuristic for nonholonomic articulated vehicles, we rely on supervised learning and train neural networks for fast and accurate cost-to-go prediction. The learned heuristic is used for online mode ranking and node selection. Another feature of DE-AGT is the improved goal-reaching. Exactly reaching a goal state usually requires a constant connection checking with the goal by solving steering problems -- non-trivial and time-consuming for articulated vehicles. The proposed termination scheme overcomes this challenge by tightly integrating a light-weight trajectory tracking controller with the search process. DE-AGT is implemented for autonomous parking of a general car-like tractor with 3-trailer. Simulation results show an average of 10x acceleration compared to a previous method.

Authors:Farid Mafi, Ladan Khoshnevisan, Mohammad Pirani, Amir Khajepour
Title: Bridging Data-Driven and Physics-Based Models: A Consensus Multi-Model Kalman Filter for Robust Vehicle State Estimation
Abstract:
Vehicle state estimation presents a fundamental challenge for autonomous driving systems, requiring both physical interpretability and the ability to capture complex nonlinear behaviors across diverse operating conditions. Traditional methodologies often rely exclusively on either physics-based or data-driven models, each with complementary strengths and limitations that become most noticeable during critical scenarios. This paper presents a novel consensus multi-model Kalman filter framework that integrates heterogeneous model types to leverage their complementary strengths while minimizing individual weaknesses. We introduce two distinct methodologies for handling covariance propagation in data-driven models: a Koopman operator-based linearization approach enabling analytical covariance propagation, and an ensemble-based method providing unified uncertainty quantification across model types without requiring pretraining. Our approach implements an iterative consensus fusion procedure that dynamically weighs different models based on their demonstrated reliability in current operating conditions. The experimental results conducted on an electric all-wheel-drive Equinox vehicle demonstrate performance improvements over single-model techniques, with particularly significant advantages during challenging maneuvers and varying road conditions, confirming the effectiveness and robustness of the proposed methodology for safety-critical autonomous driving applications.

Authors:Peng Yang, Yifan Su, Xiaoyu Peng, Hua Geng, Feng Liu
Title: Compositional and Equilibrium-Free Conditions for Power System Stability -- Part II: Method and Application
Abstract:
This two-part paper proposes a compositional and equilibrium-free approach to analyzing power system stability. In Part I, we have established the stability theory and proposed stability conditions based on the delta dissipativity. In Part II, we focus on methods for applying our theory to complex power grids. We first propose a method to verify the local condition, i.e., delta dissipativity, for heterogeneous devices in power systems. Then, we propose a method to verify the coupling condition based on Alternating Direction Method of Multipliers (ADMM). Finally, we investigate three applications of our theory including stability assessment toward multiple equilibria, stability assessment under varying operating conditions, and a distributed computing framework. Case studies on modified IEEE 9-bus, 39-bus, and 118-bus benchmarks well verified our theory and methods.

Authors:Jiachen Li, Shihao Li, Jiamin Xu, Soovadeep Bakshi, Dongmei Chen
Title: Influence Functions for Data Attribution in Linear System Identification and LQR Control
Abstract:
Understanding the influence of individual training data points is crucial for developing reliable machine learning-based control systems. However, conventional methods like leave-one-out retraining are computationally infeasible for large datasets. This paper introduces a framework using influence functions to efficiently approximate the impact of removing specific training trajectories on both learned system dynamics and downstream control performance. We formulate two influence functions(IF): IF1, which estimates the effect on the predictive accuracy of a learned linear dynamics model, and IF2, which quantifies the subsequent impact on the cost of a Linear Quadratic Regulator (LQR) controller designed using these learned dynamics. These involve tracing sensitivities through the Discrete Algebraic Riccati Equation (DARE) solution. We empirically validate our approach on simulated linear systems analogous to robotic manipulators. Results show strong positive correlations between influence predictions and ground truth changes obtained via retraining. Our framework provides a computationally tractable method for data attribution.

Authors:Jiachen Li, Shihao Li, Dongmei Chen
Title: Smart Predict-Then-Control: Integrating identification and control via decision regret
Abstract:
This paper presents Smart Predict-Then-Control (SPC) framework for integrating system identification and control. This novel SPC framework addresses the limitations of traditional methods, the unaligned modeling error and control cost. It leverages decision regret to prioritize control-relevant dynamics, optimizing prediction errors based on their impact on control performance. Furthermore, the existence of guarantees on regret bounds are theoretically proved. The proposed SPC is validated on both linear and nonlinear systems.

Authors:Valdemar Farré, Juan Estrada, David Vega, Luis F Urquiza-Aguiar, Juan A. Vásquez Peralvo, Symeon Chatzinotas
Title: Dynamic Beyond 5G and 6G Connectivity: Leveraging NTN and RIS Synergies for Optimized Coverage and Capacity in High-Density Environments
Abstract:
The increasing demand for reliable, high-capacity communication during large-scale outdoor events poses significant challenges for traditional Terrestrial Networks (TNs), which often struggle to provide consistent coverage in high-density environments. This paper presents a novel 6G radio network planning framework that integrates Non-Terrestrial Networks (NTNs) with Reconfigurable Intelligent Surfaces (RISs) to deliver ubiquitous coverage and enhanced network capacity. Our framework overcomes the limitations of conventional deployable base stations by leveraging NTN architectures, including Low Earth Orbit (LEO) satellites and passive RIS platforms seamlessly integrated with Beyond 5G (B5G) TNs. By incorporating advanced B5G technologies such as Massive Multiple Input Multiple Output (mMIMO) and beamforming, and by optimizing spectrum utilization across the C, S, and Ka bands, we implement a rigorous interference management strategy based on a dynamic SINR model. Comprehensive calculations and simulations validate the proposed framework, demonstrating significant improvements in connectivity, reliability, and cost-efficiency in crowded scenarios. This integration strategy represents a promising solution for meeting the evolving demands of future 6G networks.

Authors:Otacilio B. L. Neto, Michela Mulas, Iiro Harjunkoski, Francesco Corona
Title: Predictive control of wastewater treatment plants as energy-autonomous water resource recovery facilities
Abstract:
This work proposes an automatic control solution for the operation of conventional wastewater treatment plants (WWTPs) as energy-autonomous water resource recovery facilities. We first conceptualize a classification of the quality of treated water for three resource recovery applications (environmental, industrial, and agricultural water reuse). We then present an output-feedback model predictive controller (Output MPC) that operates a plant to produce water of specific quality class, while also producing sufficient biogas to ensure nonpositive energy costs. The controller is demonstrated in the long-term operation of a full-scale WWTP subjected to typical influent loads and periodically changing quality targets. Our results provide a proof-of-concept on the energy-autonomous operation of existing wastewater treatment infrastructure with control strategies that are general enough to accommodate a wide range of resource recovery objectives.

Authors:Shanthan Kumar Padisala, Satadru Dey
Title: Model Predictive Control-Based Optimal Energy Management of Autonomous Electric Vehicles Under Cold Temperatures
Abstract:
In autonomous electric vehicles (AEVs), battery energy must be judiciously allocated to satisfy primary propulsion demands and secondary auxiliary demands, particularly the Heating, Ventilation, and Air Conditioning (HVAC) system. This becomes especially critical when the battery is in a low state of charge under cold ambient conditions, and cabin heating and battery preconditioning (prior to actual charging) can consume a significant percentage of available energy, directly impacting the driving range. In such cases, one usually prioritizes propulsion or applies heuristic rules for thermal management, often resulting in suboptimal energy utilization. There is a pressing need for a principled approach that can dynamically allocate battery power in a way that balances thermal comfort, battery health and preconditioning, along with range preservation. This paper attempts to address this issue using real-time Model Predictive Control to optimize the power consumption between the propulsion, HVAC, and battery temperature preparation so that it can be charged immediately once the destination is reached.

Authors:Sijia Geng, Thomas Lee, Dharik Mallapragada, Audun Botterud
Title: Integer-Clustering Optimization of Hydrogen and Battery EV Fleets Considering DERs
Abstract:
Electrified transportation leads to a tighter integration between transportation and energy distribution systems. In this work, we develop scalable optimization models to co-design hydrogen and battery electric vehicle (EV) fleets, distributed energy resources, and fast-charging and hydrogen-fueling infrastructure to efficiently meet transportation demands. A novel integer-clustering formulation is used for optimizing fleet-level EV operation while maintaining accurate individual vehicle dispatch, which significantly improves the computation efficiency with guaranteed performance. We apply the optimization model to Boston's public transit bus network using real geospatial data and cost parameters. Realistic insights are provided into the future evolution of coupled electricity-transportation-hydrogen systems, including the effects of electricity price structure, hydrogen fuel cost, carbon emission constraint, temperature effects on EV range, and distribution system upgrade cost.

Authors:Peter Amorese, Morteza Lahijanian
Title: On Polynomial Stochastic Barrier Functions: Bernstein Versus Sum-of-Squares
Abstract:
Stochastic Barrier Functions (SBFs) certify the safety of stochastic systems by formulating a functional optimization problem, which state-of-the-art methods solve using Sum-of-Squares (SoS) polynomials. This work focuses on polynomial SBFs and introduces a new formulation based on Bernstein polynomials and provides a comparative analysis of its theoretical and empirical performance against SoS methods. We show that the Bernstein formulation leads to a linear program (LP), in contrast to the semi-definite program (SDP) required for SoS, and that its relaxations exhibit favorable theoretical convergence properties. However, our empirical results reveal that the Bernstein approach struggles to match SoS in practical performance, exposing an intriguing gap between theoretical advantages and real-world feasibility.

Authors:Eduardo Figueiredo, Steven Adams, Peyman Mohajerin Esfahani, Luca Laurenti
Title: Efficient Uncertainty Propagation with Guarantees in Wasserstein Distance
Abstract:
In this paper, we consider the problem of propagating an uncertain distribution by a possibly non-linear function and quantifying the resulting uncertainty. We measure the uncertainty using the Wasserstein distance, and for a given input set of distributions close in the Wasserstein distance, we compute a set of distributions centered at a discrete distribution that is guaranteed to contain the pushforward of any distribution in the input set. Our approach is based on approximating a nominal distribution from the input set to a discrete support distribution for which the exact computation of the pushforward distribution is tractable, thus guaranteeing computational efficiency to our approach. Then, we rely on results from semi-discrete optimal transport and distributional robust optimization to show that for any $ε> 0$ the error introduced by our approach can be made smaller than $ε$. Critically, in the context of dynamical systems, we show how our results allow one to efficiently approximate the distribution of a stochastic dynamical system with a discrete support distribution for a possibly infinite horizon while bounding the resulting approximation error. We empirically investigate the effectiveness of our framework on various benchmarks, including a 10-D non-linear system, showing the effectiveness of our approach in quantifying uncertainty in linear and non-linear stochastic systems.

Authors:Julian Berberich, Tobias Fellner, Christian Holm
Title: The interplay of robustness and generalization in quantum machine learning
Abstract:
While adversarial robustness and generalization have individually received substantial attention in the recent literature on quantum machine learning, their interplay is much less explored. In this chapter, we address this interplay for variational quantum models, which were recently proposed as function approximators in supervised learning. We discuss recent results quantifying both robustness and generalization via Lipschitz bounds, which explicitly depend on model parameters. Thus, they give rise to a regularization-based training approach for robust and generalizable quantum models, highlighting the importance of trainable data encoding strategies. The practical implications of the theoretical results are demonstrated with an application to time series analysis.

Authors:Dimitris Panagopoulos, Adolfo Perrusquia, Weisi Guo
Title: LUCIFER: Language Understanding and Context-Infused Framework for Exploration and Behavior Refinement
Abstract:
In dynamic environments, the rapid obsolescence of pre-existing environmental knowledge creates a gap between an agent's internal model and the evolving reality of its operational context. This disparity between prior and updated environmental valuations fundamentally limits the effectiveness of autonomous decision-making. To bridge this gap, the contextual bias of human domain stakeholders, who naturally accumulate insights through direct, real-time observation, becomes indispensable. However, translating their nuanced, and context-rich input into actionable intelligence for autonomous systems remains an open challenge. To address this, we propose LUCIFER (Language Understanding and Context-Infused Framework for Exploration and Behavior Refinement), a domain-agnostic framework that integrates a hierarchical decision-making architecture with reinforcement learning (RL) and large language models (LLMs) into a unified system. This architecture mirrors how humans decompose complex tasks, enabling a high-level planner to coordinate specialised sub-agents, each focused on distinct objectives and temporally interdependent actions. Unlike traditional applications where LLMs are limited to single role, LUCIFER integrates them in two synergistic roles: as context extractors, structuring verbal stakeholder input into domain-aware representations that influence decision-making through an attention space mechanism aligning LLM-derived insights with the agent's learning process, and as zero-shot exploration facilitators guiding the agent's action selection process during exploration. We benchmark various LLMs in both roles and demonstrate that LUCIFER improves exploration efficiency and decision quality, outperforming flat, goal-conditioned policies. Our findings show the potential of context-driven decision-making, where autonomous systems leverage human contextual knowledge for operational success.

Authors:Mostafa Eslami, Maryam Babazadeh
Title: On the Generalization of Data-Assisted Control in port-Hamiltonian Systems (DAC-pH)
Abstract:
This paper introduces a hypothetical hybrid control framework for port-Hamiltonian (p$\mathcal{H}$) systems, employing a dynamic decomposition based on Data-Assisted Control (DAC). The system's evolution is split into two parts with fixed topology: Right-Hand Side (RHS)- an intrinsic Hamiltonian flow handling worst-case parametric uncertainties, and Left-Hand Side (LHS)- a dissipative/input flow addressing both structural and parametric uncertainties. A virtual port variable $Π$ serves as the interface between these two components. A nonlinear controller manages the intrinsic Hamiltonian flow, determining a desired port control value $Π_c$. Concurrently, Reinforcement Learning (RL) is applied to the dissipative/input flow to learn an agent for providing optimal policy in mapping $Π_c$ to the actual system input. This hybrid approach effectively manages RHS uncertainties while preserving the system's inherent structure. Key advantages include adjustable performance via LHS controller parameters, enhanced AI explainability and interpretability through the port variable $Π$, the ability to guarantee safety and state attainability with hard/soft constraints, reduced complexity in learning hypothesis classes compared to end-to-end solutions, and improved state/parameter estimation using LHS prior knowledge and system Hamiltonian to address partial observability. The paper details the p$\mathcal{H}$ formulation, derives the decomposition, and presents the modular controller architecture. Beyond design, crucial aspects of stability and robustness analysis and synthesis are investigated, paving the way for deeper theoretical investigations. An application example, a pendulum with nonlinear dynamics, is simulated to demonstrate the approach's empirical and phenomenological benefits for future research.

Authors:Swati Singh, Shashi Ranjan Kumar, Dwaipayan Mukherjee
Title: Field-of-View and Input Constrained Impact Time Guidance Against Stationary Targets
Abstract:
This paper proposes a guidance strategy to achieve time-constrained interception of stationary targets, taking into account both the bounded field-of-view (FOV) of seeker-equipped interceptors and the actuator's physical constraints. Actuator saturation presents a significant challenge in real-world systems, often resulting in degraded performance. However, since these limitations are typically known in advance, incorporating them into the guidance design can enhance overall performance. To address the FOV constraint, a time-to-go error-based approach is adopted. Furthermore, to incorporate the lateral acceleration constraints, the engagement kinematics are augmented with an input saturation model. Subsequently, the guidance strategy that constrains the lateral acceleration and the time-to-go values within their respective bounds is derived using Lyapunov stability concepts and the backstepping technique. Furthermore, a multi-stage approach is suggested to expand the achievable range of impact time. Numerical simulations are performed to validate the efficacy of the proposed scheme for different initial engagement geometries.

Authors:Kordel K. France, Ovidiu Daescu, Anirban Paul, Shalini Prasad
Title: Olfactory Inertial Odometry: Sensor Calibration and Drift Compensation
Abstract:
Visual inertial odometry (VIO) is a process for fusing visual and kinematic data to understand a machine's state in a navigation task. Olfactory inertial odometry (OIO) is an analog to VIO that fuses signals from gas sensors with inertial data to help a robot navigate by scent. Gas dynamics and environmental factors introduce disturbances into olfactory navigation tasks that can make OIO difficult to facilitate. With our work here, we define a process for calibrating a robot for OIO that generalizes to several olfaction sensor types. Our focus is specifically on calibrating OIO for centimeter-level accuracy in localizing an odor source on a slow-moving robot platform to demonstrate use cases in robotic surgery and touchless security screening. We demonstrate our process for OIO calibration on a real robotic arm and show how this calibration improves performance over a cold-start olfactory navigation task.

Authors:Shiva Moshtagh, Behrouz Azimian, Mohammad Golgol, Anamitra Pal
Title: Topology-Aware Graph Neural Network-based State Estimation for PMU-Unobservable Power Systems
Abstract:
Traditional optimization-based techniques for time-synchronized state estimation (SE) often suffer from high online computational burden, limited phasor measurement unit (PMU) coverage, and presence of non-Gaussian measurement noise. Although conventional learning-based models have been developed to overcome these challenges, they are negatively impacted by topology changes and real-time data loss. This paper proposes a novel deep geometric learning approach based on graph neural networks (GNNs) to estimate the states of PMU-unobservable power systems. The proposed approach combines graph convolution and multi-head graph attention layers inside a customized end-to-end learning framework to handle topology changes and real-time data loss. An upper bound on SE error as a function of topology change is also derived. Experimental results for different test systems demonstrate superiority of the proposed customized GNN-SE (CGNN-SE) over traditional optimization-based techniques as well as conventional learning-based models in presence of topology changes, PMU failures, bad data, non-Gaussian measurement noise, and large system implementation.

Authors:Jared Jonas, Bassam Bamieh
Title: An iterative tangential interpolation framework for model reduction of MIMO systems
Abstract:
We consider model reduction of large-scale MIMO systems using tangential interpolation in the frequency domain. Our scheme is related to the recently-developed Adaptive Antoulas--Anderson (AAA) algorithm, which is an iterative algorithm that uses concepts from the Loewner framework. Our algorithm uses low-rank interpolation and iteratively adds interpolation points based on several criteria including minimizing maximum errors. We show there is freedom in the interpolation point selection method, leading to multiple algorithms that have trade-offs between computational complexity and approximation performance. We prove that a weighted \(H_2\) norm of a representative error system is monotonically decreasing as interpolation points are added. Finally, we provide computational results and some comparisons with prior works, demonstrating performance on par with standard model reduction methods.

Authors:Collin Hague, Artur Wolek
Title: Occlusion-Aware Ground Target Tracking by a Dubins Vehicle using Visibility Volumes
Abstract:
This paper considers the problem of tracking a point of interest (POI) moving along a known trajectory on the ground with an uncrewed aerial vehicle (UAV) modeled as a Dubins vehicle using a line-of-sight (LOS) sensor through an urban environment that may occlude the POI. A visibility volume (VV) encodes a time-varying, three-dimensional representation of the sensing constraints for a particular POI position. A constant-altitude, translating, and radially time-varying circular standoff orbit is then inscribed within the dynamically changing VV centered at the POI position. The time-varying VV is approximated by placing static VVs along the POI's trajectory using an adaptive metric that restricts the volume change of consecutive VVs to below a specified rate. The time-varying circular standoff orbit is proven to be feasible for a Dubins vehicle and approximated with a piecewise set of linearly interpolated circular orbits inside the static VVs. A steering controller is derived that drives the UAV to the time-varying standoff orbit. Numerical simulations and a flight test illustrate the proposed approach.

Authors:Artur Grigorev, Khaled Saleh, Jiwon Kim, Adriana-Simona Mihaita
Title: Automated Traffic Incident Response Plans using Generative Artificial Intelligence: Part 1 -- Building the Incident Response Benchmark
Abstract:
Traffic incidents remain a critical public safety concern worldwide, with Australia recording 1,300 road fatalities in 2024, which is the highest toll in 12 years. Similarly, the United States reports approximately 6 million crashes annually, raising significant challenges in terms of a fast reponse time and operational management. Traditional response protocols rely on human decision-making, which introduces potential inconsistencies and delays during critical moments when every minute impacts both safety outcomes and network performance. To address this issue, we propose a novel Incident Response Benchmark that uses generative artificial intelligence to automatically generate response plans for incoming traffic incidents. Our approach aims to significantly reduce incident resolution times by suggesting context-appropriate actions such as variable message sign deployment, lane closures, and emergency resource allocation adapted to specific incident characteristics. First, the proposed methodology uses real-world incident reports from the Performance Measurement System (PeMS) as training and evaluation data. We extract historically implemented actions from these reports and compare them against AI-generated response plans that suggest specific actions, such as lane closures, variable message sign announcements, and/or dispatching appropriate emergency resources. Second, model evaluations reveal that advanced generative AI models like GPT-4o and Grok 2 achieve superior alignment with expert solutions, demonstrated by minimized Hamming distances (averaging 2.96-2.98) and low weighted differences (approximately 0.27-0.28). Conversely, while Gemini 1.5 Pro records the lowest count of missed actions, its extremely high number of unnecessary actions (1547 compared to 225 for GPT-4o) indicates an over-triggering strategy that reduces the overall plan efficiency.

Authors:Artur Grigorev, Adriana-Simona Mihaita
Title: Rapid Urban Visibility Hotspots: Quantifying Building Vertex Visibility from Connected Vehicle Trajectories using Spatial Indexing
Abstract:
Effective placement of Out-of-Home advertising and street furniture requires accurate identification of locations offering maximum visual exposure to target audiences, particularly vehicular traffic. Traditional site selection methods often rely on static traffic counts or subjective assessments. This research introduces a data-driven methodology to objectively quantify location visibility by analyzing large-scale connected vehicle trajectory data (sourced from Compass IoT) within urban environments. We model the dynamic driver field-of-view using a forward-projected visibility area for each vehicle position derived from interpolated trajectories. By integrating this with building vertex locations extracted from OpenStreetMap, we quantify the cumulative visual exposure, or ``visibility count'', for thousands of potential points of interest near roadways. The analysis reveals that visibility is highly concentrated, identifying specific ``visual hotspots'' that receive disproportionately high exposure compared to average locations. The core technical contribution involves the construction of a BallTree spatial index over building vertices. This enables highly efficient (O(logN) complexity) radius queries to determine which vertices fall within the viewing circles of millions of trajectory points across numerous trips, significantly outperforming brute-force geometric checks. Analysis reveals two key findings: 1) Visibility is highly concentrated, identifying distinct 'visual hotspots' receiving disproportionately high exposure compared to average locations. 2) The aggregated visibility counts across vertices conform to a Log-Normal distribution.

Authors:Artur Grigorev, David Lillo-Trynes, Adriana-Simona Mihaita
Title: Spatial Association Between Near-Misses and Accident Blackspots in Sydney, Australia: A Getis-Ord $G_i^*$ Analysis
Abstract:
Conventional road safety management is inherently reactive, relying on analysis of sparse and lagged historical crash data to identify hazardous locations, or crash blackspots. The proliferation of vehicle telematics presents an opportunity for a paradigm shift towards proactive safety, using high-frequency, high-resolution near-miss data as a leading indicator of crash risk. This paper presents a spatial-statistical framework to systematically analyze the concordance and discordance between official crash records and near-miss events within urban environment. A Getis-Ord statistic is first applied to both reported crashes and near-miss events to identify statistically significant local clusters of each type. Subsequently, Bivariate Local Moran's I assesses spatial relationships between crash counts and High-G event counts, classifying grid cells into distinct profiles: High-High (coincident risk), High-Low and Low-High. Our analysis reveals significant amount of Low-Crash, High-Near-Miss clusters representing high-risk areas that remain unobservable when relying solely on historical crash data. Feature importance analysis is performed using contextual Point of Interest data to identify the different infrastructure factors that characterize difference between spatial clusters. The results provide a data-driven methodology for transport authorities to transition from a reactive to a proactive safety management strategy, allowing targeted interventions before severe crashes occur.

Authors:Kordel K. France, Ovidiu Daescu
Title: Olfactory Inertial Odometry: Methodology for Effective Robot Navigation by Scent
Abstract:
Olfactory navigation is one of the most primitive mechanisms of exploration used by organisms. Navigation by machine olfaction (artificial smell) is a very difficult task to both simulate and solve. With this work, we define olfactory inertial odometry (OIO), a framework for using inertial kinematics, and fast-sampling olfaction sensors to enable navigation by scent analogous to visual inertial odometry (VIO). We establish how principles from SLAM and VIO can be extrapolated to olfaction to enable real-world robotic tasks. We demonstrate OIO with three different odour localization algorithms on a real 5-DoF robot arm over an odour-tracking scenario that resembles real applications in agriculture and food quality control. Our results indicate success in establishing a baseline framework for OIO from which other research in olfactory navigation can build, and we note performance enhancements that can be made to address more complex tasks in the future.

Authors:Rohan Bali, Trevor E. Bailey, Michael S. Bullock, Boulat A. Bash
Title: Experimental Covert Communication Using Software-Defined Radio
Abstract:
The fundamental information-theoretic limits of covert, or low probability of detection (LPD), communication have been extensively studied for over a decade, resulting in the square root law (SRL): only $L\sqrt{n}$ covert bits can be reliably transmitted over time-bandwidth product $n$, for constant $L>0$. Transmitting more either results in detection or decoding errors. The SRL imposes significant constraints on hardware realization of provably-secure covert communication. Thus, experimental validation of covert communication is underexplored: to date, only two experimental studies of SRL-based covert communication are available, both focusing on optical channels. Here, we report our initial results demonstrating the provably-secure covert radio-frequency (RF) communication using software-defined radios (SDRs). These validate theoretical predictions, open practical avenues for implementing covert communication systems, as well as raise future research questions.

Authors:Xue Xian Zheng, Weihang Liu, Xin Lou, Stefan Vlaski, Tareq Al-Naffouri
Title: Quantitative Error Feedback for Quantization Noise Reduction of Filtering over Graphs
Abstract:
This paper introduces an innovative error feedback framework designed to mitigate quantization noise in distributed graph filtering, where communications are constrained to quantized messages. It comes from error spectrum shaping techniques from state-space digital filters, and therefore establishes connections between quantized filtering processes over different domains. In contrast to existing error compensation methods, our framework quantitatively feeds back the quantization noise for exact compensation. We examine the framework under three key scenarios: (i) deterministic graph filtering, (ii) graph filtering over random graphs, and (iii) graph filtering with random node-asynchronous updates. Rigorous theoretical analysis demonstrates that the proposed framework significantly reduces the effect of quantization noise, and we provide closed-form solutions for the optimal error feedback coefficients. Moreover, this quantitative error feedback mechanism can be seamlessly integrated into communication-efficient decentralized optimization frameworks, enabling lower error floors. Numerical experiments validate the theoretical results, consistently showing that our method outperforms conventional quantization strategies in terms of both accuracy and robustness.

Authors:Jiadong He, Liang Yu, Zhiqiang Chen, Dawei Qiu, Dong Yue, Goran Strbac, Meng Zhang, Yujian Ye, Yi Wang
Title: HMPC-assisted Adversarial Inverse Reinforcement Learning for Smart Home Energy Management
Abstract:
This letter proposes an Adversarial Inverse Reinforcement Learning (AIRL)-based energy management method for a smart home, which incorporates an implicit thermal dynamics model. In the proposed method, historical optimal decisions are first generated using a neural network-assisted Hierarchical Model Predictive Control (HMPC) framework. These decisions are then used as expert demonstrations in the AIRL module, which aims to train a discriminator to distinguish expert demonstrations from transitions generated by a reinforcement learning agent policy, while simultaneously updating the agent policy that can produce transitions to confuse the discriminator. The proposed HMPC-AIRL method eliminates the need for explicit thermal dynamics models, prior or predictive knowledge of uncertain parameters, or manually designed reward functions. Simulation results based on real-world traces demonstrate the effectiveness and data efficiency of the proposed method.

Authors:Jose A. Cobano, L. Merino, F. Caballero
Title: Exploiting Euclidean Distance Field Properties for Fast and Safe 3D planning with a modified Lazy Theta*
Abstract:
Graph search planners have been widely used for 3D path planning in the literature, and Euclidean Distance Fields (EDFs) are increasingly being used as a representation of the environment. However, to the best of our knowledge, the integration of EDFs into heuristic planning has been carried out in a loosely coupled fashion, dismissing EDF properties that can be used to accelerate/improve the planning process and enhance the safety margins of the resultant trajectories. This paper presents a fast graph search planner based on a modified Lazy Theta* planning algorithm for aerial robots in challenging 3D environments that exploits the EDF properties. The proposed planner outperforms classic graph search planners in terms of path smoothness and safety. It integrates EDFs as environment representation and directly generates fast and smooth paths avoiding the use of post-processing methods; it also considers the analytical properties of EDFs to obtain an approximation of the EDF cost along the line-of-sight segments and to reduce the number of visibility neighbours, which directly impacts the computation time. Moreover, we demonstrate that the proposed EDF-based cost function satisfies the triangle inequality, which reduces calculations during exploration and, hence, computation time. Many experiments and comparatives are carried out in 3D challenging indoor and outdoor simulation environments to evaluate and validate the proposed planner. The results show an efficient and safe planner in these environments.

Authors:Akila Herath, Chen-Ching Liu, Junho Hong, Mansi Girdhar
Title: An Advanced Cyber-Physical System Security Testbed for Substation Automation
Abstract:
A Cyber-Physical System (CPS) testbed serves as a powerful platform for testing and validating cyber intrusion detection and mitigation strategies in substations. This study presents the design and development of a CPS testbed that can effectively assess the real-time dynamics of a substation. Cyber attacks exploiting IEC 61850-based SV and GOOSE protocols are demonstrated using the testbed, along with an analysis on attack detection. Realistic timing measurements are obtained, and the time frames for deploying detection and mitigation strategies are evaluated.

Authors:Alessandro Bosso, Marco Borghesi, Andrea Iannelli, Giuseppe Notarstefano, Andrew R. Teel
Title: Data-Driven Control of Continuous-Time LTI Systems via Non-Minimal Realizations
Abstract:
This article proposes an approach to design output-feedback controllers for unknown continuous-time linear time-invariant systems using only input-output data from a single experiment. To address the lack of state and derivative measurements, we introduce non-minimal realizations whose states can be observed by filtering the available data. We first apply this concept to the disturbance-free case, formulating linear matrix inequalities (LMIs) from batches of sampled signals to design a dynamic, filter-based stabilizing controller. The framework is then extended to the problem of asymptotic tracking and disturbance rejection - in short, output regulation - by incorporating an internal model based on prior knowledge of the disturbance/reference frequencies. Finally, we discuss tuning strategies for a class of multi-input multi-output systems and illustrate the method via numerical examples.

Authors:Armin Gießler, Felix Strehle, Jochen Illerhaus, Sören Hohmann
Title: Dynamic State-Feedback Control for LPV Systems: Ensuring Stability and LQR Performance
Abstract:
In this paper, we propose a novel dynamic state-feedback controller for polytopic linear parameter-varying (LPV) systems with constant input matrix. The controller employs a projected gradient flow method to continuously improve its control law and, under established conditions, converges to the optimal feedback gain of the corresponding linear quadratic regulator (LQR) problem associated with constant parameter trajectories. We derive conditions for quadratic stability, which can be verified via convex optimization, to ensure exponential stability of the LPV system even under arbitrarily fast parameter variations. Additionally, we provide sufficient conditions to guarantee the boundedness of the trajectories of the dynamic controller for any parameter trajectory and the convergence of its feedback gains to the optimal LQR gains for constant parameter trajectories. Furthermore, we show that the closed-loop system is asymptotically stable for constant parameter trajectories under these conditions. Simulation results demonstrate that the controller maintains stability and improves transient performance.

Authors:Yuan Zhang, Wenxuan Xu, Mohamed Darouach, Tyrone Fernando
Title: Data-Driven Existence and Design of Target Output Controllers
Abstract:
Target output controllers aim at regulating a system's target outputs by placing poles of a suitable subsystem using partial state feedback, where full state controllability is not required. This paper establishes existence conditions for such controllers using input and partial state data, where the system dynamics are unknown. The approach bypasses traditional system identification steps and leverages the intrinsic structure of historical data to certify controller existence and synthesize a suitable feedback gain. Analytical characterizations are provided, ensuring that the resulting closed-loop system satisfies desired performance objectives such as pole placement or stabilization. Data-driven algorithms are then proposed to design target output controllers directly from data without identifying system parameters, where controllers with the order matching the number of target outputs and with minimum-order augmented target outputs are both addressed. Furthermore, a separation principle is revealed, decoupling the design of target output controllers from state observers. This enables the development of data-driven observer-based controllers that integrate estimation and control. Numerical examples validate the theoretical results and demonstrate the efficacy of the proposed approach.

Authors:Junhong Liu, Fei Teng, Yunhe Hou
Title: Synergising Hierarchical Data Centers and Power Networks: A Privacy-Preserving Approach
Abstract:
In the era of digitization, data centers have emerged as integral contributors sustaining our interlinked world, bearing responsibility for an increasing proportion of the world's energy consumption. To facilitate the their fast rollout while progressing towards net-zero energy systems, the synergy of hierarchical data centers (cloud-fog-edge) and power networks can play a pivotal role. However, existing centralized co-dispatch manners encroach on the privacy of different agents within the integrated systems, meanwhile suffering from the combinatorial explosion. In this research, we propose a near-optimal distributed privacy-preserving approach to solve the non-convex synergy (day-ahead co-dispatch) problem. The synergy problem is formulated as a mixed integer quadratically constrained quadratic programming considering both communication and energy conservation, where Lyapunov optimization is introduced to balance operating costs and uncertain communication delays. To mitigate impacts of the highly non-convex nature, the normalized multi-parametric disaggregation technique is leveraged to reformulate the problem into a mixed integer non-linear programming. To further overcome non-smoothness of the reformulated problem, the customized $\ell_1-$surrogate Lagrangian relaxation method with convergence guarantees is proposed to solve the problem in a distributed privacy-preserving manner. The effectiveness, optimality, and scalability of the proposed methodologies for the synergy problem are validated via numerical simulations. Simulation results also indicate that computing tasks can be delayed and migrated within the hierarchical data centers, demonstrating the flexible resource allocation capabilities of the hierarchical data center architecture, further facilitating peak load balancing in the power network.

Authors:Jian Zhang, Hanbo Zhang, Anxing Xiao, David Hsu
Title: Robot Operation of Home Appliances by Reading User Manuals
Abstract:
Operating home appliances, among the most common tools in every household, is a critical capability for assistive home robots. This paper presents ApBot, a robot system that operates novel household appliances by "reading" their user manuals. ApBot faces multiple challenges: (i) infer goal-conditioned partial policies from their unstructured, textual descriptions in a user manual document, (ii) ground the policies to the appliance in the physical world, and (iii) execute the policies reliably over potentially many steps, despite compounding errors. To tackle these challenges, ApBot constructs a structured, symbolic model of an appliance from its manual, with the help of a large vision-language model (VLM). It grounds the symbolic actions visually to control panel elements. Finally, ApBot closes the loop by updating the model based on visual feedback. Our experiments show that across a wide range of simulated and real-world appliances, ApBot achieves consistent and statistically significant improvements in task success rate, compared with state-of-the-art large VLMs used directly as control policies. These results suggest that a structured internal representations plays an important role in robust robot operation of home appliances, especially, complex ones.

Authors:Dongzhe Zheng, Wenjie Mei
Title: Learning Dynamics under Environmental Constraints via Measurement-Induced Bundle Structures
Abstract:
Learning unknown dynamics under environmental (or external) constraints is fundamental to many fields (e.g., modern robotics), particularly challenging when constraint information is only locally available and uncertain. Existing approaches requiring global constraints or using probabilistic filtering fail to fully exploit the geometric structure inherent in local measurements (by using, e.g., sensors) and constraints. This paper presents a geometric framework unifying measurements, constraints, and dynamics learning through a fiber bundle structure over the state space. This naturally induced geometric structure enables measurement-aware Control Barrier Functions that adapt to local sensing (or measurement) conditions. By integrating Neural ODEs, our framework learns continuous-time dynamics while preserving geometric constraints, with theoretical guarantees of learning convergence and constraint satisfaction dependent on sensing quality. The geometric framework not only enables efficient dynamics learning but also suggests promising directions for integration with reinforcement learning approaches. Extensive simulations demonstrate significant improvements in both learning efficiency and constraint satisfaction over traditional methods, especially under limited and uncertain sensing conditions.

Authors:Yu Tang, Carlo Cenedese, Alessio Rimoldi, Florian Dórfler, John Lygeros, Alberto Padoan
Title: Split-as-a-Pro: behavioral control via operator splitting and alternating projections
Abstract:
The paper introduces Split-as-a-Pro, a control framework that integrates behavioral systems theory, operator splitting methods, and alternating projection algorithms. The framework reduces dynamic optimization problems - arising in both control and estimation - to efficient projection computations. Split-as-a-Pro builds on a non-parametric formulation that exploits system structure to separate dynamic constraints imposed by individual subsystems from external ones, such as interconnection constraints and input/output constraints. This enables the use of arbitrary system representations, as long as the associated projection is efficiently computable, thereby enhancing scalability and compatibility with gray-box modeling. We demonstrate the effectiveness of Split-as-a-Pro by developing a distributed algorithm for solving finite-horizon linear quadratic control problems and illustrate its use in predictive control. Our numerical case studies show that algorithms obtained using Split-as-a-Pro significantly outperform their centralized counterparts in runtime and scalability across various standard graph topologies, while seamlessly leveraging both model-based and data-driven system representations.

Authors:Sourav Ganguly, Arnob Ghosh, Kishan Panaganti, Adam Wierman
Title: Efficient Policy Optimization in Robust Constrained MDPs with Iteration Complexity Guarantees
Abstract:
Constrained decision-making is essential for designing safe policies in real-world control systems, yet simulated environments often fail to capture real-world adversities. We consider the problem of learning a policy that will maximize the cumulative reward while satisfying a constraint, even when there is a mismatch between the real model and an accessible simulator/nominal model. In particular, we consider the robust constrained Markov decision problem (RCMDP) where an agent needs to maximize the reward and satisfy the constraint against the worst possible stochastic model under the uncertainty set centered around an unknown nominal model. Primal-dual methods, effective for standard constrained MDP (CMDP), are not applicable here because of the lack of the strong duality property. Further, one cannot apply the standard robust value-iteration based approach on the composite value function either as the worst case models may be different for the reward value function and the constraint value function. We propose a novel technique that effectively minimizes the constraint value function--to satisfy the constraints; on the other hand, when all the constraints are satisfied, it can simply maximize the robust reward value function. We prove that such an algorithm finds a policy with at most $ε$ sub-optimality and feasible policy after $O(ε^{-2})$ iterations. In contrast to the state-of-the-art method, we do not need to employ a binary search, thus, we reduce the computation time by at least 4x for smaller value of discount factor ($γ$) and by at least 6x for larger value of $γ$.

Authors:Abdelaziz Salama, Mohammed M. H. Qazzaz, Syed Danial Ali Shah, Maryam Hafeez, Syed Ali Zaidi
Title: FedORA: Resource Allocation for Federated Learning in ORAN using Radio Intelligent Controllers
Abstract:
This work proposes an integrated approach for optimising Federated Learning (FL) communication in dynamic and heterogeneous network environments. Leveraging the modular flexibility of the Open Radio Access Network (ORAN) architecture and multiple Radio Access Technologies (RATs), we aim to enhance data transmission efficiency and mitigate client-server communication constraints within the FL framework. Our system employs a two-stage optimisation strategy using ORAN's rApps and xApps. In the first stage, Reinforcement Learning (RL) based rApp is used to dynamically select each user's optimal Radio Access Technology (RAT), balancing energy efficiency with network performance. In the second stage, a model-based xApp facilitates near-real-time resource allocation optimisation through predefined policies to achieve optimal network performance. The dynamic RAT selection and resource allocation capabilities enabled by ORAN and multi-RAT contribute to robust communication resilience in dynamic network environments. Our approach demonstrates competitive performance with low power consumption compared to other state-of-the-art models, showcasing its potential for real-time applications demanding both accuracy and efficiency. This robust and comprehensive framework, enabling clients to utilise available resources effectively, highlights the potential for scalable, collaborative learning applications prioritising energy efficiency and network performance.

Authors:Tiago Fonseca, Clarisse Sousa, Ricardo Venâncio, Pedro Pires, Ricardo Severino, Paulo Rodrigues, Pedro Paiva, Luis Lino Ferreira
Title: Control of Renewable Energy Communities using AI and Real-World Data
Abstract:
The electrification of transportation and the increased adoption of decentralized renewable energy generation have added complexity to managing Renewable Energy Communities (RECs). Integrating Electric Vehicle (EV) charging with building energy systems like heating, ventilation, air conditioning (HVAC), photovoltaic (PV) generation, and battery storage presents significant opportunities but also practical challenges. Reinforcement learning (RL), particularly MultiAgent Deep Deterministic Policy Gradient (MADDPG) algorithms, have shown promising results in simulation, outperforming heuristic control strategies. However, translating these successes into real-world deployments faces substantial challenges, including incomplete and noisy data, integration of heterogeneous subsystems, synchronization issues, unpredictable occupant behavior, and missing critical EV state-of-charge (SoC) information. This paper introduces a framework designed explicitly to handle these complexities and bridge the simulation to-reality gap. The framework incorporates EnergAIze, a MADDPG-based multi-agent control strategy, and specifically addresses challenges related to real-world data collection, system integration, and user behavior modeling. Preliminary results collected from a real-world operational REC with four residential buildings demonstrate the practical feasibility of our approach, achieving an average 9% reduction in daily peak demand and a 5% decrease in energy costs through optimized load scheduling and EV charging behaviors. These outcomes underscore the framework's effectiveness, advancing the practical deployment of intelligent energy management solutions in RECs.

Authors:Elisa G. Vergamini, Leonardo F. Dos Santos, Cícero Zanette, Yecid Moreno, Felix M. Escalante, Thiago Boaventura
Title: Construction of an Impedance Control Test Bench
Abstract:
Controlling the physical interaction with the environment or objects, as humans do, is a shared requirement across different types of robots. To effectively control this interaction, it is necessary to control the power delivered to the load, that is, the interaction force and the interaction velocity. However, it is not possible to control these two quantities independently at the same time. An alternative is to control the relation between them, with Impedance and Admittance control, for example. The Impedance Control 2 Dimensions (IC2D) bench is a test bench designed to allow the performance analysis of different actuators and controllers at the joint level. Therefore, it was designed to be as versatile as possible, to allow the combination of linear and/or rotational motions, to use electric and/or hydraulic actuators, with loads known and defined by the user. The bench adheres to a set of requirements defined by the demands of the research group, to be a reliable, backlash-free mechatronic system to validate system dynamics models and controller designs, as well as a valuable experimental setup for benchmarking electric and hydraulic actuators. This article presents the mechanical, electrical, and hydraulic configurations used to ensure the robustness and reliability of the test bench. Benches similar to this one are commonly found in robotics laboratories around the world. However, the IC2D stands out for its versatility and reliability, as well as for supporting hydraulic and electric actuators.

Authors:Anupam Mondal, Priyadarshi Mukherjee, Sasthi C. Ghosh
Title: On the Deployment of RIS-mounted UAV Networks
Abstract:
Reconfigurable intelligent surfaces (RIS) enable smart wireless environments by dynamically controlling signal propagation to enhance communication and localization. Unmanned aerial vehicles (UAVs) can act as flying base stations and thus, improve system performance by avoiding signal blockages. In this paper, we propose a gradient ascent and coordinate search based method to determine the optimal location for a system that consists of a UAV and a RIS, where the UAV serves cellular users (CUs) and the RIS serves device-to-device (D2D) pairs. In particular, by optimizing the net throughput for both the D2D pairs and the CUs, the suggested method establishes the ideal location for the RIS-mounted UAV. We consider both line of sight (LoS) and non-LoS paths for the RIS and UAV to calculate the throughput while accounting for blockages in the system. The numerical results show that the proposed method performs better than the existing approaches in terms of both the net throughput and the user fairness.

Authors:Qu He, Weikun Li, Guangmin Dai, Hao Chen, Qimeng Liu, Xiaoqing Tian, Jie You, Weicheng Cui, Michael S. Triantafyllou, Dixia Fan
Title: SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion
Abstract:
Fish have endured millions of years of evolution, and their distinct rigid-flexible body structures offer inspiration for overcoming challenges in underwater robotics, such as limited mobility, high energy consumption, and adaptability. This paper introduces SpineWave, a biomimetic robotic fish featuring a fish-spine-like rigid-flexible transition structure. The structure integrates expandable fishbone-like ribs and adjustable magnets, mimicking the stretch and recoil of fish muscles to balance rigidity and flexibility. In addition, we employed an evolutionary algorithm to optimize the hydrodynamics of the robot, achieving significant improvements in swimming performance. Real-world tests demonstrated robustness and potential for environmental monitoring, underwater exploration, and industrial inspection. These tests established SpineWave as a transformative platform for aquatic robotics.

Authors:Julie Rousseau, Philipp Heer, Kristina Orehounig, Gabriela Hug
Title: Scalable and Efficient Aggregation of Energy-Constrained Flexible Loads
Abstract:
Loads represent a promising flexibility source to support the integration of renewable energy sources, as they may shift their energy consumption over time. By computing the aggregated flexibility of power and energy-constrained loads, aggregators can communicate the group's flexibility without sharing individual private information. However, this computation is, in practice, challenging. Some studies suggest different inner approximations of aggregated flexibility polytopes, but all suffer from large computational costs for realistic load numbers and horizon lengths. In this paper, we develop a novel approximation of the aggregated flexibility of loads based on the concept of worst-case energy dispatch, i.e., if aggregated energy consumptions are assumed to be dispatched in the worst manner possible. This leads to conservative piecewise linear bounds that restrict the aggregated energy consumption only based on the previous aggregated energy consumed. A comparative case study reveals that our method can compute an approximation of the aggregation of thousands of loads efficiently, while displaying an accuracy comparable to other approximation techniques.

Authors:Bendong Tan, Tong Su, Yu Weng, Ketian Ye, Parikshit Pareek, Petr Vorobev, Hung Nguyen, Junbo Zhao, Deepjyoti Deka
Title: Gaussian Processes in Power Systems: Techniques, Applications, and Future Works
Abstract:
The increasing integration of renewable energy sources (RESs) and distributed energy resources (DERs) has significantly heightened operational complexity and uncertainty in modern power systems. Concurrently, the widespread deployment of smart meters, phasor measurement units (PMUs) and other sensors has generated vast spatiotemporal data streams, enabling advanced data-driven analytics and decision-making in grid operations. In this context, Gaussian processes (GPs) have emerged as a powerful probabilistic framework, offering uncertainty quantification, non-parametric modeling, and predictive capabilities to enhance power system analysis and control. This paper presents a comprehensive review of GP techniques and their applications in power system operation and control. GP applications are reviewed across three key domains: GP-based modeling, risk assessment, and optimization and control. These areas serve as representative examples of how GP can be utilized in power systems. Furthermore, critical challenges in GP applications are discussed, and potential research directions are outlined to facilitate future power system operations.

Authors:Kwang Hak Kim, Mamadou Diagne, Miroslav Krstić
Title: Constant-Sum High-Order Barrier Functions for Safety Between Parallel Boundaries
Abstract:
This paper takes a step towards addressing the difficulty of constructing Control Barrier Functions (CBFs) for parallel safety boundaries. A single CBF for both boundaries has been reported to be difficult to validate for safety, and we identify why this challenge is inherent. To overcome this, the proposed method constructs separate CBFs for each boundary. We begin by presenting results for the relative degree one case and then extend these to higher relative degrees using the CBF backstepping technique, establishing conditions that guarantee safety. Finally, we showcase our method by applying it to a unicycle system, deriving a simple, verifiable condition to validate the target CBFs for direct implementation of our results.

Authors:Yuchen Dong, Zhengsong Lu, Xiaoyu Cao, Zhengwen He, Tanveer Hossain Bhuiyan, Bo Zeng
Title: Distributionally Robust Planning of Hydrogen-Electrical Microgrids for Sea Islands
Abstract:
This paper presents a distributionally robust planning method for hydrogen-electrical microgrids over islands, where the cross-island energy exchange is supported by a maritime hydrogen transport network. This planning problem is complicated due to heterogeneous off-shore wind-driven uncertainties (i.e., renewable power, transport availability, demand fluctuations, and grid faulting), a subset of which exhibit endogenous uncertainty, as they can be affected by proactive measures (e.g., grid hardening) or infrastructure investment. To capture these features, a two-stage distributionally robust optimization (DRO) model is developed considering decision-dependent uncertainty (DDU), which encompasses variation of the underlying distributional ambiguity due to the change of the first stage decisions. Notably, the complete recourse property is missing, which is often neglected in existing DRO studies. Nevertheless, different from the case for land-based microgrids, this issue is critical and fundamental for sea island systems due to their particular physical and logistical requirements. To address these issues, we develop a C&CG algorithm that is customized with strong cutting planes to handle DRO with a varying DDU ambiguity set and feasibility requirements. Numerical results demonstrate the cost-effectiveness and resilience of the proposed planning framework, along with the nontrivial improvements of the algorithm in both solution accuracy and computational efficiency.

Authors:Tyrone Fernando, Mohamed Darouach
Title: Functional Controllability, Functional Stabilizability, and the Generalized Separation Principle
Abstract:
This paper introduces the new concepts of Functional Controllability and Functional Stabilizability, and establishes their duality with Functional Observability and Functional Detectability, respectively. A Generalized Separation Principle is presented, under which the classical Separation Principle emerges as a special case. Conditions for the existence of functional controllers of a specified order are derived. Notably, the proposed design framework does not require full controllability. In addition, a functional observer-based controller design is developed for systems that may be both uncontrollable and unobservable. The results presented extend and generalize the classical full-state observer based feedback control paradigm.

Authors:Hao Ma, Sabrina Bodmer, Andrea Carron, Melanie Zeilinger, Michael Muehlebach
Title: Constraint-Aware Diffusion Guidance for Robotics: Real-Time Obstacle Avoidance for Autonomous Racing
Abstract:
Diffusion models hold great potential in robotics due to their ability to capture complex, high-dimensional data distributions. However, their lack of constraint-awareness limits their deployment in safety-critical applications. We propose Constraint-Aware Diffusion Guidance (CoDiG), a data-efficient and general-purpose framework that integrates barrier functions into the denoising process, guiding diffusion sampling toward constraint-satisfying outputs. CoDiG enables constraint satisfaction even with limited training data and generalizes across tasks. We evaluate our framework in the challenging setting of miniature autonomous racing, where real-time obstacle avoidance is essential. Real-world experiments show that CoDiG generates safe outputs efficiently under dynamic conditions, highlighting its potential for broader robotic applications. A demonstration video is available at https://youtu.be/KNYsTdtdxOU.

Authors:Hossein Babaei, Mel White, Sina Alemohammad, Richard G. Baraniuk
Title: WaLRUS: Wavelets for Long-range Representation Using SSMs
Abstract:
State-Space Models (SSMs) have proven to be powerful tools for modeling long-range dependencies in sequential data. While the recent method known as HiPPO has demonstrated strong performance, and formed the basis for machine learning models S4 and Mamba, it remains limited by its reliance on closed-form solutions for a few specific, well-behaved bases. The SaFARi framework generalized this approach, enabling the construction of SSMs from arbitrary frames, including non-orthogonal and redundant ones, thus allowing an infinite diversity of possible "species" within the SSM family. In this paper, we introduce WaLRUS (Wavelets for Long-range Representation Using SSMs), a new implementation of SaFARi built from Daubechies wavelets.

Authors:Steven Adams, Eduardo Figueiredo, Luca Laurenti
Title: Formal Uncertainty Propagation for Stochastic Dynamical Systems with Additive Noise
Abstract:
In this paper, we consider discrete-time non-linear stochastic dynamical systems with additive process noise in which both the initial state and noise distributions are uncertain. Our goal is to quantify how the uncertainty in these distributions is propagated by the system dynamics for possibly infinite time steps. In particular, we model the uncertainty over input and noise as ambiguity sets of probability distributions close in the $ρ$-Wasserstein distance and aim to quantify how these sets evolve over time. Our approach relies on results from quantization theory, optimal transport, and stochastic optimization to construct ambiguity sets of distributions centered at mixture of Gaussian distributions that are guaranteed to contain the true sets for both finite and infinite prediction time horizons. We empirically evaluate the effectiveness of our framework in various benchmarks from the control and machine learning literature, showing how our approach can efficiently and formally quantify the uncertainty in linear and non-linear stochastic dynamical systems.

Authors:Kateryna Zorina, David Kovar, Mederic Fourmy, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimir Petrik
Title: Multi-step manipulation task and motion planning guided by video demonstration
Abstract:
This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which simultaneously grows multiple trees around grasp and release states extracted from the guiding video. Our key novelty lies in combining contact states and 3D object poses extracted from the guiding video with a traditional planning algorithm that allows us to solve tasks with sequential dependencies, for example, if an object needs to be placed at a specific location to be grasped later. We also investigate the generalization capabilities of our approach to go beyond the scene depicted in the instructional video. To demonstrate the benefits of the proposed video-guided planning approach, we design a new benchmark with three challenging tasks: (I) 3D re-arrangement of multiple objects between a table and a shelf, (ii) multi-step transfer of an object through a tunnel, and (iii) transferring objects using a tray similar to a waiter transfers dishes. We demonstrate the effectiveness of our planning algorithm on several robots, including the Franka Emika Panda and the KUKA KMR iiwa. For a seamless transfer of the obtained plans to the real robot, we develop a trajectory refinement approach formulated as an optimal control problem (OCP).

Authors:Victor Shime, Elisa G. Vergamini, Cícero Zanette, Leonardo F. dos Santos, Lucca Maitan, Andrea Calanca, Thiago Boaventura
Title: Load-independent Metrics for Benchmarking Force Controllers
Abstract:
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators depend not only on controller design and system dynamics but also significantly on load characteristics, which may include interactions with humans or unstructured environments. This load dependence highlights the need for frameworks that properly assess and compare torque controllers independent of specific loading conditions. In this short paper, we concisely present a modeling approach that captures the impact of load on the closed-loop dynamics of torque-controlled systems. Based on this model, we propose new methods and quantitative metrics, including the Passivity Index Interval, which blends passivity and small-gain theory to offer a less conservative measure of coupled stability than passivity alone. These metrics can be used alongside traditional control performance indicators, such as settling time and bandwidth, to provide a more comprehensive characterization of torque-controlled systems. We demonstrate the application of the proposed metrics through experimental comparisons of linear actuator force controllers.

Authors:Fan Qin, Jinyang Bi, Jiao Ma, Chao Gu, Hailin Zhang, Wenchi Cheng, Steven Gao
Title: A High-Efficiency Reconfigurable Bidirectional Array Antenna Based on Transmit-Reflect Switchable Metasurface
Abstract:
This paper proposes a reconfigurable bidirectional array antenna with high-efficiency radiations and flexible beam-switching capability by employing a novel transmit-reflect switchable metasurface (TRSM). To realize the electromagnetic (EM) wave transmitted or reflected manipulation, a dedicated transmit-reflect switch layer (TRSL) with periodically soldered PIN diodes is introduced between two transmitted metasurfaces. By switching ON/OFF the embedded diodes, the TRSL performs as a mesh-type ground layer or polarization-grid layer, exhibiting a reflect or transmit property to the incident wave respectively. Further, utilizing the above TRSM configuration in conjunction with a microstrip feed antenna, bidirectional radiations are obtained at the same frequency and polarization. To further reduce the number of PIN diodes and control complexity, an enhanced TRSM using a single diode to control two unit cells is also investigated, resulting in half PIN diodes reduction. Since the bidirectional beam-switching is achieved by only controlling PIN diodes integrated in the ground plane instead of directly acting on the radiation element, which reduces insertion loss and avoids phase quantization errors, the proposed antenna can maintain a high aperture efficiency. To verify this concept, a prototype was designed, fabricated, and measured, demonstrating a successful realization of backward and forward patterns with peak gains of 22.3 and 22.1 dBi, and aperture efficiencies of 47.2% and 43.8%. The 3-dB gain bandwidths of reflected and transmitted modes are 13.7% and 12.3%. This antenna has the advantages of high gain, high aperture efficiency, simple configuration, cost-effectiveness, and flexible and digital beam control.

Authors:Linna Xu, Yongli Zhu
Title: Diffusion-assisted Model Predictive Control Optimization for Power System Real-Time Operation
Abstract:
This paper presents a modified model predictive control (MPC) framework for real-time power system operation. The framework incorporates a diffusion model tailored for time series generation to enhance the accuracy of the load forecasting module used in the system operation. In the absence of explicit state transition law, a model-identification procedure is leveraged to derive the system dynamics, thereby eliminating a barrier when applying MPC to a renewables-dominated power system. Case study results on an industry park system and the IEEE 30-bus system demonstrate that using the diffusion model to augment the training dataset significantly improves load-forecasting accuracy, and the inferred system dynamics are applicable to the real-time grid operation with solar and wind.

Authors:Thomas Wolgast, Astrid Nieße
Title: A General Approach of Automated Environment Design for Learning the Optimal Power Flow
Abstract:
Reinforcement learning (RL) algorithms are increasingly used to solve the optimal power flow (OPF) problem. Yet, the question of how to design RL environments to maximize training performance remains unanswered, both for the OPF and the general case. We propose a general approach for automated RL environment design by utilizing multi-objective optimization. For that, we use the hyperparameter optimization (HPO) framework, which allows the reuse of existing HPO algorithms and methods. On five OPF benchmark problems, we demonstrate that our automated design approach consistently outperforms a manually created baseline environment design. Further, we use statistical analyses to determine which environment design decisions are especially important for performance, resulting in multiple novel insights on how RL-OPF environments should be designed. Finally, we discuss the risk of overfitting the environment to the utilized RL algorithm. To the best of our knowledge, this is the first general approach for automated RL environment design.

Authors:Asmae Alami, Vinith Lakshmanan, Antonio Sciarretta
Title: Optimal Low Emission Zones scheduling as an example of transport policy backcasting
Abstract:
This study presents a backcasting approach that considers the passenger car fleet dynamics to determine optimal policy roadmaps in transport systems. As opposed to the scenario-based approach, backcasting sets emission reduction targets first, then identifies policies that meet the constraint. The policy is the implementation of Low Emission Zones (LEZs), in the Ile-de-France region as a case study. The aim is to minimize the number of scrapped vehicles due to LEZs under CO2 emission targets and to deduce an interdiction schedule of polluting vehicles by 2050. To explore potential solutions, we use a genetic algorithm that provides a first insight into optimal policy pathways.

Authors:Rong-Peng Liu, Yue Song, Xiaozhe Wang, Bo Zeng
Title: On the Existence of Lagrange Multipliers in Distribution Network Reconfiguration Problems
Abstract:
Distribution network reconfiguration (DNR) is an effective approach for optimizing distribution network operation. However, the DNR problem is computationally challenging due to the mixed-integer non-convex nature. One feasible approach for addressing this challenge is to reformulate binary line on/off state variables as (continuous) non-convex constraints, leading to a nonconvex program. Unfortunately, it remains unclear whether this formulation satisfies the Karush-Kuhn-Tucker (KKT) conditions at locally optimal solutions. In this brief, we study the existence of Lagrange multipliers in DNR problems and prove that under mild assumptions, Lagrange multipliers exist for the DNR model at every locally optimal solution almost surely such that the KKT conditions hold.

Authors:Melih Yazgan, Süleyman Tatar, J. Marius Zöllner
Title: Centralized Decision-Making for Platooning By Using SPaT-Driven Reference Speeds
Abstract:
This paper introduces a centralized approach for fuel-efficient urban platooning by leveraging real-time Vehicle- to-Everything (V2X) communication and Signal Phase and Timing (SPaT) data. A nonlinear Model Predictive Control (MPC) algorithm optimizes the trajectories of platoon leader vehicles, employing an asymmetric cost function to minimize fuel-intensive acceleration. Following vehicles utilize a gap- and velocity-based control strategy, complemented by dynamic platoon splitting logic communicated through Platoon Control Messages (PCM) and Platoon Awareness Messages (PAM). Simulation results obtained from the CARLA environment demonstrate substantial fuel savings of up to 41.2%, along with smoother traffic flows, fewer vehicle stops, and improved intersection throughput.

Authors:Gholamreza Davarpanah, Sajjad Mohammadi
Title: Connected C-Core Hybrid SRMs for EV Applications
Abstract:
This paper proposes a new class of permanent magnet-assisted three-phase switched reluctance motors (PM-SRMs) designed to achieve significantly higher torque density for electric vehicle (EV) propulsion systems. Eight distinct motor topologies are systematically investigated, including a non-PM baseline design, three innovative PM arrangement strategies, and two optimized rotor/stator teeth configurations (22-pole and 26-pole variants). The study presents analytical models including magnetic equivalent circuits (MECs), detailed operating principles, and generalized design formulations that account for both electromagnetic and structural considerations. A key contribution is the introduction of the point-of-conversion (PoC) concept, which optimizes PM placement by minimizing magnetic path reluctance. Comparative analysis demonstrates torque density improvements over conventional SRMs and existing PM-assisted designs while maintaining structural robustness. Experimental validation confirms that the proposed 24/22 configuration with inter-phase PMs delivers higher torque per PM volume compared to state-of-the-art designs. The findings provide insights for EV motor designers seeking to balance performance, cost, and reliability.

Authors:Kazuki Atsuta, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki
Title: LVLM-MPC Collaboration for Autonomous Driving: A Safety-Aware and Task-Scalable Control Architecture
Abstract:
This paper proposes a novel Large Vision-Language Model (LVLM) and Model Predictive Control (MPC) integration framework that delivers both task scalability and safety for Autonomous Driving (AD). LVLMs excel at high-level task planning across diverse driving scenarios. However, since these foundation models are not specifically designed for driving and their reasoning is not consistent with the feasibility of low-level motion planning, concerns remain regarding safety and smooth task switching. This paper integrates LVLMs with MPC Builder, which automatically generates MPCs on demand, based on symbolic task commands generated by the LVLM, while ensuring optimality and safety. The generated MPCs can strongly assist the execution or rejection of LVLM-driven task switching by providing feedback on the feasibility of the given tasks and generating task-switching-aware MPCs. Our approach provides a safe, flexible, and adaptable control framework, bridging the gap between cutting-edge foundation models and reliable vehicle operation. We demonstrate the effectiveness of our approach through a simulation experiment, showing that our system can safely and effectively handle highway driving while maintaining the flexibility and adaptability of LVLMs.

Authors:Weiliang Xiong, Defeng He, Haiping Du
Title: Learning Economic Model Predictive Control via Clustering and Kernel-Based Lipschitz Regression
Abstract:
This paper presents a novel learning economic model predictive control scheme for uncertain nonlinear systems subject to input and state constraints and unknown dynamics. We design a fast and accurate Lipschitz regression method using input and output data that combines clustering and kernel regression to learn the unknown dynamics. In each cluster, the parallel convex optimization problems are solved to estimate the kernel weights and reduce the Lipschitz constant of the predictor, hence limiting the error propagation in the prediction horizon. We derive the two different bounds of learning errors in deterministic and probabilistic forms and customize a new robust constraint-tightening strategy for the discontinuous predictor. Then, the learning economic model predictive control algorithm is formulated by introducing a stabilized optimization problem to construct a Lyapunov function. Sufficient conditions are derived to ensure the recursive feasibility and input-to-state stability of the closed-loop system. The effectiveness of the proposed algorithm is verified by simulations of a numerical example and a continuously stirred tank reactor.

Authors:Lukas Schichler, Karin Festl, Selim Solmaz, Daniel Watzenig
Title: Thermal-LiDAR Fusion for Robust Tunnel Localization in GNSS-Denied and Low-Visibility Conditions
Abstract:
Despite significant progress in autonomous navigation, a critical gap remains in ensuring reliable localization in hazardous environments such as tunnels, urban disaster zones, and underground structures. Tunnels present a uniquely difficult scenario: they are not only prone to GNSS signal loss, but also provide little features for visual localization due to their repetitive walls and poor lighting. These conditions degrade conventional vision-based and LiDAR-based systems, which rely on distinguishable environmental features. To address this, we propose a novel sensor fusion framework that integrates a thermal camera with a LiDAR to enable robust localization in tunnels and other perceptually degraded environments. The thermal camera provides resilience in low-light or smoke conditions, while the LiDAR delivers precise depth perception and structural awareness. By combining these sensors, our framework ensures continuous and accurate localization across diverse and dynamic environments. We use an Extended Kalman Filter (EKF) to fuse multi-sensor inputs, and leverages visual odometry and SLAM (Simultaneous Localization and Mapping) techniques to process the sensor data, enabling robust motion estimation and mapping even in GNSS-denied environments. This fusion of sensor modalities not only enhances system resilience but also provides a scalable solution for cyber-physical systems in connected and autonomous vehicles (CAVs). To validate the framework, we conduct tests in a tunnel environment, simulating sensor degradation and visibility challenges. The results demonstrate that our method sustains accurate localization where standard approaches deteriorate due to the tunnels featureless geometry. The frameworks versatility makes it a promising solution for autonomous vehicles, inspection robots, and other cyber-physical systems operating in constrained, perceptually poor environments.

Authors:Avalpreet Singh Brar, Rong Su, Christos G. Cassandras, Gioele Zardini
Title: Wise Goose Chase: A Predictive Path Planning Algorithm for Dynamic Rebalancing in Ride-Hailing Systems
Abstract:
Traditional rebalancing methods in ride-hailing systems direct idle drivers to fixed destinations, overlooking the fact that ride allocations frequently occur while cruising. This destination-centric view fails to exploit the path-dependent nature of modern platforms, where real-time matching depends on the entire trajectory rather than a static endpoint. We propose the Wise Goose Chase (WGC) algorithm, an event-triggered, driver-specific path planning framework that anticipates future matching opportunities by forecasting spatio-temporal supply and demand dynamics. WGC uses a system of Retarded Functional Differential Equations (RFDEs) to model the evolution of idle driver density and passenger queues at the road-segment level, incorporating both en-route matching and competition among drivers. Upon request, WGC computes personalized cruising paths that minimize each driver's expected time to allocation. Monte Carlo simulations on synthetic urban networks show that WGC consistently outperforms baseline strategies, highlighting the advantage of predictive, context-aware rebalancing in dynamic mobility systems.

Authors:Avalpreet Singh Brar, Rong Su, Jaskaranveer Kaur, Xinling Li, Gioele Zardini
Title: Maximal Compatibility Matching for Preference-Aware Ride-Hailing Systems
Abstract:
This paper presents the Maximal Compatibility Matching (MCM) framework, a novel assignment strategy for ride-hailing systems that explicitly incorporates passenger comfort into the matching process. Traditional assignment methods prioritize spatial efficiency, but often overlook behavioral alignment between passengers and drivers, which can significantly impact user satisfaction. MCM addresses this gap by learning personalized passenger comfort zones using gradient-boosted decision tree classifiers trained on labeled ride data, and by modeling driver behavior through empirical operating profiles constructed from time-series driving features. Compatibility between a passenger and a driver is computed as the closed-form volume of intersection between their respective feature-space regions. These compatibility scores are integrated into a utility-based matching algorithm that balances comfort and proximity through a tunable trade-off parameter. We validate the framework using a Unity-based driving simulator with real-time passenger feedback, demonstrating that MCM enables more personalized and socially acceptable matchings while maintaining high levels of operational performance.

Authors:Ruiqi Wang, Pinjun Zheng, Tareq Y. Al-Naffouri, Atif Shamim
Title: Design and Channel Modeling of Electromagnetically Reconfigurable Antennas
Abstract:
In this work, a novel design of electromagnetically reconfigurable antennas (ERAs) based on a fluid antenna system (FAS) is proposed, and the corresponding wireless channel model is established. Different from conventional antenna arrays with static elements, the electromagnetic characteristics of each array element in the proposed ERA can be flexibly reconfigured into various states, introducing electromagnetic degrees of freedom to enhance wireless system performance. Based on the proposed ERA design, the corresponding channel model is developed. Finally, full-wave simulations are conducted to validate the overall design concept. The results reveal that a gain enhancement of 2.5 dB is achieved at a beamforming direction.

Authors:Huang Zhang, Xixi Liu, Faisal Altaf, Torsten Wik
Title: A Practitioner's Guide to Automatic Kernel Search for Gaussian Processes in Battery Applications
Abstract:
Gaussian process (GP) models have been used in a wide range of battery applications, in which different kernels were manually selected with considerable expertise. However, to capture complex relationships in the ever-growing amount of real-world data, selecting a suitable kernel for the GP model in battery applications is increasingly challenging. In this work, we first review existing GP kernels used in battery applications and then extend an automatic kernel search method with a new base kernel and model selection criteria. The GP models with composite kernels outperform the baseline kernel in two numerical examples of battery applications, i.e., battery capacity estimation and residual load prediction. Particularly, the results indicate that the Bayesian Information Criterion may be the best model selection criterion as it achieves a good trade-off between kernel performance and computational complexity. This work should, therefore, be of value to practitioners wishing to automate their kernel search process in battery applications.

Authors:Swetha Rani Kasimalla, Kuchan Park, Junho Hong, Young-Jin Kim, HyoJong Lee
Title: Deep Learning-Enabled System Diagnosis in Microgrids: A Feature-Feedback GAN Approach
Abstract:
The increasing integration of inverter-based resources (IBRs) and communication networks has brought both modernization and new vulnerabilities to the power system infrastructure. These vulnerabilities expose the system to internal faults and cyber threats, particularly False Data Injection (FDI) attacks, which can closely mimic real fault scenarios. Hence, this work presents a two-stage fault and cyberattack detection framework tailored for inverter-based microgrids. Stage 1 introduces an unsupervised learning model Feature Feedback Generative Adversarial Network (F2GAN), to distinguish between genuine internal faults and cyber-induced anomalies in microgrids. Compared to conventional GAN architectures, F2GAN demonstrates improved system diagnosis and greater adaptability to zero-day attacks through its feature-feedback mechanism. In Stage 2, supervised machine learning techniques, including Support Vector Machines (SVM), k-Nearest Neighbors (KNN), Decision Trees (DT), and Artificial Neural Networks (ANN) are applied to localize and classify faults within inverter switches, distinguishing between single-switch and multi-switch faults. The proposed framework is validated on a simulated microgrid environment, illustrating robust performance in detecting and classifying both physical and cyber-related disturbances in power electronic-dominated systems.

Authors:Ameya Salvi, Mark Brudnak, Jonathon M. Smereka, Matthias Schmid, Venkat Krovi
Title: Characterizing gaussian mixture of motion modes for skid-steer vehicle state estimation
Abstract:
Skid-steered wheel mobile robots (SSWMRs) are characterized by the unique domination of the tire-terrain skidding for the robot to move. The lack of reliable friction models cascade into unreliable motion models, especially the reduced ordered variants used for state estimation and robot control. Ensemble modeling is an emerging research direction where the overall motion model is broken down into a family of local models to distribute the performance and resource requirement and provide a fast real-time prediction. To this end, a gaussian mixture model based modeling identification of model clusters is adopted and implemented within an interactive multiple model (IMM) based state estimation. The framework is adopted and implemented for angular velocity as the estimated state for a mid scaled skid-steered wheel mobile robot platform.

Authors:Yalin Liu, Yaru Fu, Qubeijian Wang, Hong-Ning Dai
Title: Unified Network Modeling for Six Cross-Layer Scenarios in Space-Air-Ground Integrated Networks
Abstract:
The space-air-ground integrated network (SAGIN) can enable global range and seamless coverage in the future network. SAGINs consist of three spatial layer network nodes: 1) satellites on the space layer, 2) aerial vehicles on the aerial layer, and 3) ground devices on the ground layer. Data transmissions in SAGINs include six unique cross-spatial-layer scenarios, i.e., three uplink and three downlink transmissions across three spatial layers. For simplicity, we call them \textit{six cross-layer scenarios}. Considering the diverse cross-layer scenarios, it is crucial to conduct a unified network modeling regarding node coverage and distributions in all scenarios. To achieve this goal, we develop a unified modeling approach of coverage regions for all six cross-layer scenarios. Given a receiver in each scenario, its coverage region on a transmitter-distributed surface is modeled as a spherical dome. Utilizing spherical geometry, the analytical models of the spherical-dome coverage regions are derived and unified for six cross-layer scenarios. We conduct extensive numerical results to examine the coverage models under varying carrier frequencies, receiver elevation angles, and transceivers' altitudes. Based on the coverage model, we develop an algorithm to generate node distributions under spherical coverage regions, which can assist in testing SAGINs before practical implementations.

Authors:Daniel Glover, Parikshit Pareek, Deepjyoti Deka, Anamika Dubey
Title: Power Flow Approximations for Multiphase Distribution Networks using Gaussian Processes
Abstract:
Learning-based approaches are increasingly leveraged to manage and coordinate the operation of grid-edge resources in active power distribution networks. Among these, model-based techniques stand out for their superior data efficiency and robustness compared to model-free methods. However, effective model learning requires a learning-based approximator for the underlying power flow model. This study extends existing work by introducing a data-driven power flow method based on Gaussian Processes (GPs) to approximate the multiphase power flow model, by mapping net load injections to nodal voltages. Simulation results using the IEEE 123-bus and 8500-node distribution test feeders demonstrate that the trained GP model can reliably predict the nonlinear power flow solutions with minimal training data. We also conduct a comparative analysis of the training efficiency and testing performance of the proposed GP-based power flow approximator against a deep neural network-based approximator, highlighting the advantages of our data-efficient approach. Results over realistic operating conditions show that despite an 85% reduction in the training sample size (corresponding to a 92.8% improvement in training time), GP models produce a 99.9% relative reduction in mean absolute error compared to the baselines of deep neural networks.

Authors:Robert H. Moldenhauer, Dragan Nešić, Mathieu Granzotto, Romain Postoyan, Andrew R. Teel
Title: Robust Recurrence of Discrete-Time Infinite-Horizon Stochastic Optimal Control with Discounted Cost
Abstract:
We analyze the stability of general nonlinear discrete-time stochastic systems controlled by optimal inputs that minimize an infinite-horizon discounted cost. Under a novel stochastic formulation of cost-controllability and detectability assumptions inspired by the related literature on deterministic systems, we prove that uniform semi-global practical recurrence holds for the closed-loop system, where the adjustable parameter is the discount factor. Under additional continuity assumptions, we further prove that this property is robust.

Authors:Farid Mafi, Ladan Khoshnevisan, Mohammad Pirani, Amir Khajepour
Title: A Novel Parameter-Tying Theorem in Multi-Model Adaptive Systems: Systematic Approach for Efficient Model Selection
Abstract:
This paper presents a novel theoretical framework for reducing the computational complexity of multi-model adaptive control/estimation systems through systematic transformation to controllable canonical form. While traditional multi-model approaches face exponential growth in computational demands with increasing system dimension, we introduce a parameter-tying theorem that enables significant dimension reduction through careful analysis of system characteristics in canonical form. The approach leverages monotonicity properties and coordinated parameter relationships to establish minimal sets of identification models while preserving system stability and performance. We develop rigorous criteria for verifying plant inclusion within the convex hull of identification models and derive weight transformation relationships that maintain system properties across coordinate transformations. The effectiveness of the framework is demonstrated through application to coupled lateral-roll vehicle dynamics, where the dimension reduction enables real-time implementation while maintaining estimation accuracy. The results show that the proposed transformation approach can achieve comparable performance to conventional methods while requiring substantially fewer identification models, enabling practical deployment in high-dimensional systems.

Authors:Huang Zhang, Torsten Wik
Title: Spectral Analysis of Approximated Capacity Fade Curvature for Lithium-Ion Batteries
Abstract:
The techno-economic benefits of incorporating battery degradation into advanced control strategies necessitate the development of degradation diagnosis as an advanced function in battery management systems (BMSs). To address this, a curvature-based knee identification method was proposed in our previous work [1]. Here, we further validate its effectiveness on a new battery aging dataset under a realistic driving profile and conduct spectral analysis of the approximated capacity fade curvature. The curvature-based method shows consistent knee identification performance on this dataset and the approximated curvature is found to correlate with underlying degradation modes and a shift of electrode material phase transition points. The method uses capacity data as the only input, which is easy to acquire in the lab and it is applicable in battery energy storage systems for grid applications.

Authors:Alexander Gräfe, Sebastian Trimpe
Title: Event-triggered Robust Model Predictive Control under Hard Computation Resource Constraints
Abstract:
Model predictive control (MPC) is capable of controlling nonlinear systems with guaranteed constraint satisfaction and stability. However, MPC requires solving optimization problems online periodically, which often exceeds the local system's computational capabilities. A potential solution is to leverage external processing, such as a central industrial server. Yet, this central computer typically serves multiple systems simultaneously, leading to significant hardware demands due to the need to solve numerous optimization problems concurrently. In this work, we tackle this challenge by developing an event-triggered model predictive control (ET-MPC) that provably stabilizes multiple nonlinear systems under disturbances while solving only optimization problems for a fixed-size subset at any given time. Unlike existing ET-MPC methods, which primarily reduce average computational load yet still require hardware capable of handling all systems simultaneously, our approach reduces the worst-case computational load. This significantly lowers central server hardware requirements by diminishing peak computational demands. We achieve our improvements by leveraging recent advancements in distributed event-triggered linear control and integrating them with a robust MPC that employs constraint tightening.

Authors:Satoshi Tsuruhara, Kazuhisa Ito
Title: Discrete-time Two-Layered Forgetting RLS Identification under Finite Excitation
Abstract:
In recent years, adaptive identification methods that can achieve the true value convergence of parameters without requiring persistent excitation (PE) have been widely studied, and concurrent learning has been intensively studied. However, the parameter convergence rate is limited for the gradient-based method owing to small parameter update gain, and even the introduction of forgetting factors does not work sufficiently. To address this problem, this study proposes a novel discrete-time recursive least squares method under finite excitation (FE) conditions using two forgetting factors (inner and outer) and an augmented regressor matrix comprising a sum of regressor vectors. The proposed method ensures the PE condition of the augmented regressor matrix under FE conditions of the regressor vector and allows the properly design of the forgetting factor without estimator windup and/or destabilization of the system. Numerical simulations demonstrate its effectiveness by comparing it with several conventional methods.

Authors:Changyu Lee, Jinwook Park, Jinwhan Kim
Title: Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function
Abstract:
This paper proposes a computationally efficient collision avoidance algorithm using turning circle-based control barrier functions (CBFs) that comply with international regulations for preventing collisions at sea (COLREGs). Conventional CBFs often lack explicit consideration of turning capabilities and avoidance direction, which are key elements in developing a COLREGs-compliant collision avoidance algorithm. To overcome these limitations, we introduce two CBFs derived from left and right turning circles. These functions establish safety conditions based on the proximity between the traffic ships and the centers of the turning circles, effectively determining both avoidance directions and turning capabilities. The proposed method formulates a quadratic programming problem with the CBFs as constraints, ensuring safe navigation without relying on computationally intensive trajectory optimization. This approach significantly reduces computational effort while maintaining performance comparable to model predictive control-based methods. Simulation results validate the effectiveness of the proposed algorithm in enabling COLREGs-compliant, safe navigation, demonstrating its potential for reliable and efficient operation in complex maritime environments.

Authors:Petar Labura, Tomislav Antic, Tomislav Capuder
Title: Time and Frequency Domain-based Anomaly Detection in Smart Meter Data for Distribution Network Studies
Abstract:
The widespread integration of new technologies in low-voltage distribution networks on the consumer side creates the need for distribution system operators to perform advanced real-time calculations to estimate network conditions. In recent years, data-driven models based on machine learning and big data analysis have emerged for calculation purposes, leveraging the information available in large datasets obtained from smart meters and other advanced measurement infrastructure. However, existing data-driven algorithms do not take into account the quality of data collected from smart meters. They lack built-in anomaly detection mechanisms and fail to differentiate anomalies based on whether the value or context of anomalous data instances deviates from the norm. This paper focuses on methods for detecting and mitigating the impact of anomalies on the consumption of active and reactive power datasets. It proposes an anomaly detection framework based on the Isolation Forest machine learning algorithm and Fast Fourier Transform filtering that works in both the time and frequency domain and is unaffected by point anomalies or contextual anomalies of the power consumption data. The importance of integrating anomaly detection methods is demonstrated in the analysis important for distribution networks with a high share of smart meters.

Authors:Eviatar Bach, Ricardo Baptista, Edoardo Calvello, Bohan Chen, Andrew Stuart
Title: Learning Enhanced Ensemble Filters
Abstract:
The filtering distribution in hidden Markov models evolves according to the law of a mean-field model in state-observation space. The ensemble Kalman filter (EnKF) approximates this mean-field model with an ensemble of interacting particles, employing a Gaussian ansatz for the joint distribution of the state and observation at each observation time. These methods are robust, but the Gaussian ansatz limits accuracy. This shortcoming is addressed by approximating the mean-field evolution using a novel form of neural operator taking probability distributions as input: a measure neural mapping (MNM). A MNM is used to design a novel approach to filtering, the MNM-enhanced ensemble filter (MNMEF), which is defined in both the mean-field limit and for interacting ensemble particle approximations. The ensemble approach uses empirical measures as input to the MNM and is implemented using the set transformer, which is invariant to ensemble permutation and allows for different ensemble sizes. The derivation of methods from a mean-field formulation allows a single parameterization of the algorithm to be deployed at different ensemble sizes. In practice fine-tuning of a small number of parameters, for specific ensemble sizes, further enhances the accuracy of the scheme. The promise of the approach is demonstrated by its superior root mean-square-error performance relative to leading methods in filtering the Lorenz 96 and Kuramoto-Sivashinsky models.

Authors:Ming Du, Mark Wolfman, Chengjun Sun, Shelly D. Kelly, Mathew J. Cherukara
Title: Demonstration of an AI-driven workflow for dynamic x-ray spectroscopy
Abstract:
X-ray absorption near edge structure (XANES) spectroscopy is a powerful technique for characterizing the chemical state and symmetry of individual elements within materials, but requires collecting data at many energy points which can be time-consuming. While adaptive sampling methods exist for efficiently collecting spectroscopic data, they often lack domain-specific knowledge about XANES spectra structure. Here we demonstrate a knowledge-injected Bayesian optimization approach for adaptive XANES data collection that incorporates understanding of spectral features like absorption edges and pre-edge peaks. We show this method accurately reconstructs the absorption edge of XANES spectra using only 15-20% of the measurement points typically needed for conventional sampling, while maintaining the ability to determine the x-ray energy of the sharp peak after absorption edge with errors less than 0.03 eV, the absorption edge with errors less than 0.1 eV; and overall root-mean-square errors less than 0.005 compared to compared to traditionally sampled spectra. Our experiments on battery materials and catalysts demonstrate the method's effectiveness for both static and dynamic XANES measurements, improving data collection efficiency and enabling better time resolution for tracking chemical changes. This approach advances the degree of automation in XANES experiments reducing the common errors of under- or over-sampling points in near the absorption edge and enabling dynamic experiments that require high temporal resolution or limited measurement time.

Authors:Diyako Ghaderyan, Stefan Werner
Title: Fully Adaptive Stepsizes: Which System Benefit More -- Centralized or Decentralized?
Abstract:
In decentralized optimization, the choice of stepsize plays a critical role in algorithm performance. A common approach is to use a shared stepsize across all agents to ensure convergence. However, selecting an optimal stepsize often requires careful tuning, which can be time-consuming and may lead to slow convergence, especially when there is significant variation in the smoothness (L-smoothness) of local objective functions across agents. Individually tuning stepsizes per agent is also impractical, particularly in large-scale networks. To address these limitations, we propose AdGT, an adaptive gradient tracking method that enables each agent to adjust its stepsize based on the smoothness of its local objective. We prove that AdGT generates a sequence of iterates that converges to the optimal consensus solution. Through numerical experiments, we compare AdGT with fixed-stepsize gradient tracking methods and demonstrate its superior performance. Additionally, we compare AdGT with adaptive gradient descent (AdGD) in a centralized setting and observe that fully adaptive stepsizes offer greater benefits in decentralized networks than in centralized ones.

Authors:Yushan Li, Jianping He, Dimos V. Dimarogonas
Title: Inverse Inference on Cooperative Control of Networked Dynamical Systems
Abstract:
Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynamics and topology. This paper reveals that the critical components in continuous-time state feedback cooperative control of NDSs can be inferred merely from discrete observations. In particular, we advocate a bi-level inference framework to estimate the global closed-loop system and extract the components, respectively. The novelty lies in bridging the gap from discrete observations to the continuous-time model and effectively decoupling the concerned components. Specifically, in the first level, we design a causality-based estimator for the discrete-time closed-loop system matrix, which can achieve asymptotically unbiased performance when the NDS is stable. In the second level, we introduce a matrix logarithm based method to recover the continuous-time counterpart matrix, providing new sampling period guarantees and establishing the recovery error bound. By utilizing graph properties of the NDS, we develop least square based procedures to decouple the concerned components with up to a scalar ambiguity. Furthermore, we employ inverse optimal control techniques to reconstruct the objective function driving the control process, deriving necessary conditions for the solutions. Numerical simulations demonstrate the effectiveness of the proposed method.

Authors:Shijie Pan, Gerrit Rolofs, Luca Pontecorvi, Charalambos Konstantinou
Title: Market-Driven Flexibility Provision: A Tri-Level Optimization Approach for Carbon Reduction
Abstract:
The integration of renewable energy resources (RES) in the power grid can reduce carbon intensity, but also presents certain challenges. The uncertainty and intermittent nature of RES emphasize the need for flexibility in power systems. Moreover, there are noticeable mismatches between real-time electricity prices and carbon intensity patterns throughout the day. These discrepancies may lead customers to schedule energy-intensive tasks during the early hours of the day, a period characterized by lower electricity prices but higher carbon intensity. This paper introduces a novel and comprehensive framework aimed at encouraging customer participation in electricity markets and aligning their flexibility with carbon intensity trends. The proposed approach integrates an incentive-based tariff with a tri-level optimization model, where customers are motivated to submit flexibility bids and, in return, receive financial rewards based on their contributions. The tri-level model ensures a dynamic interaction between the market operation platform (MOP) and end-users. Simulations are performed on a modified IEEE-33 bus system, supported by two scenarios with different RES generations and customer behaviors. Results demonstrate the effectiveness of the proposed framework in guiding the customers' consumption behaviors towards low carbon intensity.

Authors:V. Cerone, S. M. Fosson, A. Re, D. Regruto
Title: Integral control of the proximal gradient method for unbiased sparse optimization
Abstract:
Proximal gradient methods are popular in sparse optimization as they are straightforward to implement. Nevertheless, they achieve biased solutions, requiring many iterations to converge. This work addresses these issues through a suitable feedback control of the algorithm's hyperparameter. Specifically, by designing an integral control that does not substantially impact the computational complexity, we can reach an unbiased solution in a reasonable number of iterations. In the paper, we develop and analyze the convergence of the proposed approach for strongly-convex problems. Moreover, numerical simulations validate and extend the theoretical results to the non-strongly convex framework.

Authors:Alexander Winkler, Pranav Shah, Katrin Baumgärtner, Vasu Sharma, David Gordon, Jakob Andert
Title: Incorporating a Deep Neural Network into Moving Horizon Estimation for Embedded Thermal Torque Derating of an Electric Machine
Abstract:
This study presents a novel state estimation approach integrating Deep Neural Networks (DNNs) into Moving Horizon Estimation (MHE). This is a shift from using traditional physics-based models within MHE towards data-driven techniques. Specifically, a Long Short-Term Memory (LSTM)-based DNN is trained using synthetic data derived from a high-fidelity thermal model of a Permanent Magnet Synchronous Machine (PMSM), applied within a thermal derating torque control strategy for battery electric vehicles. The trained DNN is directly embedded within an MHE formulation, forming a discrete-time nonlinear optimal control problem (OCP) solved via the acados optimization framework. Model-in-the-Loop simulations demonstrate accurate temperature estimation even under noisy sensor conditions and simulated sensor failures. Real-time implementation on embedded hardware confirms practical feasibility, achieving computational performance exceeding real-time requirements threefold. By integrating the learned LSTM-based dynamics directly into MHE, this work achieves state estimation accuracy, robustness, and adaptability while reducing modeling efforts and complexity. Overall, the results highlight the effectiveness of combining model-based and data-driven methods in safety-critical automotive control systems.

Authors:Yahya Sattar, Sunmook Choi, Yassir Jedra, Maryam Fazel, Sarah Dean
Title: Sub-optimality of the Separation Principle for Quadratic Control from Bilinear Observations
Abstract:
We consider the problem of controlling a linear dynamical system from bilinear observations with minimal quadratic cost. Despite the similarity of this problem to standard linear quadratic Gaussian (LQG) control, we show that when the observation model is bilinear, neither does the Separation Principle hold, nor is the optimal controller affine in the estimated state. Moreover, the cost-to-go is non-convex in the control input. Hence, finding an analytical expression for the optimal feedback controller is difficult in general. Under certain settings, we show that the standard LQG controller locally maximizes the cost instead of minimizing it. Furthermore, the optimal controllers (derived analytically) are not unique and are nonlinear in the estimated state. We also introduce a notion of input-dependent observability and derive conditions under which the Kalman filter covariance remains bounded. We illustrate our theoretical results through numerical experiments in multiple synthetic settings.

Authors:Maximilian Böhle, Bernhard Schick, Steffen Müller
Title: Steering Feedback in Dynamic Driving Simulators: Road-Induced and Non-Road-Induced Harshness
Abstract:
Steering feedback plays a substantial role in the validity of driving simulators for the virtual development of modern vehicles. Established objective steering characteristics typically assess the feedback behavior in the frequency range of up to 30 Hz while factors such as steering wheel and vehicle body vibrations at higher frequencies are mainly approached as comfort issues. This work investigates the influence of steering wheel and vehicle body excitations in the frequency range between 30 and 100 Hz on the subjective evaluation of steering feedback in a dynamic driving simulator. A controlled subject study with 42 participants was performed to compare a reference vehicle with an electrical power steering system to four variants of its virtual representation on a dynamic driving simulator. The effects of road-induced excitations were investigated by comparing a semi-empirical and a physics-based tire model, while the influence of non-road-induced excitations was investigated by implementing engine and wheel orders. The simulator variants were evaluated in comparison to the reference vehicle during closed-loop driving on a country road in a single-blind within-subjects design. The subjective evaluation focused on the perception of road feedback compared to the reference vehicle. The statistical analysis of subjective results shows that there is a strong effect of non-road-induced steering and vehicle body excitations, while the effect of road-induced excitations is considerably less pronounced.

Authors:Irene Schimperna, Lea Bold, Karl Worthmann
Title: Offset-free Nonlinear MPC with Koopman-based Surrogate Models
Abstract:
In this paper, we design offset-free nonlinear Model Predictive Control (MPC) for surrogate models based on Extended Dynamic Mode Decomposition (EDMD). The model used for prediction in MPC is augmented with a disturbance term, that is estimated by an observer. If the full information about the equilibrium of the real system is not available, a reference calculator is introduced in the algorithm to compute the MPC state and input references. The control algorithm guarantees offset-free tracking of the controlled output under the assumption that the modeling errors are asymptotically constant. The effectiveness of the proposed approach is showcased with numerical simulations for two popular benchmark systems: the van-der-Pol oscillator and the four-tanks process.

Authors:Nan Wang, Ricardo G. Sanfelice
Title: HyRRT-Connect: Bidirectional Motion Planning for Hybrid Dynamical Systems
Abstract:
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in hybrid time until an overlap between the forward and backward propagation results is detected. Then, HyRRT-Connect constructs a motion plan through the reversal and concatenation of functions defined on hybrid time domains, ensuring that the motion plan satisfies the given hybrid dynamics. To address the potential discontinuity along the flow caused by tolerating some distance between the forward and backward partial motion plans, we reconstruct the backward partial motion plan by a forward-in-hybrid-time simulation from the final state of the forward partial motion plan. effectively eliminating the discontinuity. The proposed algorithm is applied to an actuated bouncing ball system and a walking robot example to highlight its computational improvement.

Authors:Johannes van Randenborgh, Moritz Schulze Darup
Title: A moving horizon estimator for aquifer thermal energy storages
Abstract:
Aquifer thermal energy storages (ATES) represent groundwater saturated aquifers that store thermal energy in the form of heated or cooled groundwater. Combining two ATES, one can harness excess thermal energy from summer (heat) and winter (cold) to support the building's heating, ventilation, and air conditioning (HVAC) technology. In general, a dynamic operation of ATES throughout the year is beneficial to avoid using fossil fuel-based HVAC technology and maximize the ``green use'' of ATES. Model predictive control (MPC) with an appropriate system model may become a crucial control approach for ATES systems. Consequently, the MPC model should reflect spatial temperature profiles around ATES' boreholes to predict extracted groundwater temperatures accurately. However, meaningful predictions require the estimation of the current state of the system, as measurements are usually only at the borehole of the ATES. In control, this is often realized by model-based observers. Still, observing the state of an ATES system is non-trivial, since the model is typically hybrid. We show how to exploit the specific structure of the hybrid ATES model and design an easy-to-solve moving horizon estimator based on a quadratic program.

Authors:Scott Brown, Mohammad Khajenejad, Aamodh Suresh, Sonia Martinez
Title: Robust Output-Feedback MPC for Nonlinear Systems with Applications to Robotic Exploration
Abstract:
This paper introduces a novel method for robust output-feedback model predictive control (MPC) for a class of nonlinear discrete-time systems. We propose a novel interval-valued predictor which, given an initial estimate of the state, produces intervals which are guaranteed to contain the future trajectory of the system. By parameterizing the control input with an initial stabilizing feedback term, we are able to reduce the width of the predicted state intervals compared to existing methods. We demonstrate this through a numerical comparison where we show that our controller performs better in the presence of large amounts of noise. Finally, we present a simulation study of a robot navigation scenario, where we incorporate a time-varying entropy term into the cost function in order to autonomously explore an uncertain area.

Authors:Xunhang Sun, Xiaoyu Cao, Bo Zeng, Miaomiao Li, Xiaohong Guan, Tamer Başar
Title: Data-Driven Two-Stage Distributionally Robust Dispatch of Multi-Energy Microgrid
Abstract:
This paper studies adaptive distributionally robust dispatch (DRD) of the multi-energy microgrid under supply and demand uncertainties. A Wasserstein ambiguity set is constructed to support data-driven decision-making. By fully leveraging the special structure of worst-case expectation from the primal perspective, a novel and high-efficient decomposition algorithm under the framework of column-and-constraint generation is customized and developed to address the computational burden. Numerical studies demonstrate the effectiveness of our DRD approach, and shed light on the interrelationship of it with the traditional dispatch approaches through stochastic programming and robust optimization schemes. Also, comparisons with popular algorithms in the literature for two-stage distributionally robust optimization verify the powerful capacity of our algorithm in computing the DRD problem.

Authors:Youwei Yu, Lantao Liu
Title: Neural Fidelity Calibration for Informative Sim-to-Real Adaptation
Abstract:
Deep reinforcement learning can seamlessly transfer agile locomotion and navigation skills from the simulator to real world. However, bridging the sim-to-real gap with domain randomization or adversarial methods often demands expert physics knowledge to ensure policy robustness. Even so, cutting-edge simulators may fall short of capturing every real-world detail, and the reconstructed environment may introduce errors due to various perception uncertainties. To address these challenges, we propose Neural Fidelity Calibration (NFC), a novel framework that employs conditional score-based diffusion models to calibrate simulator physical coefficients and residual fidelity domains online during robot execution. Specifically, the residual fidelity reflects the simulation model shift relative to the real-world dynamics and captures the uncertainty of the perceived environment, enabling us to sample realistic environments under the inferred distribution for policy fine-tuning. Our framework is informative and adaptive in three key ways: (a) we fine-tune the pretrained policy only under anomalous scenarios, (b) we build sequential NFC online with the pretrained NFC's proposal prior, reducing the diffusion model's training burden, and (c) when NFC uncertainty is high and may degrade policy improvement, we leverage optimistic exploration to enable hallucinated policy optimization. Our framework achieves superior simulator calibration precision compared to state-of-the-art methods across diverse robots with high-dimensional parametric spaces. We study the critical contribution of residual fidelity to policy improvement in simulation and real-world experiments. Notably, our approach demonstrates robust robot navigation under challenging real-world conditions, such as a broken wheel axle on snowy surfaces.

Authors:Enzo Ferreira Tomaz Silva, Pedro Henrique Silva Coutinho, Tiago Roux Oliveira, Miroslav Krstić
Title: Extremum Seeking Control for Multivariable Maps under Actuator Saturation
Abstract:
This paper deals with the gradient-based extremum seeking control for multivariable maps under actuator saturation. By exploiting a polytopic embedding of the unknown Hessian, we derive a LMI-based synthesis condition to ensure that the origin of the average closed-loop error system is exponentially stable. Then, the convergence of the extremum seeking control system under actuator saturation to the unknown optimal point is proved by employing Lyapunov stability and averaging theories. Numerical simulations illustrate the efficacy of the proposed approach.

Authors:Enzo Ferreira Tomaz Silva, Pedro Henrique Silva Coutinho, Tiago Roux Oliveira, Miroslav Krstić
Title: Multivariable Extremum Seeking Unit-Vector Control Design
Abstract:
This paper investigates multivariable extremum seeking using unit-vector control. By employing the gradient algorithm and a polytopic embedding of the unknown Hessian matrix, we establish sufficient conditions, expressed as linear matrix inequalities, for designing the unit-vector control gain that ensures finite-time stability of the origin of the average closed-loop error system. Notably, these conditions enable the design of non-diagonal control gains, which provide extra degrees of freedom to the solution. The convergence of the actual closed-loop system to a neighborhood of the unknown extremum point is rigorously proven through averaging analysis for systems with discontinuous right-hand sides. Numerical simulations illustrate the efficacy of the proposed extremum seeking control algorithm.

Authors:Fanxin Wang, Haolong Jiang, Chuyuan Tao, Wenbin Wan, Yikun Cheng
Title: DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States
Abstract:
Optimizing trajectory costs for nonlinear control systems remains a significant challenge. Model Predictive Control (MPC), particularly sampling-based approaches such as the Model Predictive Path Integral (MPPI) method, has recently demonstrated considerable success by leveraging parallel computing to efficiently evaluate numerous trajectories. However, MPPI often struggles to balance safe navigation in constrained environments with effective exploration in open spaces, leading to infeasibility in cluttered conditions. To address these limitations, we propose DBaS-Log-MPPI, a novel algorithm that integrates Discrete Barrier States (DBaS) to ensure safety while enabling adaptive exploration with enhanced feasibility. Our method is efficiently validated through three simulation missions and one real-world experiment, involving a 2D quadrotor and a ground vehicle navigating through cluttered obstacles. We demonstrate that our algorithm surpasses both Vanilla MPPI and Log-MPPI, achieving higher success rates, lower tracking errors, and a conservative average speed.

Authors:Alba Gurpegui, Mark Jeeninga, Emma Tegling, Anders Rantzer
Title: Linear Regulator-Based Synchronization of Positive Multi-Agent Systems
Abstract:
This paper addresses the positive synchronization of interconnected systems on undirected graphs. For homogeneous positive systems, a static feedback protocol design is proposed, based on the Linear Regulator problem. The solution to the algebraic equation associated to the stabilizing policy can be found using a linear program. Necessary and sufficient conditions on the positivity of each agent's trajectory for all nonnegative initial conditions are also provided. Simulations on large regular graphs with different nodal degree illustrate the proposed results.

Authors:Reza Rahimi Baghbadorani, Emilio Benenati, Sergio Grammatico
Title: A Douglas-Rachford Splitting Method for Solving Monotone Variational Inequalities in Linear-quadratic Dynamic Games
Abstract:
This paper considers constrained linear dynamic games with quadratic objective functions, which can be cast as affine variational inequalities. By leveraging the problem structure, we apply the Douglas-Rachford splitting, which generates a solution algorithm with linear convergence rate. The fast convergence of the method enables receding-horizon control architectures. Furthermore, we demonstrate that the associated VI admits a closed-form solution within a neighborhood of the attractor, thus allowing for a further reduction in computation time. Finally, we benchmark the proposed method via numerical experiments in an automated driving application.

Authors:Mohammad Mirtaba, Jhon Manuel Portella Delgado, Ankit Goel
Title: Adaptive Control of Dual-Rotor Rotational System with Unknown Geometry and Unknown Inertia
Abstract:
This paper develops an input-output feedback linearization-based adaptive controller to stabilize and regulate a dual-rotor rotational system (DRRS), whose inertial properties as well as the geometric configuration of rotors are unknown. First, the equations of motion governing the dynamics of DRRS are derived using the Newton-Euler approach. Next, an input-output feedback linearization technique is used to linearize the dynamics from the rotor speeds to the angular position of the system. A finite-time convergent estimator, based on the portion of the DRRS dynamics, is used to update the required parameters in the controller. Finally, the proposed controller is validated in both step and harmonic command-following problems, and the robustness of the controller to the system's parameters is demonstrated.

Authors:Davide Zorzenon, Jörg Raisch
Title: Infinite precedence graphs for consistency verification in P-time event graphs
Abstract:
Precedence constraints are inequalities used to model time dependencies. In 1958, Gallai proved that a finite system of precedence constraints admits solutions if and only if the corresponding precedence graph does not contain positive-weight circuits. We show that this result extends naturally to the case of infinitely many constraints. We then analyze two specific classes of infinite precedence graphs -- $\mathbb{N}$-periodic and ultimately periodic graphs -- and prove that the existence of solutions of their related constraints can be verified in strongly polynomial time. The obtained algorithms find applications in P-time event graphs, which are a subclass of P-time Petri nets able to model production systems under cyclic schedules where tasks need to be performed within given time windows.

Authors:Daniel Selvaratnam, Alessio Moreschini, Amritam Das, Thomas Parisini, Henrik Sandberg
Title: Fault Localisation in Infinite-Dimensional Linear Electrical Networks
Abstract:
We present a novel fault localisation methodology for linear time-invariant electrical networks with infinite-dimensional edge dynamics and uncertain fault dynamics. The theory accommodates instability and also bounded propagation delays in the network. The goal is to estimate the location of a fault along a given network edge, using sensors positioned arbitrarily throughout the network. Passive faults of unknown impedance are considered, along with stable faults of known impedance. To illustrate the approach, we tackle a significant use-case: a multi-conductor transmission line, with dynamics modelled by the Telegrapher's equation, subject to a line-to-ground fault. Frequency-domain insights are used to reformulate the general fault localisation problem into a non-convex scalar optimisation problem, of which the true fault location is guaranteed to be a global minimiser. Numerical experiments are run to quantify localisation performance over a range of fault resistances.

Authors:Han Wang, Donghe Chen, Tengjie Zheng, Lin Cheng, Shengping Gong
Title: Confidence-Aware Learning Optimal Terminal Guidance via Gaussian Process Regression
Abstract:
Modern aerospace guidance systems demand rigorous constraint satisfaction, optimal performance, and computational efficiency. Traditional analytical methods struggle to simultaneously satisfy these requirements. While data driven methods have shown promise in learning optimal guidance strategy, challenges still persist in generating well-distributed optimal dataset and ensuring the reliability and trustworthiness of learned strategies. This paper presents a confidence-aware learning framework that addresses these limitations. First, a region-controllable optimal data generation method is proposed leveraging Hamiltonian state transition matrices, enabling efficient generation of optimal trajectories of specified data distribution. Then, to obtain a lightweight and effective dataset for efficient strategy learning, an error-distribution-smoothing method is incorporated to employ data filtering, which reduces dataset size by almost 90% while preserving prediction accuracy. To assess the operational domain of the learned strategy, a confidence-aware learning guidance strategy is proposed based on gaussian process regression, achieving constraint satisfaction even beyond training distributions. Numerical simulations validate the effectiveness and reliability of the proposed learning framework in terms of data generation, data filtering and strategy learning.

Authors:Shijie Pan, Zaint A. Alexakis, S Subhash Lakshminarayana, Charalambos Konstantinou
Title: A Cyber Insurance Policy for Hedging Against Load-Altering Attacks and Extreme Load Variations in Distribution Grids
Abstract:
Uncertainties in renewable energy resources (RES) and load variations can lead to elevated system operational costs. Moreover, the emergence of large-scale distributed threats, such as load-altering attacks (LAAs), can induce substantial load variations, further exacerbating these costs. Although traditional defense measures can reduce the likelihood of such attacks, considerable residual risks remain. Thus, this paper proposes a cyber insurance framework designed to hedge against additional operational costs resulting from LAAs and substantial load variations in renewable-rich grids. The insurance framework determines both the insurance coverage and premium based on the Value at Risk (VaR) and Tail Value at Risk (TVaR). These risk metrics are calculated using the system failure probability and the probability density function (PDF) of the system operation cost. The system failure probability is assessed through a semi-Markov process (SMP), while the cost distribution is estimated through a cost minimization model of a distribution grid combined with a Monte-Carlo simulation to capture load variability. Furthermore, we employ a bi-level optimization scheme that identifies the specific load distribution leading to the maximum system cost, thereby enhancing the accuracy of the operation cost PDF estimation. The effectiveness and scalability of the proposed cyber insurance policy are evaluated considering a modified IEEE-118 test bus system and the IEEE European low-voltage (LV) test feeders model. The case study shows that with a relatively low premium, the network operator can hedge against additional operational costs caused by malicious load manipulations.

Authors:Hugo Buurmeijer, Luis A. Pabon, John Irvin Alora, Roshan S. Kaundinya, George Haller, Marco Pavone
Title: Taming High-Dimensional Dynamics: Learning Optimal Projections onto Spectral Submanifolds
Abstract:
High-dimensional nonlinear systems pose considerable challenges for modeling and control across many domains, from fluid mechanics to advanced robotics. Such systems are typically approximated with reduced-order models, which often rely on orthogonal projections, a simplification that may lead to large prediction errors. In this work, we derive optimality of fiber-aligned projections onto spectral submanifolds, preserving the nonlinear geometric structure and minimizing long-term prediction error. We propose a data-driven procedure to learn these projections from trajectories and demonstrate its effectiveness through a 180-dimensional robotic system. Our reduced-order models achieve up to fivefold improvement in trajectory tracking accuracy under model predictive control compared to the state of the art.

Authors:Francesco Bianchin, Robert Lefringhausen, Elisa Gaetan, Samuel Tesfazgi, Sandra Hirche
Title: A Set-Theoretic Robust Control Approach for Linear Quadratic Games with Unknown Counterparts
Abstract:
Ensuring robust decision-making in multi-agent systems is challenging when agents have distinct, possibly conflicting objectives and lack full knowledge of each other s strategies. This is apparent in safety-critical applications such as human-robot interaction and assisted driving, where uncertainty arises not only from unknown adversary strategies but also from external disturbances. To address this, the paper proposes a robust adaptive control approach based on linear quadratic differential games. Our method allows a controlled agent to iteratively refine its belief about the adversary strategy and disturbances using a set-membership approach, while simultaneously adapting its policy to guarantee robustness against the uncertain adversary policy and improve performance over time. We formally derive theoretical guarantees on the robustness of the proposed control scheme and its convergence to epsilon-Nash strategies. The effectiveness of our approach is demonstrated in a numerical simulation.

Authors:Raghu Arghal, Kevin He, Shirin Saeedi Bidokhti, Saswati Sarkar
Title: Controlled Social Learning: Altruism vs. Bias
Abstract:
We introduce a model of controlled sequential social learning in which a planner may pay a cost to adjust the private information structure of agents. The planner may seek to induce correct actions that are consistent with an unknown true state of the world (altruistic planner) or to induce a specific action the planner prefers (biased planner). Our framework presents a new optimization problem for social learning that combines dynamic programming with decentralized action choices and Bayesian belief updates. This sheds light on practical policy questions, such as how the socially optimal level of ad personalization changes according to current beliefs or how a political campaign may selectively illuminate or obfuscate the winning potential of its candidate among voters. We then prove the convexity of the value function and characterize the optimal policies of altruistic and biased planners, which attain desired tradeoffs between the costs they incur and the payoffs they earn from the choices they induce in the agents. Even for a planner who has equivalent knowledge to an individual, cannot lie or cherry-pick information, and is fully observable, we demonstrate that it is possible to dramatically influence social welfare in both positive and negative directions.

Authors:Andrew Millard, Joshua Murphy, Daniel Frisch, Simon Maskell
Title: Incorporating the ChEES Criterion into Sequential Monte Carlo Samplers
Abstract:
Markov chain Monte Carlo (MCMC) methods are a powerful but computationally expensive way of performing non-parametric Bayesian inference. MCMC proposals which utilise gradients, such as Hamiltonian Monte Carlo (HMC), can better explore the parameter space of interest if the additional hyper-parameters are chosen well. The No-U-Turn Sampler (NUTS) is a variant of HMC which is extremely effective at selecting these hyper-parameters but is slow to run and is not suited to GPU architectures. An alternative to NUTS, Change in the Estimator of the Expected Square HMC (ChEES-HMC) was shown not only to run faster than NUTS on GPU but also sample from posteriors more efficiently. Sequential Monte Carlo (SMC) samplers are another sampling method which instead output weighted samples from the posterior. They are very amenable to parallelisation and therefore being run on GPUs while having additional flexibility in their choice of proposal over MCMC. We incorporate (ChEEs-HMC) as a proposal into SMC samplers and demonstrate competitive but faster performance than NUTS on a number of tasks.

Authors:Samuel Tesfazgi, Leonhard Sprandl, Sandra Hirche
Title: Learning Geometrically-Informed Lyapunov Functions with Deep Diffeomorphic RBF Networks
Abstract:
The practical deployment of learning-based autonomous systems would greatly benefit from tools that flexibly obtain safety guarantees in the form of certificate functions from data. While the geometrical properties of such certificate functions are well understood, synthesizing them using machine learning techniques still remains a challenge. To mitigate this issue, we propose a diffeomorphic function learning framework where prior structural knowledge of the desired output is encoded in the geometry of a simple surrogate function, which is subsequently augmented through an expressive, topology-preserving state-space transformation. Thereby, we achieve an indirect function approximation framework that is guaranteed to remain in the desired hypothesis space. To this end, we introduce a novel approach to construct diffeomorphic maps based on RBF networks, which facilitate precise, local transformations around data. Finally, we demonstrate our approach by learning diffeomorphic Lyapunov functions from real-world data and apply our method to different attractor systems.

Authors:Dhananjay Tiwari, Salar Basiri, Srinivasa Salapaka
Title: Towards Enabling Learning for Time-Varying finite horizon Sequential Decision-Making Problems*
Abstract:
Parameterized Sequential Decision Making (Para-SDM) framework models a wide array of network design applications spanning supply-chain, transportation, and sensor networks. These problems entail sequential multi-stage optimization characterized by states, control actions, and cost functions dependent on designable parameters. The challenge is to determine both the sequential decision policy and parameters simultaneously to minimize cumulative stagewise costs. Many Para-SDM problems are NP-hard and often necessitate time-varying policies. Existing algorithms tackling finite-horizon time-varying Para-SDM problems struggle with scalability when faced with a large number of states. Conversely, the sole algorithm addressing infinite-horizon Para-SDM assumes time (stage)-invariance, yielding stationary policies. However, this approach proves scalable for time-invariant problems by leveraging deep neural networks to learn optimal stage-invariant state-action value functions, enabling handling of large-scale scenarios. This article proposes a novel approach that reinterprets finite-horizon, time-varying Para-SDM problems as equivalent time-invariant problems through topography lifting. Our method achieves nearly identical results to the time-varying solution while exhibiting improved performance times in various simulations, notably in the small cell network problem. This fresh perspective on Para-SDM problems expands the scope of addressable issues and holds promise for future scalability through the integration of learning methods.

Authors:Daniel Selvaratnam, Alessio Moreschini, Amritam Das, Thomas Parisini, Henrik Sandberg
Title: Frequency-Domain Bounds for the Multiconductor Telegrapher's Equation
Abstract:
We establish mathematical bounds on the chain, ABCD and immittance matrices of a multiconductor transmission line, based on the Telegrapher's equation. Closed-form expressions for those matrices are also presented. Existing results that hold on the imaginary axis are extended to the complex plane, without reliance on a simultaneous diagonalizability assumption that is ubiquitous in the literature. Therefore, the results remain valid even when line symmetry breaks down, as in the case of electrical faults. The system-theoretic properties established here are of general relevance to control, power systems, and signal processing involving multiconductor transmission lines.

Authors:Hung Hon Cheng, Josie Hughes
Title: 8-DoFs Cable Driven Parallel Robots for Bimanual Teleportation
Abstract:
Teleoperation plays a critical role in intuitive robot control and imitation learning, particularly for complex tasks involving mobile manipulators with redundant degrees of freedom (DoFs). However, most existing master controllers are limited to 6-DoF spatial control and basic gripper control, making them insufficient for controlling high-DoF robots and restricting the operator to a small workspace. In this work, we present a novel, low-cost, high-DoF master controller based on Cable-Driven Parallel Robots (CDPRs), designed to overcome these limitations. The system decouples translation and orientation control, following a scalable 3 + 3 + n DoF structure: 3 DoFs for large-range translation using a CDPR, 3 DoFs for orientation using a gimbal mechanism, and n additional DoFs for gripper and redundant joint control. Its lightweight cable-driven design enables a large and adaptable workspace while minimizing actuator load. The end-effector remains stable without requiring continuous high-torque input, unlike most serial robot arms. We developed the first dual-arm CDPR-based master controller using cost-effective actuators and a simple mechanical structure. In demonstrations, the system successfully controlled an 8-DoF robotic arm with a 2-DoF pan-tilt camera, performing tasks such as pick-and-place, knot tying, object sorting, and tape application. The results show precise, versatile, and practical high-DoF teleoperation.

Authors:Max Emerick, Bassam Bamieh
Title: Incompressible Optimal Transport and Applications in Fluid Mixing
Abstract:
The problem of incompressible fluid mixing arises in numerous engineering applications and has been well-studied over the years, yet many open questions remain. This paper aims to address the question "what do efficient flow fields for mixing look like, and how do they behave?" We approach this question by developing a framework which is inspired by the dynamic and geometric approach to optimal mass transport. Specifically, we formulate the fluid mixing problem as an optimal control problem where the dynamics are given by the continuity equation together with an incompressibility constraint. We show that within this framework, the set of reachable fluid configurations can formally be endowed with the structure of an infinite-dimensional Riemannian manifold, with a metric which is induced by the control effort, and that flow fields which are maximally efficient at mixing correspond to geodesics in this Riemannian space.

Authors:Nathan P. Lawrence, Thomas Banker, Ali Mesbah
Title: MPCritic: A plug-and-play MPC architecture for reinforcement learning
Abstract:
The reinforcement learning (RL) and model predictive control (MPC) communities have developed vast ecosystems of theoretical approaches and computational tools for solving optimal control problems. Given their conceptual similarities but differing strengths, there has been increasing interest in synergizing RL and MPC. However, existing approaches tend to be limited for various reasons, including computational cost of MPC in an RL algorithm and software hurdles towards seamless integration of MPC and RL tools. These challenges often result in the use of "simple" MPC schemes or RL algorithms, neglecting the state-of-the-art in both areas. This paper presents MPCritic, a machine learning-friendly architecture that interfaces seamlessly with MPC tools. MPCritic utilizes the loss landscape defined by a parameterized MPC problem, focusing on "soft" optimization over batched training steps; thereby updating the MPC parameters while avoiding costly minimization and parametric sensitivities. Since the MPC structure is preserved during training, an MPC agent can be readily used for online deployment, where robust constraint satisfaction is paramount. We demonstrate the versatility of MPCritic, in terms of MPC architectures and RL algorithms that it can accommodate, on classic control benchmarks.

Authors:Jiayi Li, Jiale Wei, Matthew Motoki, Yan Jiang, Baosen Zhang
Title: Adaptive Pricing for Optimal Coordination in Networked Energy Systems with Nonsmooth Cost Functions
Abstract:
Incentive-based coordination mechanisms for distributed energy consumption have shown promise in aligning individual user objectives with social welfare, especially under privacy constraints. Our prior work proposed a two-timescale adaptive pricing framework, where users respond to prices by minimizing their local cost, and the system operator iteratively updates the prices based on aggregate user responses. A key assumption was that the system cost need to smoothly depend on the aggregate of the user demands. In this paper, we relax this assumption by considering the more realistic model of where the cost are determined by solving a DCOPF problem with constraints. We present a generalization of the pricing update rule that leverages the generalized gradients of the system cost function, which may be nonsmooth due to the structure of DCOPF. We prove that the resulting dynamic system converges to a unique equilibrium, which solves the social welfare optimization problem. Our theoretical results provide guarantees on convergence and stability using tools from nonsmooth analysis and Lyapunov theory. Numerical simulations on networked energy systems illustrate the effectiveness and robustness of the proposed scheme.

Authors:Oscar Jed Chuy, Matthew Hale, Ricardo Sanfelice
Title: A Hybrid Systems Model of Feedback Optimization for Linear Systems
Abstract:
Feedback optimization algorithms compute inputs to a system in real time, which helps mitigate the effects of unknown disturbances. However, existing work models both system dynamics and computations in either discrete or continuous time, which does not faithfully model some applications. In this work, we model linear system dynamics in continuous time, and we model the computations of inputs in discrete time. Therefore, we present a novel hybrid systems framework for modeling feedback optimization of linear time-invariant systems that are subject to unknown, constant disturbances. For this setup, we first establish the well-posedness of the hybrid model and establish completeness of solutions while ruling out Zeno behavior. Then, our main result derives a convergence rate and an error bound for the full hybrid computation-in-theloop system and shows that it converges exponentially towards a ball of known radius about a desired fixed point. Simulation results show that this approach successfully mitigates the effects of disturbances, with the magnitude of steady-state error being 81% less than the magnitude of the disturbances in the system.

Authors:Otacilio B. L. Neto, Michela Mulas, Francesco Corona
Title: A system level approach to generalised feedback Nash equilibrium seeking in partially-observed games
Abstract:
This work proposes an algorithm for seeking generalised feedback Nash equilibria (GFNE) in noncooperative dynamic games. The focus is on cyber-physical systems with dynamics which are linear, stochastic, potentially unstable, and partially observed. We employ System Level Synthesis (SLS) to reformulate the problem as the search for an equilibrium profile of closed-loop responses to noise, which can then be used to reconstruct a stabilising output-feedback policy. Under this setup, we leverage monotone operator theory to design a GFNE-seeking algorithm capable to enforce closed-loop stability, operational constraints, and communication constraints onto the control policies. This algorithm is amenable to numerical implementation and we provide conditions for its convergence. We demonstrate our approach in a simulated experiment on the noncooperative stabilisation of a decentralised power-grid.

Authors:Le Liu, Yu Kawano, Antai Xie, Ming Cao
Title: Initial State Privacy of Nonlinear Systems on Riemannian Manifolds
Abstract:
In this paper, we investigate initial state privacy protection for discrete-time nonlinear closed systems. By capturing Riemannian geometric structures inherent in such privacy challenges, we refine the concept of differential privacy through the introduction of an initial state adjacency set based on Riemannian distances. A new differential privacy condition is formulated using incremental output boundedness, enabling the design of time-varying Laplacian noise to achieve specified privacy guarantees. The proposed framework extends beyond initial state protection to also cover system parameter privacy, which is demonstrated as a special application.

Authors:Renato Vizuete, Julien M. Hendrickx
Title: Consensus on Open Multi-Agent Systems Over Graphs Sampled from Graphons
Abstract:
We show how graphons can be used to model and analyze open multi-agent systems, which are multi-agent systems subject to arrivals and departures, in the specific case of linear consensus. First, we analyze the case of replacements, where under the assumption of a deterministic interval between two replacements, we derive an upper bound for the disagreement in expectation. Then, we study the case of arrivals and departures, where we define a process for the evolution of the number of agents that guarantees a minimum and a maximum number of agents. Next, we derive an upper bound for the disagreement in expectation, and we establish a link with the spectrum of the expected graph used to generate the graph topologies. Finally, for stochastic block model (SBM) graphons, we prove that the computation of the spectrum of the expected graph can be performed based on a matrix whose dimension depends only on the graphon and it is independent of the number of agents.

Authors:Le Liu, Yu Kawano, Yangming Dou, Ming Cao
Title: Distributionally Robust Model Order Reduction for Linear Systems
Abstract:
In this paper, we investigate distributionally robust model order reduction for linear, discrete-time, time-invariant systems. The external input is assumed to follow an uncertain distribution within a Wasserstein ambiguity set. We begin by considering the case where the distribution is certain and formulate an optimization problem to obtain the reduced model. When the distribution is uncertain, the interaction between the reduced-order model and the distribution is modeled by a Stackelberg game. To ensure solvability, we first introduce the Gelbrich distance and demonstrate that the Stackelberg game within a Wasserstein ambiguity set is equivalent to that within a Gelbrich ambiguity set. Then, we propose a nested optimization problem to solve the Stackelberg game. Furthermore, the nested optimization problem is relaxed into a nested convex optimization problem, ensuring computational feasibility. Finally, a simulation is presented to illustrate the effectiveness of the proposed method.

Authors:Le Liu, Yu Kawano, Ming Cao
Title: Privacy Preservation for Statistical Input in Dynamical Systems
Abstract:
This paper addresses the challenge of privacy preservation for statistical inputs in dynamical systems. Motivated by an autonomous building application, we formulate a privacy preservation problem for statistical inputs in linear time-invariant systems. What makes this problem widely applicable is that the inputs, rather than being assumed to be deterministic, follow a probability distribution, inherently embedding privacy-sensitive information that requires protection. This formulation also presents a technical challenge as conventional differential privacy mechanisms are not directly applicable. Through rigorous analysis, we develop strategy to achieve $(0, δ)$ differential privacy through adding noise. Finally, the effectiveness of our methods is demonstrated by revisiting the autonomous building application.

Authors:Davide Tebaldi, Roberto Zanasi
Title: On the Analysis of Qualitative Nyquist Plots
Abstract:
A powerful tool in control and systems engineering is represented by Nyquist plots, for which a qualitative representation often gives a clearer visualization of the frequency response function that is typically not given by computer programs, especially if portions of the Nyquist plot extend to infinity. This letter addresses the graphical analysis of the frequency response function, with the objective of enhancing the procedure for the qualitative construction of Nyquist plots. Several results supported by analytical proofs are derived for what concerns the low and high frequency behavior, which enable to improve the qualitative construction of Nyquist plots in the vicinity of the initial and final points.

Authors:Subhadip Ghosh, Priyadarshi Mukherjee, Sasthi C. Ghosh
Title: Energy-efficient UAV movement and user-UAV association in multi-UAV networks
Abstract:
These days, unmanned aerial vehicle (UAV)-based millimeter wave (mmWave) communication systems have drawn a lot of attention due to the increasing demand for faster data rates. Given the susceptibility of mmWave signals to obstacles and high propagation loss of mmWaves, ensuring line-of-sight (LoS) connectivity is critical for maintaining robust and efficient communication. Furthermore, UAVs have limited power resource and limited capacity in terms of number of users it can serve. Most significantly different users have different delay requirements and they keep moving while interacting with the UAVs. In this paper, first, we have provided an efficient solution for the optimal movement of the UAVs, by taking into account the energy efficiency of the UAVs as well as the mobility and delay priority of the users. Next, we have proposed a greedy solution for the optimal user-UAV assignment. After that, the numerical results show how well the suggested solution performs in comparison to the current benchmarks in terms of delay suffered by the users, number of unserved users, and energy efficiency of the UAVs.

Authors:Victor Lutz, Ludovic de Matteïs, Virgile Batto, Nicolas Mansard
Title: Control of Humanoid Robots with Parallel Mechanisms using Kinematic Actuation Models
Abstract:
Inspired by the mechanical design of Cassie, several recently released humanoid robots are using actuator configuration in which the motor is displaced from the joint location to optimize the leg inertia. This in turn induces a non linearity in the reduction ratio of the transmission which is often neglected when computing the robot motion (e.g. by trajectory optimization or reinforcement learning) and only accounted for at control time. This paper proposes an analytical method to efficiently handle this non-linearity. Using this actuation model, we demonstrate that we can leverage the dynamic abilities of the non-linear transmission while only modeling the inertia of the main serial chain of the leg, without approximating the motor capabilities nor the joint range. Based on analytical inverse kinematics, our method does not need any numerical routines dedicated to the closed-kinematics actuation, hence leading to very efficient computations. Our study focuses on two mechanisms widely used in recent humanoid robots; the four bar knee linkage as well as a parallel 2 DoF ankle mechanism. We integrate these models inside optimization based (DDP) and learning (PPO) control approaches. A comparison of our model against a simplified model that completely neglects closed chains is then shown in simulation.

Authors:Sebastián Espinel-Ríos, José L. Avalos, Ehecatl Antonio del Rio Chanona, Dongda Zhang
Title: Reinforcement learning for efficient and robust multi-setpoint and multi-trajectory tracking in bioprocesses
Abstract:
Efficient and robust bioprocess control is essential for maximizing performance and adaptability in advanced biotechnological systems. In this work, we present a reinforcement-learning framework for multi-setpoint and multi-trajectory tracking. Tracking multiple setpoints and time-varying trajectories in reinforcement learning is challenging due to the complexity of balancing multiple objectives, a difficulty further exacerbated by system uncertainties such as uncertain initial conditions and stochastic dynamics. This challenge is relevant, e.g., in bioprocesses involving microbial consortia, where precise control over population compositions is required. We introduce a novel return function based on multiplicative reciprocal saturation functions, which explicitly couples reward gains to the simultaneous satisfaction of multiple references. Through a case study involving light-mediated cybergenetic growth control in microbial consortia, we demonstrate via computational experiments that our approach achieves faster convergence, improved stability, and superior control compliance compared to conventional quadratic-cost-based return functions. Moreover, our method enables tuning of the saturation function's parameters, shaping the learning process and policy updates. By incorporating system uncertainties, our framework also demonstrates robustness, a key requirement in industrial bioprocessing. Overall, this work advances reinforcement-learning-based control strategies in bioprocess engineering, with implications in the broader field of process and systems engineering.

Authors:Davide Tebaldi, Roberto Zanasi
Title: The Construction of Asymptotic Bode Plots: A New Direct Method
Abstract:
Bode plots represent an essential tool in control and systems engineering. In order to perform an initial qualitative analysis of the considered systems, the construction of asymptotic Bode plots is often sufficient. The standard methods for constructing asymptotic Bode plots are characterized by the same drawbacks: they are not systematic, may be not precise and time-consuming. This is because they require the detailed analysis of the different factors composing the considered transfer function, meaning that more and more intermediate steps are required as the number of factors increases. In this paper, a new method for the construction of asymptotic Bode plots is proposed, which is based on the systematic calculations of the so-called generalized approximating functions and on the use of well defined properties. The proposed method is referred to as a direct method since it allows to directly draw the asymptotic Bode magnitude and phase plots of the complete transfer function without requiring the detailed analysis nor the plots construction of each factor. This latter feature also makes the proposed direct method more systematic, potentially more precise and less time-consuming compared to standard methods, especially when dealing with a large number of factors in the transfer function. The comparison of the proposed direct method with the standard approaches is performed, in order to examine the benefits offered by the direct method.

Authors:Changyu Lee, Kiyong Park, Jinwhan Kim
Title: Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles
Abstract:
This paper presents a new control barrier function (CBF) designed to improve the efficiency of collision avoidance for nonholonomic vehicles. Traditional CBFs typically rely on the shortest Euclidean distance to obstacles, overlooking the limited heading change ability of nonholonomic vehicles. This often leads to abrupt maneuvers and excessive speed reductions, which is not desirable and reduces the efficiency of collision avoidance. Our approach addresses these limitations by incorporating the distance to the turning circle, considering the vehicle's limited maneuverability imposed by its nonholonomic constraints. The proposed CBF is integrated with model predictive control (MPC) to generate more efficient trajectories compared to existing methods that rely solely on Euclidean distance-based CBFs. The effectiveness of the proposed method is validated through numerical simulations on unicycle vehicles and experiments with underactuated surface vehicles.

Authors:Takahiro Fuke, Masafumi Endo, Kohei Honda, Genya Ishigami
Title: DRPA-MPPI: Dynamic Repulsive Potential Augmented MPPI for Reactive Navigation in Unstructured Environments
Abstract:
Reactive mobile robot navigation in unstructured environments is challenging when robots encounter unexpected obstacles that invalidate previously planned trajectories. Model predictive path integral control (MPPI) enables reactive planning, but still suffers from limited prediction horizons that lead to local minima traps near obstacles. Current solutions rely on heuristic cost design or scenario-specific pre-training, which often limits their adaptability to new environments. We introduce dynamic repulsive potential augmented MPPI (DRPA-MPPI), which dynamically detects potential entrapments on the predicted trajectories. Upon detecting local minima, DRPA-MPPI automatically switches between standard goal-oriented optimization and a modified cost function that generates repulsive forces away from local minima. Comprehensive testing in simulated obstacle-rich environments confirms DRPA-MPPI's superior navigation performance and safety compared to conventional methods with less computational burden.

Authors:Shaohuai Liu, Lin Dong, Chao Tian, Le Xie
Title: Unlocking Multi-Task Electric Energy System Intelligence: Data Scaling Laws and Performance with Limited Fine-Tuning
Abstract:
Data scaling has revolutionized research fields like natural language processing, computer vision, and robotics control, providing foundation models with remarkable multi-task and generalization capabilities. In this paper, we investigate whether similar data scaling laws exist in developing foundation models for power systems, and whether appropriate data scaling can yield multi-task, cross-timescales capabilities that can be deployed in \textit{unseen} operational scenarios. To this end, we conducted a comprehensive empirical study on data scaling by fine-tuning open-source foundation models using labeled data collected from diverse operational tasks and scenarios. We study how a foundation model's scenario generalization performance evolves with the number of training tasks, scenarios, and demonstrations. Our study involved collecting more than 450k demonstrations and implementing independent tests under a rigorous evaluation framework. Our findings reveal several key insights: First, the generalization performance of a fine-tuned foundation model follows an approximate power-law relationship with the number of demonstrations and scenarios. Second, the fine-tuned model also demonstrates impressive multi-task capabilities, where multi-task training shares similar performance improvements with single-task training as the number of demonstrations increases, without interference among tasks. Lastly, models with small parameter sizes could have strong performance as well. Model performance does not scale significantly with parameter size. These findings underscore the feasibility of developing multi-task foundation models tailored for power systems, demonstrating that while larger datasets and models generally improve performance, extreme scaling is unnecessary to achieve satisfactory outcomes.

Authors:Leonardo F. Dos Santos, Cícero Zanette, Elisa G. Vergamini, Lucca Maitan, Thiago Boaventura
Title: Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control
Abstract:
This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D graphical approaches by incorporating mass, stiffness, and damping dynamics, and associates the impedance control parameters with linear transformations to plot a parametric 3D ellipse and its projections in 2D for a mass-spring-damper impedance under sinusoidal reference. Experimental evaluation demonstrates the effectiveness of the proposed representation for analysis of impedance control. The method applies to various compliant control topologies and can be extended to other model-based control approaches.

Authors:Wenjie Huang, Yang Li, Shijie Yuan, Jingjia Teng, Hongmao Qin, Yougang Bian
Title: Reachable Sets-based Trajectory Planning Combining Reinforcement Learning and iLQR
Abstract:
The driving risk field is applicable to more complex driving scenarios, providing new approaches for safety decision-making and active vehicle control in intricate environments. However, existing research often overlooks the driving risk field and fails to consider the impact of risk distribution within drivable areas on trajectory planning, which poses challenges for enhancing safety. This paper proposes a trajectory planning method for intelligent vehicles based on the risk reachable set to further improve the safety of trajectory planning. First, we construct the reachable set incorporating the driving risk field to more accurately assess and avoid potential risks in drivable areas. Then, the initial trajectory is generated based on safe reinforcement learning and projected onto the reachable set. Finally, we introduce a trajectory planning method based on a constrained iterative quadratic regulator to optimize the initial solution, ensuring that the planned trajectory achieves optimal comfort, safety, and efficiency. We conduct simulation tests of trajectory planning in high-speed lane-changing scenarios. The results indicate that the proposed method can guarantee trajectory comfort and driving efficiency, with the generated trajectory situated outside high-risk boundaries, thereby ensuring vehicle safety during operation.

Authors:Ralph Sabbagh, Olga Movilla Miangolarra, Tryphon T. Georgiou
Title: Regulation of a continuously monitored quantum harmonic oscillator with inefficient detectors
Abstract:
We study the control problem of regulating the purity of a quantum harmonic oscillator in a Gaussian state via weak measurements. Specifically, we assume time-invariant Hamiltonian dynamics and that control is exerted via the back-action induced from monitoring the oscillator's position and momentum observables; the manipulation of the detector measurement strengths regulates the purity of the target Gaussian quantum state. After briefly drawing connections between Gaussian quantum dynamics and stochastic control, we focus on the effect of inefficient detectors and derive closed-form expressions for the transient and steady-state dynamics of the state covariance. We highlight the degradation of attainable purity that is due to inefficient detectors, as compared to that dictated by the Robertson-Schrödinger uncertainty relation. Our results suggest that quantum correlations can enhance the purity at steady-state. The quantum harmonic oscillator represents a basic system where analytic formulae may provide insights into the role of inefficient measurements in quantum control; the gained insights are pertinent to measurement-based quantum engines and cooling experiments.

Authors:Tommaso Van Der Meer, Andrea Garulli, Antonio Giannitrapani, Renato Quartullo
Title: A Comparative Study of Human Motion Models in Reinforcement Learning Algorithms for Social Robot Navigation
Abstract:
Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which directly impacts the design and evaluation of navigation algorithms. This paper presents a comparative study of two popular categories of human motion models used in social robot navigation, namely velocity-based models and force-based models. A system-theoretic representation of both model types is presented, which highlights their common feedback structure, although with different state variables. Several navigation policies based on reinforcement learning are trained and tested in various simulated environments involving pedestrian crowds modeled with these approaches. A comparative study is conducted to assess performance across multiple factors, including human motion model, navigation policy, scenario complexity and crowd density. The results highlight advantages and challenges of different approaches to modeling human behavior, as well as their role during training and testing of learning-based navigation policies. The findings offer valuable insights and guidelines for selecting appropriate human motion models when designing socially-aware robot navigation systems.

Authors:Veronica Centorrino, Francesca Rossi, Francesco Bullo, Giovanni Russo
Title: Proximal Gradient Dynamics and Feedback Control for Equality-Constrained Composite Optimization
Abstract:
This paper studies equality-constrained composite minimization problems. This class of problems, capturing regularization terms and convex inequality constraints, naturally arises in a wide range of engineering and machine learning applications. To tackle these minimization problems, we introduce the \emph{proportional--integral proximal gradient dynamics} (PI--PGD): a closed-loop system where the Lagrange multipliers are control inputs and states are the problem decision variables. First, we establish the equivalence between the minima of the optimization problem and the equilibria of the PI--PGD. Then {for the case of affine constraints}, {by} leveraging tools from contraction theory we give a comprehensive convergence analysis for the dynamics, showing linear--exponential convergence towards the equilibrium. That is, the distance between each solution and the equilibrium is upper bounded by a function that first decreases linearly and then exponentially. Our findings are illustrated numerically on a set of representative examples, which include an application to entropy-regularized optimal transport.

Authors:Xinxin Zhang, S. Hassan HosseinNia
Title: Enhancing Reset Control Phase with Lead Shaping Filters: Applications to Precision Motion Systems
Abstract:
This study presents a shaped reset feedback control strategy to enhance the performance of precision motion systems. The approach utilizes a phase-lead compensator as a shaping filter to tune the phase of reset instants, thereby shaping the nonlinearity in the first-order reset control. {The design achieves either an increased phase margin while maintaining gain properties or improved gain without sacrificing phase margin, compared to reset control without the shaping filter.} Then, frequency-domain design procedures are provided for both Clegg Integrator (CI)-based and First-Order Reset Element (FORE)-based reset control systems. Finally, the effectiveness of the proposed strategy is demonstrated through two experimental case studies on a precision motion stage. In the first case, the shaped reset control leverages phase-lead benefits to achieve zero overshoot in the transient response. In the second case, the shaped reset control strategy enhances the gain advantages of the previous reset element, resulting in improved steady-state performance, including better tracking precision and disturbance rejection, while reducing overshoot for an improved transient response.

Authors:Michael Chertkov, Sungsoo Ahn, Hamidreza Behjoo
Title: Sampling Decisions
Abstract:
In this manuscript, we introduce a novel Decision Flow (DF) framework for sampling decisions from a target distribution while incorporating additional guidance from a prior sampler. DF can be viewed as an AI-driven algorithmic reincarnation of the Markov Decision Process (MDP) approach in stochastic optimal control. It extends the continuous-space, continuous-time Path Integral Diffusion sampling technique of [Behjoo, Chertkov 2025] to discrete time and space, while also generalizing the Generative Flow Network (GFN) framework of [Bengio, et al 2021]. In its most basic form an explicit formulation that does not require Neural Networks (NNs), DF leverages the linear solvability of the underlying MDP [Todorov, 2007] to adjust the transition probabilities of the prior sampler. The resulting Markov process is expressed as a convolution of the reverse-time Green's function of the prior sampling with the target distribution. We illustrate the DF framework through an example of sampling from the Ising model -- compare DF to Metropolis-Hastings to quantify its efficiency, discuss potential NN-based extensions, and outline how DF can enhance guided sampling across various applications.

Authors:Maryam Norouzi, Mingxi Zhou, Chengzhi Yuan
Title: Cooperative Deterministic Learning-Based Formation Control for a Group of Nonlinear Mechanical Systems Under Complete Uncertainty
Abstract:
In this work we address the formation control problem for a group of nonlinear mechanical systems with complete uncertain dynamics under a virtual leader-following framework. We propose a novel cooperative deterministic learning-based adaptive formation control algorithm. This algorithm is designed by utilizing artificial neural networks to simultaneously achieve formation tracking control and locally-accurate identification/learning of the nonlinear uncertain dynamics of the considered group of mechanical systems. To demonstrate the practicality and verify the effectiveness of the proposed results, numerical simulations have been conducted.

Authors:Spencer Schutz, Charlott Vallon, Ben Recht, Francesco Borrelli
Title: On Sampling Time and Invariance
Abstract:
Invariant sets define regions of the state space where system constraints are always satisfied. The majority of numerical techniques for computing invariant sets have been developed for discrete-time systems with a fixed sampling time. Understanding how invariant sets change with sampling time is critical for designing adaptive-sampling control schemes that ensure constraint satisfaction. We introduce M-step hold control invariance, a generalization of traditional control invariance, and show its practical use to assess the link between control sampling frequency and constraint satisfaction. We robustify M-step hold control invariance against model mismatches and discretization errors, paving the way for adaptive-sampling control strategies.

Authors:Thomas Banker, Nathan P. Lawrence, Ali Mesbah
Title: Local-Global Learning of Interpretable Control Policies: The Interface between MPC and Reinforcement Learning
Abstract:
Making optimal decisions under uncertainty is a shared problem among distinct fields. While optimal control is commonly studied in the framework of dynamic programming, it is approached with differing perspectives of the Bellman optimality condition. In one perspective, the Bellman equation is used to derive a global optimality condition useful for iterative learning of control policies through interactions with an environment. Alternatively, the Bellman equation is also widely adopted to derive tractable optimization-based control policies that satisfy a local notion of optimality. By leveraging ideas from the two perspectives, we present a local-global paradigm for optimal control suited for learning interpretable local decision makers that approximately satisfy the global Bellman equation. The benefits and practical complications in local-global learning are discussed. These aspects are exemplified through case studies, which give an overview of two distinct strategies for unifying reinforcement learning and model predictive control. We discuss the challenges and trade-offs in these local-global strategies, towards highlighting future research opportunities for safe and optimal decision-making under uncertainty.

Authors:Allahkaram Shafiei, Hozefa Jesawada, Karl Friston, Giovanni Russo
Title: Robust Decision-Making Via Free Energy Minimization
Abstract:
Despite their groundbreaking performance, state-of-the-art autonomous agents can misbehave when training and environmental conditions become inconsistent, with minor mismatches leading to undesirable behaviors or even catastrophic failures. Robustness towards these training/environment ambiguities is a core requirement for intelligent agents and its fulfillment is a long-standing challenge when deploying agents in the real world. Here, we introduce a Distributionally Robust Free Energy model (DR-FREE) that instills this core property by design. It directly wires robustness into the agent decision-making mechanisms via free energy minimization. By combining a robust extension of the free energy principle with a novel resolution engine, DR-FREE returns a policy that is optimal-yet-robust against ambiguity. The policy has an explicit, soft-max, structure that reveals the mechanistic role of ambiguity on optimal decisions and requisite Bayesian belief updating. We evaluate DR-FREE on an experimental testbed involving real rovers navigating an ambiguous environment filled with obstacles. Across all the experiments, DR-FREE enables robots to successfully navigate towards their goal even when, in contrast, state-of-the-art free energy models fail. In short, DR-FREE can tackle scenarios that elude previous methods: this milestone may inspire both deployment in multi-agent settings and, at a perhaps deeper level, the quest for a biologically plausible explanation of how natural agents -- with little or no training -- survive in capricious environments.

Authors:Bernd Zimmering, Cecília Coelho, Vaibhav Gupta, Maria Maleshkova, Oliver Niggemann
Title: Breaking Free: Decoupling Forced Systems with Laplace Neural Networks
Abstract:
Modelling forced dynamical systems - where an external input drives the system state - is critical across diverse domains such as engineering, finance, and the natural sciences. In this work, we propose Laplace-Net, a decoupled, solver-free neural framework for learning forced and delay-aware systems. It leverages a Laplace transform-based approach to decompose internal dynamics, external inputs, and initial values into established theoretical concepts, enhancing interpretability. Laplace-Net promotes transferability since the system can be rapidly re-trained or fine-tuned for new forcing signals, providing flexibility in applications ranging from controller adaptation to long-horizon forecasting. Experimental results on eight benchmark datasets - including linear, non-linear, and delayed systems - demonstrate the method's improved accuracy and robustness compared to state-of-the-art approaches, particularly in handling complex and previously unseen inputs.

Authors:Donglai Ma, Xiaoyu Cao, Bo Zeng, Chen Chen, Qiaozhu Zhai, Qing-Shan Jia, Xiaohong Guan
Title: Robust Co-Optimization of Distribution Network Hardening and Mobile Resource Scheduling with Decision-Dependent Uncertainty
Abstract:
This paper studies the robust co-planning of proactive network hardening and mobile hydrogen energy resources (MHERs) scheduling, which is to enhance the resilience of power distribution network (PDN) against the disastrous events. A decision-dependent robust optimization model is formulated with min-max resilience constraint and discrete recourse structure, which helps achieve the load survivability target considering endogenous uncertainties. Different from the traditional model with a fixed uncertainty set, we adopt a dynamic representation that explicitly captures the endogenous uncertainties of network contingency as well as the available hydrogen storage levels of MHERs, which induces a decision-dependent uncertainty (DDU) set. Also, the multi-period adaptive routing and energy scheduling of MHERs are modeled as a mixed-integer recourse problem for further decreasing the resilience cost. Then, a nested parametric column-and-constraint generation (N-PC&CG) algorithm is customized and developed to solve this challenging formulation. By leveraging the structural property of the DDU set as well as the combination of discrete recourse decisions and the corresponding extreme points, we derive a strengthened solution scheme with nontrivial enhancement strategies to realize efficient and exact computation. Numerical results on 14-bus test system and 56-bus real-world distribution network demonstrate the resilience benefits and economical feasibility of the proposed method under different damage severity levels. Moreover, the enhanced N-PC&CG shows a superior solution capability to support prompt decisions for resilient planning with DDU models.

Authors:Takumi Ito, Riku Funada, Mitsuji Sampei, Gennaro Notomista
Title: Energy-Aware Task Allocation for Teams of Multi-mode Robots
Abstract:
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where the mode of each robot is represented by a node. Next, we formulate a constrained optimization problem to decide both the task to be allocated to each robot as well as the mode in which the latter should execute the task. The robot modes are optimized based on the state of the robot and the environment, as well as the energy required to execute the allocated task. Moreover, the proposed framework is able to encompass kinematic and dynamic models of robots alike. Furthermore, we provide sufficient conditions for the convergence of task execution and allocation for both robot models.

Authors:Roland Schwan, Daniel Kuhn, Colin N. Jones
Title: Exploiting Multistage Optimization Structure in Proximal Solvers
Abstract:
This paper presents an efficient structure-exploiting algorithm for multistage optimization problems. The proposed method extends existing approaches by supporting full coupling between stages and global decision variables in the cost, as well as equality and inequality constraints. The algorithm is implemented as a new backend in the PIQP solver and leverages a specialized block-tri-diagonal-arrow Cholesky factorization within a proximal interior-point framework to handle the underlying problem structure efficiently. The implementation features automatic structure detection and seamless integration with existing interfaces. Numerical experiments demonstrate significant performance improvements, achieving up to 13x speed-up compared to a generic sparse backend and matching/exceeding the performance of the state-of-the-art specialized solver HPIPM. The solver is particularly effective for applications such as model predictive control, robust scenario optimization, and periodic optimization problems.

Authors:Yongyi Jia, Shu Miao, Jiayu Wu, Ming Yang, Chengzhi Hu, Xiang Li
Title: Flow-Aware Navigation of Magnetic Micro-Robots in Complex Fluids via PINN-Based Prediction
Abstract:
While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo implementation. This paper introduces a novel flow-aware navigation and control strategy for magnetic micro-robots that explicitly accounts for the impact of fluid flow on their movement. First, the proposed method employs a Physics-Informed U-Net (PI-UNet) to refine the numerically predicted fluid velocity using local observations. Then, the predicted velocity is incorporated in a flow-aware A* path planning algorithm, ensuring efficient navigation while mitigating flow-induced disturbances. Finally, a control scheme is developed to compensate for the predicted fluid velocity, thereby optimizing the micro-robot's performance. A series of simulation studies and real-world experiments are conducted to validate the efficacy of the proposed approach. This method enhances both planning accuracy and control precision, expanding the potential applications of magnetic micro-robots in fluid-affected environments typical of many medical scenarios.

Authors:Roshan S. Kaundinya, John Irvin Alora, Jonas G. Matt, Luis A. Pabon, Marco Pavone, George Haller
Title: Data-Driven Soft Robot Control via Adiabatic Spectral Submanifolds
Abstract:
The mechanical complexity of soft robots creates significant challenges for their model-based control. Specifically, linear data-driven models have struggled to control soft robots on complex, spatially extended paths that explore regions with significant nonlinear behavior. To account for these nonlinearities, we develop here a model-predictive control strategy based on the recent theory of adiabatic spectral submanifolds (aSSMs). This theory is applicable because the internal vibrations of heavily overdamped robots decay at a speed that is much faster than the desired speed of the robot along its intended path. In that case, low-dimensional attracting invariant manifolds (aSSMs) emanate from the path and carry the dominant dynamics of the robot. Aided by this recent theory, we devise an aSSM-based model-predictive control scheme purely from data. We demonstrate the effectiveness of this data-driven model on various dynamic trajectory tracking tasks on a high-fidelity and high-dimensional finite-element model of a soft trunk robot. Notably, we find that four- or five-dimensional aSSM-reduced models outperform the tracking performance of other data-driven modeling methods by a factor up to 10 across all closed-loop control tasks.

Authors:Hendrik Scheidel, Camilo Gonzalez, Houshyar Asadi, Tobias Bellmann, Andreas Seefried, Shady Mohamed, Saeid Nahavandi
Title: A nonlinear real time capable motion cueing algorithm based on deep reinforcement learning
Abstract:
In motion simulation, motion cueing algorithms are used for the trajectory planning of the motion simulator platform, where workspace limitations prevent direct reproduction of reference trajectories. Strategies such as motion washout, which return the platform to its center, are crucial in these settings. For serial robotic MSPs with highly nonlinear workspaces, it is essential to maximize the efficient utilization of the MSPs kinematic and dynamic capabilities. Traditional approaches, including classical washout filtering and linear model predictive control, fail to consider platform-specific, nonlinear properties, while nonlinear model predictive control, though comprehensive, imposes high computational demands that hinder real-time, pilot-in-the-loop application without further simplification. To overcome these limitations, we introduce a novel approach using deep reinforcement learning for motion cueing, demonstrated here for the first time in a 6-degree-of-freedom setting with full consideration of the MSPs kinematic nonlinearities. Previous work by the authors successfully demonstrated the application of DRL to a simplified 2-DOF setup, which did not consider kinematic or dynamic constraints. This approach has been extended to all 6 DOF by incorporating a complete kinematic model of the MSP into the algorithm, a crucial step for enabling its application on a real motion simulator. The training of the DRL-MCA is based on Proximal Policy Optimization in an actor-critic implementation combined with an automated hyperparameter optimization. After detailing the necessary training framework and the algorithm itself, we provide a comprehensive validation, demonstrating that the DRL MCA achieves competitive performance against established algorithms. Moreover, it generates feasible trajectories by respecting all system constraints and meets all real-time requirements with low...

Authors:Anthony Couthures, Vineeth S. Varma, Samson Lasaulce, Irinel-Constantin Morarescu
Title: Global synchronization of multi-agent systems with nonlinear interactions
Abstract:
The paper addresses the synchronization of multi-agent systems with continuous-time dynamics interacting through a very general class of monotonic continuous signal functions that covers estimation biases, approximation of discrete quantization, or state-dependent estimation. Our analysis reveals that, in the setup under consideration, synchronization equilibria are exactly the fixed points of the signal function. We also derive intuitive stability conditions based on whether the signal underestimates or overestimates the state of the agents around these fixed points. Moreover, we show that network topology plays a crucial role in asymptotic synchronization. These results provide interesting insights into the interplay between communication nonlinearity and network connectivity, paving the way for advanced coordination strategies in complex systems.

Authors:Pol Jane-Soneira, Charles Muller, Felix Strehle, Sören Hohmann
Title: Passivity-Based Local Design Conditions for Global Optimality in Distributed Convex Optimization
Abstract:
In recent times, various distributed optimization algorithms have been proposed for whose specific agent dynamics global optimality and convergence is proven. However, there exist no general conditions for the design of such algorithms. In this paper, we leverage passivity theory to fi rst establish a distributed optimization framework with local design requirements for the agent dynamics in both unconstrained and constrained problems with undirected communication topologies. Under the roof of these requirements, the agents may use heterogeneous optimization algorithms without compromising global optimality and convergence. Subsequently, we propose some exemplary agent systems that comply with the established requirements. Compared to existing approaches, our algorithms do not require any global initialization nor communication of multiple variables. Consequently, the agents may leave or rejoin the networked optimization without compromising convergence to the correct global optimizer. Furthermore, we show that for unconstrained optimization, an extension to directed communication topologies is possible. Simulation results illustrate the plug-and-play capabilities and interoperability of the proposed agent dynamics.

Authors:Anmol Dwivedi, Ali Tajer
Title: Real-Time Risky Fault-Chain Search using Time-Varying Graph RNNs
Abstract:
This paper introduces a data-driven graphical framework for the real-time search of risky cascading fault chains (FCs) in power-grids, crucial for enhancing grid resiliency in the face of climate change. As extreme weather events driven by climate change increase, identifying risky FCs becomes crucial for mitigating cascading failures and ensuring grid stability. However, the complexity of the spatio-temporal dependencies among grid components and the exponential growth of the search space with system size pose significant challenges to modeling and risky FC search. To tackle this, we model the search process as a partially observable Markov decision process (POMDP), which is subsequently solved via a time-varying graph recurrent neural network (GRNN). This approach captures the spatial and temporal structure induced by the system's topology and dynamics, while efficiently summarizing the system's history in the GRNN's latent space, enabling scalable and effective identification of risky FCs.

Authors:Marius F. R. Juston, Alex Gisi, William R. Norris, Dustin Nottage, Ahmet Soylemezoglu
Title: APECS: Adaptive Personalized Control System Architecture
Abstract:
This paper presents the Adaptive Personalized Control System (APECS) architecture, a novel framework for human-in-the-loop control. An architecture is developed which defines appropriate constraints for the system objectives. A method for enacting Lipschitz and sector bounds on the resulting controller is derived to ensure desirable control properties. An analysis of worst-case loss functions and the optimal loss function weighting is made to implement an effective training scheme. Finally, simulations are carried out to demonstrate the effectiveness of the proposed architecture. This architecture resulted in a 4.5% performance increase compared to the human operator and 9% to an unconstrained feedforward neural network trained in the same way.

Authors:Kexuan Wang, An Liu
Title: Context-aware Constrained Reinforcement Learning Based Energy-Efficient Power Scheduling for Non-stationary XR Data Traffic
Abstract:
In XR downlink transmission, energy-efficient power scheduling (EEPS) is essential for conserving power resource while delivering large data packets within hard-latency constraints. Traditional constrained reinforcement learning (CRL) algorithms show promise in EEPS but still struggle with non-convex stochastic constraints, non-stationary data traffic, and sparse delayed packet dropout feedback (rewards) in XR. To overcome these challenges, this paper models the EEPS in XR as a dynamic parameter-constrained Markov decision process (DP-CMDP) with a varying transition function linked to the non-stationary data traffic and solves it by a proposed context-aware constrained reinforcement learning (CACRL) algorithm, which consists of a context inference (CI) module and a CRL module. The CI module trains an encoder and multiple potential networks to characterize the current transition function and reshape the packet dropout rewards according to the context, transforming the original DP-CMDP into a general CMDP with immediate dense rewards. The CRL module employs a policy network to make EEPS decisions under this CMDP and optimizes the policy using a constrained stochastic successive convex approximation (CSSCA) method, which is better suited for non-convex stochastic constraints. Finally, theoretical analyses provide deep insights into the CADAC algorithm, while extensive simulations demonstrate that it outperforms advanced baselines in both power conservation and satisfying packet dropout constraints.

Authors:Kaida Wu, Peihao Xiang, Chaohao Lin, Lixuan Chen, Ou Bai
Title: Real-Time Load Estimation for Load-lifting Exoskeletons Using Insole Pressure Sensors and Machine Learning
Abstract:
This paper presents a novel method for real-time lifting-load estimation to enhance the control strategies of upper-limb assistive exoskeletons. By leveraging cost-effective insole pressure sensors, the proposed system extracts differential pressure data that minimizes disturbances from variations in body weight and sensor placement. Two modeling approaches are explored: a channel-based method that employs traditional regression techniques-Elastic Net, Support Vector Regression (SVR), and Multi-Layer Perceptron (MLP)-and a map-based method that utilizes transfer learning with a pre-trained MobileNetV2 model. The experiment is in the preliminary test stage, covering load ranges from 2 kg to 10 kg in increments of 0.5 kg, and collecting data from three subjects to test the approach. In the Channel-based method, the average Weighted Mean Absolute Percentage Error(WMAPE) for three subjects showed that the SVR achieved 13.46%, with the MLP performing similarly. In the Map-based method, using data from one subject, the Fully Fine-Tuned MobileNetV2 model reached a WMAPE of 9.74%. The results indicate that the integration of insole sensor technology with advanced machine learning models provides an effective solution for dynamic load estimation, potentially reducing the risks of over- and under-compensation in exoskeleton control.

Authors:Tyrone Fernando, Mohamed Darouach
Title: Existence and Design of Target Output Controllers
Abstract:
This paper introduces new conditions for target output controllability and provides existence conditions for placing a specific number of poles with a target output controller. Additionally, an algorithm is presented for the design of a target output controller. Controllability of the system under consideration is not required for designing target output controllers in this context. The findings in this paper extend the principles of full state feedback control. Moreover, we present conditions for static output feedback control under specific constraints. Several numerical examples are provided to illustrate the results.

Authors:Shahriar Talebi, Na Li
Title: Ergodic-Risk Constrained Policy Optimization: The Linear Quadratic Case
Abstract:
Risk-sensitive control balances performance with resilience to unlikely events in uncertain systems. This paper introduces ergodic-risk criteria, which capture long-term cumulative risks through probabilistic limit theorems. By ensuring the dynamics exhibit strong ergodicity, we demonstrate that the time-correlated terms in these limiting criteria converge even with potentially heavy-tailed process noises as long as the noise has a finite fourth moment. Building upon this, we proposed the ergodic-risk constrained policy optimization which incorporates an ergodic-risk constraint to the classical Linear Quadratic Regulation (LQR) framework. We then propose a primal-dual policy optimization method that optimizes the average performance while satisfying the ergodic-risk constraints. Numerical results demonstrate that the new risk-constrained LQR not only optimizes average performance but also limits the asymptotic variance associated with the ergodic-risk criterion, making the closed-loop system more robust against sporadic large fluctuations in process noise.

Authors:Yifan Wang, Sherwin Stephen Chan, Mingyuan Lei, Lek Syn Lim, Henry Johan, Bingran Zuo, Wei Tech Ang
Title: A Human-In-The-Loop Simulation Framework for Evaluating Control Strategies in Gait Assistive Robots
Abstract:
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant challenge. This paper presented a Human-In-The-Loop (HITL) simulation framework tailored specifically for gait assistive robots, addressing unique challenges posed by passive support systems. We incorporated a realistic physical human-robot interaction (pHRI) model to enable a quantitative evaluation of robot control strategies, highlighting the performance of a speed-adaptive controller compared to a conventional PID controller in maintaining compliance and reducing gait distortion. We assessed the accuracy of the simulated interactions against that of the real-world data and revealed discrepancies in the adaptation strategies taken by the human and their effect on the human's gait. This work underscored the potential of HITL simulation as a versatile tool for developing and fine-tuning personalized control policies for various users.

Authors:Gabriele Dessena, Alessandro Pontillo, Marco Civera, Dmitry I. Ignatyev, James F. Whidborne, Luca Zanotti Fragonara
Title: Damping Identification Sensitivity in Flutter Speed Estimation
Abstract:
Predicting flutter remains a key challenge in aeroelastic research, with certain models relying on modal parameters, such as natural frequencies and damping ratios. These models are particularly useful in early design stages or for the development of small Unmanned Aerial Vehicles (maximum take-off mass below 7 kg). This study evaluates two frequency-domain system identification methods, Fast Relaxed Vector Fitting (FRVF) and the Loewner Framework (LF), for predicting the flutter onset speed of a flexible wing model. Both methods are applied to extract modal parameters from Ground Vibration Testing data, which are subsequently used to develop a reduced-order model with two degrees of freedom. Results indicate that FRVF and LF-informed models provide reliable flutter speed, with predictions deviating by no more than 3% (FRVF) and 5% (LF) from the N4SID-informed benchmark. The findings highlight the sensitivity of flutter speed predictions to damping ratio identification accuracy and demonstrate the potential of these methods as computationally efficient alternatives for preliminary aeroelastic assessments.

Authors:Donglai Ma, Xiaoyu Cao, Bo Zeng, Qing-Shan Jia, Chen Chen, Qiaozhu Zhai, Xiaohong Guan
Title: Proactive Robust Hardening of Resilient Power Distribution Network: Decision-Dependent Uncertainty Modeling and Fast Solution Strategy
Abstract:
To address the power system hardening problem, traditional approaches often adopt robust optimization (RO) that considers a fixed set of concerned contingencies, regardless of the fact that hardening some components actually renders relevant contingencies impractical. In this paper, we directly adopt a dynamic uncertainty set that explicitly incorporates the impact of hardening decisions on the worst-case contingencies, which leads to a decision-dependent uncertainty (DDU) set. Then, a DDU-based robust-stochastic optimization (DDU-RSO) model is proposed to support the hardening decisions on distribution lines and distributed generators (DGs). Also, the randomness of load variations and available storage levels is considered through stochastic programming (SP) in the innermost level problem. Various corrective measures (e.g., the joint scheduling of DGs and energy storage) are included, coupling with a finite support of stochastic scenarios, for resilience enhancement. To relieve the computation burden of this new hardening formulation, an enhanced customization of parametric column-and-constraint generation (P-C&CG) algorithm is developed. By leveraging the network structural information, the enhancement strategies based on resilience importance indices are designed to improve the convergence performance. Numerical results on 33-bus and 118-bus test distribution networks have demonstrated the effectiveness of DDU-RSO aided hardening scheme. Furthermore, in comparison to existing solution methods, the enhanced P-C&CG has achieved a superior performance by reducing the solution time by a few orders of magnitudes.

Authors:Davide Zorzenon, Jörg Raisch
Title: Controlled Invariance in Fully Actuated Max-plus Linear Systems with Precedence Semimodules
Abstract:
Given a max-plus linear system and a semimodule, the problem of computing the maximal controlled invariant subsemimodule is still open to this day. In this paper, we consider this problem for the specific class of fully actuated systems and constraints in the form of precedence semimodules. The assumption of full actuation corresponds to the existence of an input for each component of the system state. A precedence semimodule is the set of solutions of inequalities typically used to represent time-window constraints. We prove that, in this setting, it is possible to (i) compute the maximal controlled invariant subsemimodule and (ii) decide the convergence of a fixed-point algorithm introduced by R.D. Katz in strongly polynomial time.

Authors:Chidre Shravista Kashyap, Pushpak Jagtap, Jishnu Keshavan
Title: Tracking Control of Euler-Lagrangian Systems with Prescribed State, Input, and Temporal Constraints
Abstract:
The synthesis of a smooth tracking control for Euler-Lagrangian (EL) systems under stringent state, input, and temporal (SIT) constraints is challenging. In contrast to existing methods that utilize prior knowledge of EL model parameters and uncertainty bounds, this study proposes an approximation-free adaptive barrier function-based control policy to ensure local prescribed time convergence of tracking error under state and input constraints. The proposed approach uses smooth time-based generator functions embedded in the filtered tracking error, which is combined with a saturation function that limits control action and confines states within the prescribed limits by enforcing the time-varying bounds on the filtered tracking error. Importantly, corresponding feasibility conditions are derived pertaining to the minimum control authority, the maximum disturbance rejection capability of the control policy, and the viable set of initial conditions, illuminating the narrow operating domain of EL systems arising from the interplay of SIT constraints. Finally, the efficacy of the proposed approach is demonstrated using experimental and comparison studies.

Authors:Chenning Li, Anton A. Zabreyko, Arash Nasr-Esfahany, Kevin Zhao, Prateesh Goyal, Mohammad Alizadeh, Thomas Anderson
Title: m4: A Learned Flow-level Network Simulator
Abstract:
Flow-level simulation is widely used to model large-scale data center networks due to its scalability. Unlike packet-level simulators that model individual packets, flow-level simulators abstract traffic as continuous flows with dynamically assigned transmission rates. While this abstraction enables orders-of-magnitude speedup, it is inaccurate by omitting critical packet-level effects such as queuing, congestion control, and retransmissions. We present m4, an accurate and scalable flow-level simulator that uses machine learning to learn the dynamics of the network of interest. At the core of m4 lies a novel ML architecture that decomposes state transition computations into distinct spatial and temporal components, each represented by a suitable neural network. To efficiently learn the underlying flow-level dynamics, m4 adds dense supervision signals by predicting intermediate network metrics such as remaining flow size and queue length during training. m4 achieves a speedup of up to 104$\times$ over packet-level simulation. Relative to a traditional flow-level simulation, m4 reduces per-flow estimation errors by 45.3% (mean) and 53.0% (p90). For closed-loop applications, m4 accurately predicts network throughput under various congestion control schemes and workloads.

Authors:Eliza Cohn, Ning Qi, Upmanu Lall, Bolun Xu
Title: A Lagrangian-Informed Long-Term Dispatch Policy for Coupled Hydropower and Photovoltaic Systems
Abstract:
This paper presents a long-term dispatch framework for coupled hydropower and floating photovoltaic systems. We introduce a temporal decomposition algorithm based on partial Lagrangian relaxation to address long-term water contract constraints. We derive a real-time, non-anticipatory dispatch policy based on water contract pricing. Our framework is evaluated with a case study using real-world hydrology and power system data from Lake Mead and Lake Powell, on the Colorado River, demonstrating competitive performance against commercial solvers for both linearized and nonlinear reservoir models. We conduct a sensitivity analysis on transmission capacity, electricity price and uncertainty scenarios, showing that the operational performance is significantly impacted by the transmission capacity and electricity prices while remaining relatively robust under uncertainty scenarios.

Authors:Nader Motee, Qiyu Sun
Title: Carleman-Fourier linearization of nonlinear real dynamical systems with quasi-periodic fields
Abstract:
This work presents Carleman-Fourier linearization for analyzing nonlinear real dynamical systems with quasi-periodic vector fields characterized by multiple fundamental frequencies. Using Fourier basis functions, this novel framework transforms such dynamical systems into equivalent infinite-dimensional linear dynamical systems. In this work, we establish the exponential convergence of the primary block in the finite-section approximation of this linearized system to the state vector of the original nonlinear system. To showcase the efficacy of our approach, we apply it to the Kuramoto model, a prominent model for coupled oscillators. The results demonstrate promising accuracy in approximating the original system's behavior.

Authors:Jean Pierre Allamaa, Panagiotis Patrinos, Tong Duy Son
Title: ExAMPC: the Data-Driven Explainable and Approximate NMPC with Physical Insights
Abstract:
Amidst the surge in the use of Artificial Intelligence (AI) for control purposes, classical and model-based control methods maintain their popularity due to their transparency and deterministic nature. However, advanced controllers like Nonlinear Model Predictive Control (NMPC), despite proven capabilities, face adoption challenges due to their computational complexity and unpredictable closed-loop performance in complex validation systems. This paper introduces ExAMPC, a methodology bridging classical control and explainable AI by augmenting the NMPC with data-driven insights to improve the trustworthiness and reveal the optimization solution and closed-loop performance's sensitivities to physical variables and system parameters. By employing a low-order spline embedding to reduce the open-loop trajectory dimensionality by over 95%, and integrating it with SHAP and Symbolic Regression from eXplainable AI (XAI) for an approximate NMPC, we enable intuitive physical insights into the NMPC's optimization routine. The prediction accuracy of the approximate NMPC is enhanced through physics-inspired continuous-time constraints penalties, reducing the predicted continuous trajectory violations by 93%. ExAMPC enables accurate forecasting of the NMPC's computational requirements with explainable insights on worst-case scenarios. Experimental validation on automated valet parking and autonomous racing with lap-time optimization NMPC, demonstrates the methodology's practical effectiveness in real-world applications.

Authors:Takumi Ito, Hayato Kawashima, Riku Funada, Mitsuji Sampei
Title: Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints
Abstract:
This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that leverages the advantages of this shaped force set. The UAVs are connected to the payload through passively rotatable hinge joints. The joint angles are controlled by the differential thrust produced by the rotors, while the total force generated by all the rotors is responsible for controlling the payload. The shape of the set of the total force depends on the tilt angles of the UAVs, which allows us to shape the feasible force set by adjusting these tilt angles. This paper aims to ensure that the feasible force set encompasses the required shape, enabling the platform to generate force redundantly -meaning in various directions. We then propose a control law that takes advantage of this redundancy.

Authors:Henry Lei, Zachary S. Lippay, Anonto Zaman, Joshua Aurand, Amin Maghareh, Sean Phillips
Title: Stability Analysis of Deep Reinforcement Learning for Multi-Agent Inspection in a Terrestrial Testbed
Abstract:
The design and deployment of autonomous systems for space missions require robust solutions to navigate strict reliability constraints, extended operational duration, and communication challenges. This study evaluates the stability and performance of a hierarchical deep reinforcement learning (DRL) framework designed for multi-agent satellite inspection tasks. The proposed framework integrates a high-level guidance policy with a low-level motion controller, enabling scalable task allocation and efficient trajectory execution. Experiments conducted on the Local Intelligent Network of Collaborative Satellites (LINCS) testbed assess the framework's performance under varying levels of fidelity, from simulated environments to a cyber-physical testbed. Key metrics, including task completion rate, distance traveled, and fuel consumption, highlight the framework's robustness and adaptability despite real-world uncertainties such as sensor noise, dynamic perturbations, and runtime assurance (RTA) constraints. The results demonstrate that the hierarchical controller effectively bridges the sim-to-real gap, maintaining high task completion rates while adapting to the complexities of real-world environments. These findings validate the framework's potential for enabling autonomous satellite operations in future space missions.

Authors:Jingwei Hu, Dave Zachariah, Torbjörn Wigren, Petre Stoica
Title: Adaptive Input Design for Nonlinear System Identification with Operational Constraints
Abstract:
We consider the problem of joint input design and parameter estimation for identifying nonlinear system models through the sequential acquisition of measurements while adhering to system constraints. We utilize a receding horizon approach and propose a new scale-invariant input design criterion, which is tailored to continuously updated parameter estimates, along with a new sequential parameter estimator. We demonstrate the ability of the method to design informative experiments online, while steering the system within operational constraints.

Authors:Henry Lei, Joshua Aurand, Zachary S. Lippay, Sean Phillips
Title: Close-Proximity Satellite Operations through Deep Reinforcement Learning and Terrestrial Testing Environments
Abstract:
With the increasingly congested and contested space environment, safe and effective satellite operation has become increasingly challenging. As a result, there is growing interest in autonomous satellite capabilities, with common machine learning techniques gaining attention for their potential to address complex decision-making in the space domain. However, the "black-box" nature of many of these methods results in difficulty understanding the model's input/output relationship and more specifically its sensitivity to environmental disturbances, sensor noise, and control intervention. This paper explores the use of Deep Reinforcement Learning (DRL) for satellite control in multi-agent inspection tasks. The Local Intelligent Network of Collaborative Satellites (LINCS) Lab is used to test the performance of these control algorithms across different environments, from simulations to real-world quadrotor UAV hardware, with a particular focus on understanding their behavior and potential degradation in performance when deployed beyond the training environment.

Authors:Marios-Nektarios Stamatopoulos, Jakub Haluska, Elias Small, Jude Marroush, Avijit Banerjee, George Nikolakopoulos
Title: Toward Fully Autonomous Flexible Chunk-Based Aerial Additive Manufacturing: Insights from Experimental Validation
Abstract:
A novel autonomous chunk-based aerial additive manufacturing framework is presented, supported with experimental demonstration advancing aerial 3D printing. An optimization-based decomposition algorithm transforms structures into sub-components, or chunks, treated as individual tasks coordinated via a dependency graph, ensuring sequential assignment to UAVs considering inter-dependencies and printability constraints for seamless execution. A specially designed hexacopter equipped with a pressurized canister for lightweight expandable foam extrusion is utilized to deposit the material in a controlled manner. To further enhance precise execution of the printing, an offset-free Model Predictive Control mechanism is considered compensating reactively for disturbances and ground effect during execution. Additionally, an interlocking mechanism is introduced in the chunking process to enhance structural cohesion and improve layer adhesion. Extensive experiments demonstrate the framework's effectiveness in constructing precise structures of various shapes while seamlessly adapting to practical challenges, proving its potential for a transformative leap in aerial robotic capability for autonomous construction.

Authors:Ruiqi Wang, Pinjun Zheng, Vijith Varma Kotte, Sakandar Rauf, Yiming Yang, Muhammad Mahboob Ur Rahman, Tareq Y. Al-Naffouri, Atif Shamim
Title: Electromagnetically Reconfigurable Fluid Antenna System for Wireless Communications: Design, Modeling, Algorithm, Fabrication, and Experiment
Abstract:
This paper presents the concept, design, channel modeling, beamforming algorithm development, prototype fabrication, and experimental measurement of an electromagnetically reconfigurable fluid antenna system (ER-FAS), in which each FAS array element features electromagnetic (EM) reconfigurability. Unlike most existing FAS works that investigate spatial reconfigurability by adjusting the position and/or orientation of array elements, the proposed ER-FAS enables direct control over the EM characteristics of each element, allowing for dynamic radiation pattern reconfigurability. Specifically, a novel ER-FAS architecture leveraging software-controlled fluidics is proposed, and corresponding wireless channel models are established. Based on this ER-FAS channel model, a low-complexity greedy beamforming algorithm is developed to jointly optimize the analog phase shift and the radiation state of each array element. The accuracy of the ER-FAS channel model and the effectiveness of the beamforming algorithm are validated through (i) full-wave EM simulations and (ii) numerical spectral efficiency evaluations. These results confirm that the proposed ER-FAS significantly enhances spectral efficiency in both near-field and far-field scenarios compared to conventional antenna arrays. To further validate this design, we fabricate prototypes for both the ER-FAS element and array, using Galinstan liquid metal alloy, fluid silver paste, and software-controlled fluidic channels. The simulation results are experimentally validated through prototype measurements conducted in an anechoic chamber. Additionally, several indoor communication experiments using a pair of software-defined radios demonstrate the superior received power and bit error rate performance of the ER-FAS prototype.

Authors:Joshua Aurand, Christopher Pang, Sina Mokhtar, Henry Lei, Steven Cutlip, Sean Phillips
Title: Assessing Autonomous Inspection Regimes: Active Versus Passive Satellite Inspection
Abstract:
This paper addresses the problem of satellite inspection, where one or more satellites (inspectors) are tasked with imaging or inspecting a resident space object (RSO) due to potential malfunctions or anomalies. Inspection strategies are often reduced to a discretized action space with predefined waypoints, facilitating tractability in both classical optimization and machine learning based approaches. However, this discretization can lead to suboptimal guidance in certain scenarios. This study presents a comparative simulation to explore the tradeoffs of passive versus active strategies in multi-agent missions. Key factors considered include RSO dynamic mode, state uncertainty, unmodeled entrance criteria, and inspector motion types. The evaluation is conducted with a focus on fuel utilization and surface coverage. Building on a Monte-Carlo based evaluator of passive strategies and a reinforcement learning framework for training active inspection policies, this study investigates conditions under which passive strategies, such as Natural Motion Circumnavigation (NMC), may perform comparably to active strategies like Reinforcement Learning based waypoint transfers.

Authors:Weixuan Wang, Alejandro I. Maass, Dragan Nešić, Ying Tan, Romain Postoyan, W. P. M. H. Heemels
Title: Stabilization of singularly perturbed networked control systems over a single channel
Abstract:
This paper studies the emulation-based stabilization of nonlinear networked control systems with two time scales. We address the challenge of using a single communication channel for transmitting both fast and slow variables between the plant and the controller. A novel dual clock mechanism is proposed to schedule transmissions for this purpose. The system is modeled as a hybrid singularly perturbed dynamical system, and singular perturbation analysis is employed to determine individual maximum allowable transmission intervals for both fast and slow variables, ensuring semi-global practical asymptotic stability. Enhanced stability guarantees are also provided under stronger assumptions. The efficacy of the proposed method is illustrated through a numerical example.

Authors:Tiancheng Li, Yan Song, Hongqi Fan, Jingdong Chen
Title: From Target Tracking to Targeting Track -- Part I: A Metric for Spatio-Temporal Trajectory Evaluation
Abstract:
In the realm of target tracking, performance evaluation plays a pivotal role in the design, comparison, and analytics of trackers. Compared with the traditional trajectory composed of a set of point-estimates obtained by a tracker in the measurement time-series, the trajectory that our series of studies including this paper pursued is given by a curve function of time (FoT). The trajectory FoT provides complete information of the movement of the target over time and can be used to infer the state corresponding to arbitrary time, not only at the measurement time. However, there are no metrics available for comparing and evaluating the trajectory FoT. To address this lacuna, we propose a metric denominated as the spatiotemporal-aligned trajectory integral distance (Star-ID). The StarID associates and aligns the estimated and actual trajectories in the spatio-temporal domain and distinguishes between the time-aligned and unaligned segments in calculating the spatial divergence including false alarm, miss-detection and localization errors. The effectiveness of the proposed distance metric and the time-averaged version is validated through theoretical analysis and numerical examples of a single target or multiple targets.

Authors:Giorgio Palma, Andrea Serani, Shawn Aram, David W. Wundrow, David Drazen, Matteo Diez
Title: Model-free system identification of surface ships in waves via Hankel dynamic mode decomposition with control
Abstract:
This study introduces and compares the Hankel dynamic mode decomposition with control (Hankel-DMDc) and a novel Bayesian extension of Hankel-DMDc as model-free (i.e., data-driven and equation-free) approaches for system identification and prediction of free-running ship motions in irregular waves. The proposed DMDc methods create a reduced-order model using limited data from the system state and incoming wave elevation histories, with the latter and rudder angle serving as forcing inputs. The inclusion of delayed states of the system as additional dimensions per the Hankel-DMDc improves the representation of the underlying non-linear dynamics of the system by DMD. The approaches are statistically assessed using data from free-running simulations of a 5415M hull's course-keeping in irregular beam-quartering waves at sea state 7, a highly severe condition characterized by nonlinear responses near roll-resonance. The results demonstrate robust performance and remarkable computational efficiency. The results indicate that the proposed methods effectively identify the dynamic system in analysis. Furthermore, the Bayesian formulation incorporates uncertainty quantification and enhances prediction accuracy. Ship motions are predicted with good agreement with test data over a 15 encounter waves observation window. No significant accuracy degradation is noted along the test sequences, suggesting the method can support accurate and efficient maritime design and operational planning.

Authors:Fanxin Wang, Yikun Cheng, Chuyuan Tao
Title: MPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration
Abstract:
In trajectory optimization, Model Predictive Path Integral (MPPI) control is a sampling-based Model Predictive Control (MPC) framework that generates optimal inputs by efficiently simulating numerous trajectories. In practice, however, MPPI often struggles to guarantee safety assurance and balance efficient sampling in open spaces with the need for more extensive exploration under tight constraints. To address this challenge, we incorporate discrete barrier states (DBaS) into MPPI and propose a novel MPPI-DBaS algorithm that ensures system safety and enables adaptive exploration across diverse scenarios. We evaluate our method in simulation experiments where the vehicle navigates through closely placed obstacles. The results demonstrate that the proposed algorithm significantly outperforms standard MPPI, achieving a higher success rate and lower tracking errors.

Authors:Amirreza Neshaei Moghaddam, Alex Olshevsky, Bahman Gharesifard
Title: Sample Complexity of Linear Quadratic Regulator Without Initial Stability
Abstract:
Inspired by REINFORCE, we introduce a novel receding-horizon algorithm for the Linear Quadratic Regulator (LQR) problem with unknown parameters. Unlike prior methods, our algorithm avoids reliance on two-point gradient estimates while maintaining the same order of sample complexity. Furthermore, it eliminates the restrictive requirement of starting with a stable initial policy, broadening its applicability. Beyond these improvements, we introduce a refined analysis of error propagation through the contraction of the Riemannian distance over the Riccati operator. This refinement leads to a better sample complexity and ensures improved convergence guarantees. Numerical simulations validate the theoretical results, demonstrating the method's practical feasibility and performance in realistic scenarios.

Authors:Yu Tang, Kaan Ozbay, Li Jin
Title: Pricing is All You Need to Improve Traffic Routing
Abstract:
We investigate the design of pricing policies that enhance driver adherence to route guidance, ensuring effective routing control. The major novelty lies in that we adopt a Markov chain to model drivers' compliance rates conditioned on both traffic states and tolls. By formulating the managed traffic network as a nonlinear stochastic dynamical system, we can quantify in a more realistic way the impacts of driver route choices and thus determine appropriate tolls. Specially, we focus on a network comprised of one corridor and one local street. We assume that a reasonable routing policy is specified in advance. However, drivers could be reluctant to be detoured. Thus a fixed toll is set on the corridor to give drivers incentives to choose the local street. We evaluate the effectiveness of the given routing and pricing policies via stability analysis. We suggest using the stability and instability conditions to establish lower and upper bounds on throughput. This allows us to select suitable tolls that maximize these bounds.

Authors:Han Su, Saumya Shankar, Srinivas Pinisetty, Partha S. Roop, Naijun Zhan
Title: Runtime Enforcement of CPS against Signal Temporal Logic
Abstract:
Cyber-Physical Systems (CPSs), especially those involving autonomy, need guarantees of their safety. Runtime Enforcement (RE) is a lightweight method to formally ensure that some specified properties are satisfied over the executions of the system. Hence, there is recent interest in the RE of CPS. However, existing methods are not designed to tackle specifications suitable for the hybrid dynamics of CPS. With this in mind, we develop runtime enforcement of CPS using properties defined in Signal Temporal Logic (STL). In this work, we aim to construct a runtime enforcer for a given STL formula to minimally modify a signal to satisfy the formula. To achieve this, the STL formula to be enforced is first translated into a timed transducer, while the signal to be corrected is encoded as timed words. We provide timed transducers for the temporal operators \emph{until} and \emph{release} noting that other temporal operators can be expressed using these two. Our approach enables effective enforcement of STL properties for CPS. A case study is provided to illustrate the approach and generate empirical evidence of its suitability for CPS.

Authors:V. Cerone, S. M. Fosson, D. Regruto, A. Salam
Title: Sparse learning with concave regularization: relaxation of the irrepresentable condition
Abstract:
Learning sparse models from data is an important task in all those frameworks where relevant information should be identified within a large dataset. This can be achieved by formulating and solving suitable sparsity promoting optimization problems. As to linear regression models, Lasso is the most popular convex approach, based on an $\ell_1$-norm regularization. In contrast, in this paper, we analyse a concave regularized approach, and we prove that it relaxes the irrepresentable condition, which is sufficient and essentially necessary for Lasso to select the right significant parameters. In practice, this has the benefit of reducing the number of necessary measurements with respect to Lasso. Since the proposed problem is non-convex, we also discuss different algorithms to solve it, and we illustrate the obtained enhancement via numerical experiments.

Authors:Pulkit Rustagi, Yashwanthi Anand, Sandhya Saisubramanian
Title: Multi-Objective Planning with Contextual Lexicographic Reward Preferences
Abstract:
Autonomous agents are often required to plan under multiple objectives whose preference ordering varies based on context. The agent may encounter multiple contexts during its course of operation, each imposing a distinct lexicographic ordering over the objectives, with potentially different reward functions associated with each context. Existing approaches to multi-objective planning typically consider a single preference ordering over the objectives, across the state space, and do not support planning under multiple objective orderings within an environment. We present Contextual Lexicographic Markov Decision Process (CLMDP), a framework that enables planning under varying lexicographic objective orderings, depending on the context. In a CLMDP, both the objective ordering at a state and the associated reward functions are determined by the context. We employ a Bayesian approach to infer a state-context mapping from expert trajectories. Our algorithm to solve a CLMDP first computes a policy for each objective ordering and then combines them into a single context-aware policy that is valid and cycle-free. The effectiveness of the proposed approach is evaluated in simulation and using a mobile robot.

Authors:Dajiang Sun, Christoforos N. Hadjicostis, Zhiwu Li
Title: Decentralized State Estimation and Opacity Verification Based on Partially Ordered Observation Sequences
Abstract:
In this paper, we investigate state estimation and opacity verification problems within a decentralized observation architecture. Specifically, we consider a discrete event system whose behavior is recorded by a set of observation sites. These sites transmit the partially ordered sequences of observations that they record to a coordinator whenever a synchronization occurs. To properly analyze the system behavior from the coordinator's viewpoint, we first introduce the notion of a Complete Synchronizing Sequence structure (CSS structure), which concisely captures the state evolution of each system state upon different information provided by the observation sites. Based on the CSS structure, we then construct corresponding current-state and initial-state estimators for offline state estimation at the coordinator. When used to verify state-isolation properties under this decentralized architecture, the use of CSS structure demonstrates a significant reduction in complexity compared with existing approaches in the literature. In particular, we discuss how to verify initial-state opacity at the coordinator, as well as a novel opacity notion, namely current-state-at-synchronization opacity.

Authors:Jingjie Ni, Fangfei Li, Xin Jin, Xianlun Peng, Yang Tang
Title: Reinforcement Learning based Constrained Optimal Control: an Interpretable Reward Design
Abstract:
This paper presents an interpretable reward design framework for reinforcement learning based constrained optimal control problems with state and terminal constraints. The problem is formalized within a standard partially observable Markov decision process framework. The reward function is constructed from four weighted components: a terminal constraint reward, a guidance reward, a penalty for state constraint violations, and a cost reduction incentive reward. A theoretically justified reward design is then presented, which establishes bounds on the weights of the components. This approach ensures that constraints are satisfied and objectives are optimized while mitigating numerical instability. Acknowledging the importance of prior knowledge in reward design, we sequentially solve two subproblems, using each solution to inform the reward design for the subsequent problem. Subsequently, we integrate reinforcement learning with curriculum learning, utilizing policies derived from simpler subproblems to assist in tackling more complex challenges, thereby facilitating convergence. The framework is evaluated against original and randomly weighted reward designs in a multi-agent particle environment. Experimental results demonstrate that the proposed approach significantly enhances satisfaction of terminal and state constraints and optimization of control cost.

Authors:Vasu Sharma, Alexander Winkler, Armin Norouzi, Jakob Andert, David Gordon, Hongsheng Guo
Title: Safe Reinforcement Learning-based Control for Hydrogen Diesel Dual-Fuel Engines
Abstract:
The urgent energy transition requirements towards a sustainable future stretch across various industries and are a significant challenge facing humanity. Hydrogen promises a clean, carbon-free future, with the opportunity to integrate with existing solutions in the transportation sector. However, adding hydrogen to existing technologies such as diesel engines requires additional modeling effort. Reinforcement Learning (RL) enables interactive data-driven learning that eliminates the need for mathematical modeling. The algorithms, however, may not be real-time capable and need large amounts of data to work in practice. This paper presents a novel approach which uses offline model learning with RL to demonstrate safe control of a 4.5 L Hydrogen Diesel Dual-Fuel (H2DF) engine. The controllers are demonstrated to be constraint compliant and can leverage a novel state-augmentation approach for sample-efficient learning. The offline policy is subsequently experimentally validated on the real engine where the control algorithm is executed on a Raspberry Pi controller and requires 6 times less computation time compared to online Model Predictive Control (MPC) optimization.

Authors:Canchen Jiang, Ariel Liebman, Bo Jie, Hao Wang
Title: Dynamic Rolling Horizon Optimization for Network-Constrained V2X Value Stacking of Electric Vehicles Under Uncertainties
Abstract:
Electric vehicle (EV) coordination can provide significant benefits through vehicle-to-everything (V2X) by interacting with the grid, buildings, and other EVs. This work aims to develop a V2X value-stacking framework, including vehicle-to-building (V2B), vehicle-to-grid (V2G), and energy trading, to maximize economic benefits for residential communities while maintaining distribution voltage. This work also seeks to quantify the impact of prediction errors related to building load, renewable energy, and EV arrivals. A dynamic rolling-horizon optimization (RHO) method is employed to leverage multiple revenue streams and maximize the potential of EV coordination. To address energy uncertainties, including hourly local building load, local photovoltaic (PV) generation, and EV arrivals, this work develops a Transformer-based forecasting model named Gated Recurrent Units-Encoder-Temporal Fusion Decoder (GRU-EN-TFD). The simulation results, using real data from Australia's National Electricity Market, and the Independent System Operators in New England and New York in the US, reveal that V2X value stacking can significantly reduce energy costs. The proposed GRU-EN-TFD model outperforms the benchmark forecast model. Uncertainties in EV arrivals have a more substantial impact on value-stacking performance, highlighting the significance of its accurate forecast. This work provides new insights into the dynamic interactions among residential communities, unlocking the full potential of EV batteries.

Authors:Hang Nguyen, Phuong Nguyen, Koen Kok
Title: Balancing service provision by EV aggregator in different TSO-DSO coordination schemes
Abstract:
The increasing penetration of Distributed Energy Resources (DERs) in the distribution system has led to the emergence of a new market actor - the aggregator. The aggregator serves as a facilitator, enabling flexibility asset owners to get access to different markets. In which, EVs aggregators are gaining more attention due to their expanding use and potential to provide services in various types of markets, particularly in the reserve market. Currently, TSO indirectly utilizes these resources under the management of the distribution system operators (DSO), which can negatively impact the distribution grid. Conversely, adjustments from DSOs can impact service provision to TSO due to the shortage of TSO usage information. These factors highlight the importance of evaluating the service provision from aggregators under different TSO-DSO coordination schemes. This paper focuses on the provision of flexibility from electric vehicles (EVs) aggregators for balancing service in the TSO-DSO hybrid-managed and compares it with the DSO-managed coordination schemes. The behavior of aggregators reacting to price fluctuations and TSO requests under different coordination schemes and simulation scenarios is thoroughly evaluated. Additionally, their impact on the grid is analyzed through the DSO's congestion management process and validated using data from a real part of the Dutch distribution network. Results find that the hybrid-managed coordination scheme gives more benefit to the aggregator than the DSO-managed scheme and the EVs aggregator will gain more profit in winter than summer due to more upward regulation service is needed.

Authors:Liwei Yuan, Hideaki Ishii
Title: Resilient Quantized Consensus in Multi-Hop Relay Networks
Abstract:
We study resilient quantized consensus in multi-agent systems, where some agents may malfunction. The network consists of agents taking integer-valued states, and the agents' communication is subject to asynchronous updates and time delays. We utilize the quantized weighted mean subsequence reduced algorithm where agents communicate with others through multi-hop relays. We prove necessary and sufficient conditions for our algorithm to achieve the objective under the malicious and Byzantine attack models. Our approach has tighter graph conditions compared to the one-hop algorithm and the flooding-based algorithms for binary consensus. Numerical examples verify the efficacy of our algorithm.

Authors:Zhuangkun Wei, Wenxiu Hu, Yathreb Bouazizi, Mengbang Zou, Chenguang Liu, Yunfei Chen, Hongjian Sun, Julie McCann
Title: Integrated Sensing, Communication, and Over-The-Air Control of UAV Swarm Dynamics
Abstract:
Coordinated controlling a large UAV swarm requires significant spectrum resources due to the need for bandwidth allocation per UAV, posing a challenge in resource-limited environments. Over-the-air (OTA) control has emerged as a spectrum-efficient approach, leveraging electromagnetic superposition to form control signals at a base station (BS). However, existing OTA controllers lack sufficient optimization variables to meet UAV swarm control objectives and fail to integrate control with other BS functions like sensing. This work proposes an integrated sensing and OTA control framework (ISAC-OTA) for UAV swarm. The BS performs OTA signal construction (uplink) and dispatch (downlink) while simultaneously sensing objects. Two uplink post-processing methods are developed: a control-centric approach generating closed-form control signals via a feedback-looped OTA control problem, and a sensing-centric method mitigating transmission-induced interference for accurate object sensing. For the downlink, a non-convex problem is formulated and solved to minimize control signal dispatch (transmission) error while maintaining a minimum sensing signal-to-noise ratio (SNR). Simulation results show that the proposed ISAC-OTA controller achieves control performance comparable to the benchmark optimal control algorithm while maintaining high sensing accuracy, despite OTA transmission interference. Moreover, it eliminates the need for per-UAV bandwidth allocation, showcasing a spectrum-efficient method for cooperative control in future wireless systems.

Authors:Anna Franziska Frigge, Alexander Medvedev
Title: Mixed Integer Linear Programming for Active Contact Selection in Deep Brain Stimulation
Abstract:
Deep brain stimulation (DBS) programming remains a complex and time-consuming process, requiring manual selection of stimulation parameters to achieve therapeutic effects while minimizing adverse side-effects. This study explores mathematical optimization for DBS programming, using functional subdivisions of the subthalamic nucleus (STN) to define the desired activation profile. A Mixed Integer Linear Programming (MILP) framework is presented allowing for dissimilar current distribution across active contacts. MILP is compared to a Linear Programming (LP) approach in terms of computational efficiency and activation accuracy. Results from ten Parkinson's disease patients treated with DBS show that while MILP better matches the predefined stimulation target activation profile, LP solutions more closely resemble clinically applied settings, suggesting the profile may not fully capture clinically relevant patterns. Additionally, MILP's limitations are discussed, including its reliance on precisely defined target regions and its computational burden for larger target sets.

Authors:Nan Wang, Adeel Akhtar, Ricardo G. Sanfelice
Title: A Safe Hybrid Control Framework for Car-like Robot with Guaranteed Global Path-Invariance using a Control Barrier Function
Abstract:
This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the robot converges to the path, it never leaves the path. Given a priori obstacle-free feasible path where obstacles can be around the path, the task is to avoid obstacles while reaching the path and then staying on the path without leaving it. The problem is solved in two stages. Firstly, we define a ``tight'' obstacle-free neighborhood along the path and design a local controller to ensure convergence to the path and path invariance. The control barrier function technology is involved in the control design to steer the system away from its singularity points, where the local path invariant controller is not defined. Secondly, we design a hybrid control framework that integrates this local path-invariant controller with any global tracking controller from the existing literature without path invariance guarantee, ensuring convergence from any position to the desired path, namely, global convergence. This framework guarantees path invariance and robustness to sensor noise. Detailed simulation results affirm the effectiveness of the proposed scheme.

Authors:David Carramiñana, Ana M. Bernardos, Juan A. Besada, José R. Casar
Title: Enhancing healthcare infrastructure resilience through agent-based simulation methods
Abstract:
Critical infrastructures face demanding challenges due to natural and human-generated threats, such as pandemics, workforce shortages or cyber-attacks, which might severely compromise service quality. To improve system resilience, decision-makers would need intelligent tools for quick and efficient resource allocation. This article explores an agent-based simulation model that intends to capture a part of the complexity of critical infrastructure systems, particularly considering the interdependencies of healthcare systems with information and telecommunication systems. Such a model enables to implement a simulation-based optimization approach in which the exposure of critical systems to risks is evaluated, while comparing the mitigation effects of multiple tactical and strategical decision alternatives to enhance their resilience. The proposed model is designed to be parameterizable, to enable adapting it to risk scenarios with different severity, and it facilitates the compilation of relevant performance indicators enabling monitoring at both agent level and system level. To validate the agent-based model, a literature-supported methodology has been used to perform cross-validation, sensitivity analysis and test the usefulness of the proposed model through a use case. The use case analyzes the impact of a concurrent pandemic and a cyber-attack on a hospital and compares different resiliency-enhancing countermeasures using contingency tables. Overall, the use case illustrates the feasibility and versatility of the proposed approach to enhance resiliency.

Authors:Liangjie Sun, Wai-Ki Ching, Tatsuya Akutsu
Title: On the Number of Control Nodes in Boolean Networks with Degree Constraints
Abstract:
This paper studies the minimum control node set problem for Boolean networks (BNs) with degree constraints. The main contribution is to derive the nontrivial lower and upper bounds on the size of the minimum control node set through combinatorial analysis of four types of BNs (i.e., $k$-$k$-XOR-BNs, simple $k$-$k$-AND-BNs, $k$-$k$-AND-BNs with negation and $k$-$k$-NC-BNs, where the $k$-$k$-AND-BN with negation is an extension of the simple $k$-$k$-AND-BN that considers the occurrence of negation and NC means nested canalyzing). More specifically, four bounds for the size of the minimum control node set: general lower bound, best case upper bound, worst case lower bound, and general upper bound are studied, where the general lower bound is a value that is not less than the size of the control node set for any BN, the general upper bound is the maximum value of the size of the minimum control node set for any BN, while the best case upper bound (resp., the worst case lower bound) is the minimum (resp., maximum) value currently found, which is obtained from some BN. By dividing nodes into three disjoint sets, extending the time to reach the target state, and utilizing necessary conditions for controllability, these bounds are obtained, and further meaningful results and phenomena are discovered. Notably, all of the above results involving the AND function also apply to the OR function.

Authors:Vinith Lakshmanan, Xavier Guichet, Antonio Sciarretta
Title: Backcasting the Optimal Decisions in Transport Systems: An Example with Electric Vehicle Purchase Incentives
Abstract:
This study represents a first attempt to build a backcasting methodology to identify the optimal policy roadmaps in transport systems. In this methodology, desired objectives are set by decision makers at a given time horizon, and then the optimal combinations of policies to achieve these objectives are computed as a function of time (i.e., ``backcasted''). This approach is illustrated on the transportation sector by considering a specific subsystem with a single policy decision. The subsystem describes the evolution of the passenger car fleet within a given region and its impact on greenhouse gas emissions. The optimized policy is a monetary incentive for the purchase of electric vehicles while minimizing the total budget of the state and achieving a desired CO$_2$ target. A case study applied to Metropolitan France is presented to illustrate the approach. Additionally, alternative policy scenarios are also analyzed to provide further insights.

Authors:Marco Polver, Daniel Limon, Fabio Previdi, Antonio Ferramosca
Title: Robust contraction-based model predictive control for nonlinear systems
Abstract:
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate models in prediction and suitable terminal ingredients, i.e. the terminal cost function and the terminal constraint. Issues might arise in case of model mismatches or perturbed systems, as the state predictions could be inaccurate, and nonlinear systems for which the computation of the terminal ingredients can result challenging. In this manuscript, we exploit the properties of component-wise uniformly continuous and stabilizable systems to introduce a robust contraction-based MPC for the regulation of nonlinear perturbed systems, that employs an easy-to-design terminal cost function, does not make use of terminal constraints, and selects the shortest prediction horizon that guarantees the stability of the closed-loop system.

Authors:Vinith Lakshmanan, Xavier Guichet, Antonio Sciarretta
Title: Backcasting Policies in Transport Systems as an Optimal Control Problem : An Example with Electric Vehicle Purchase Incentives
Abstract:
This study represents a first attempt to build a backcasting methodology to identify the optimal policy roadmaps in transport systems. Specifically, it considers a passenger car fleet subsystem, modelling its evolution and greenhouse gas emissions. The policy decision under consideration is the monetary incentive to the purchase of electric vehicles. This process is cast as an optimal control problem with the objective to minimize the total budget of the state and reach a desired CO$_2$ target. A case study applied to Metropolitan France is presented to illustrate the approach. Additionally, alternative policy scenarios are also analyzed.

Authors:Javier Borquez, Luke Raus, Yusuf Umut Ciftci, Somil Bansal
Title: DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability
Abstract:
Designing controllers that are both safe and performant is inherently challenging. This co-optimization can be formulated as a constrained optimal control problem, where the cost function represents the performance criterion and safety is specified as a constraint. While sampling-based methods, such as Model Predictive Path Integral (MPPI) control, have shown great promise in tackling complex optimal control problems, they often struggle to enforce safety constraints. To address this limitation, we propose DualGuard-MPPI, a novel framework for solving safety-constrained optimal control problems. Our approach integrates Hamilton-Jacobi reachability analysis within the MPPI sampling process to ensure that all generated samples are provably safe for the system. On the one hand, this integration allows DualGuard-MPPI to enforce strict safety constraints; at the same time, it facilitates a more effective exploration of the environment with the same number of samples, reducing the effective sampling variance and leading to better performance optimization. Through several simulations and hardware experiments, we demonstrate that the proposed approach achieves much higher performance compared to existing MPPI methods, without compromising safety.

Authors:Adam Norton, Brendan Donoghue, Peter Gavriel
Title: UA-1 PH2 DECISIVE Testing Handbook: Test Methods and Benchmarking Performance Results for sUAS in Dense Urban Environments
Abstract:
This report outlines all test methods and reviews all results derived from performance benchmarking of small unmanned aerial systems (sUAS) in dense urban environments conducted during Phase 2 of the Development and Execution of Comprehensive and Integrated Systematic Intelligent Vehicle Evaluations (DECISIVE) project by the University of Massachusetts Lowell (HEROES Project UA-1). Using 9 of the developed test methods, over 100 tests were conducted to benchmark the performance of 8 sUAS platforms: Cleo Robotics Dronut X1P (P = prototype), FLIR Black Hornet 3 PRS, Flyability Elios 2 GOV, Lumenier Nighthawk V3, Parrot ANAFI USA GOV, Skydio X2D, Teal Golden Eagle, and Vantage Robotics Vesper.

Authors:V. Cerone, S. M. Fosson, S. Pirrera, D. Regruto
Title: Alternating direction method of multipliers for polynomial optimization
Abstract:
Multivariate polynomial optimization is a prevalent model for a number of engineering problems. From a mathematical viewpoint, polynomial optimization is challenging because it is non-convex. The Lasserre's theory, based on semidefinite relaxations, provides an effective tool to overcome this issue and to achieve the global optimum. However, this approach can be computationally complex for medium and large scale problems. For this motivation, in this work, we investigate a local minimization approach, based on the alternating direction method of multipliers, which is low-complex, straightforward to implement, and prone to decentralization. The core of the work is the development of the algorithm tailored to polynomial optimization, along with the proof of its convergence. Through a numerical example we show a practical implementation and test the effectiveness of the proposed algorithm with respect to state-of-the-art methodologies.

Authors:Alba Gurpegui, Emma Tegling, Anders Rantzer
Title: A Minimax Optimal Controller for Positive Systems
Abstract:
We present an explicit solution to the discrete-time Bellman equation for minimax optimal control of positive systems under unconstrained disturbances. The primary contribution of our result relies on deducing a bound for the disturbance penalty, which characterizes the existence of a finite solution to the problem class. Moreover, this constraint on the disturbance penalty reveals that, in scenarios where a solution is feasible, the problem converges to its equivalent minimization problem in the absence of disturbances.

Authors:Dabin Kim, Inkyu Jang, Youngsoo Han, Sunwoo Hwang, H. Jin Kim
Title: Enhancing Feature Tracking Reliability for Visual Navigation using Real-Time Safety Filter
Abstract:
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is achieved by detecting and tracking visual features or landmarks, which provide information about the sensor's relative pose. For reliable feature tracking and accurate pose estimation, it is crucial to maintain visibility of a sufficient number of features. This requirement can sometimes conflict with the robot's overall task objective. In this paper, we approach it as a constrained control problem. By leveraging the invariance properties of visibility constraints within the robot's kinematic model, we propose a real-time safety filter based on quadratic programming. This filter takes a reference velocity command as input and produces a modified velocity that minimally deviates from the reference while ensuring the information score from the currently visible features remains above a user-specified threshold. Numerical simulations demonstrate that the proposed safety filter preserves the invariance condition and ensures the visibility of more features than the required minimum. We also validated its real-world performance by integrating it into a visual simultaneous localization and mapping (SLAM) algorithm, where it maintained high estimation quality in challenging environments, outperforming a simple tracking controller.

Authors:Sirui Li, Federica Bragone, Matthieu Barreau, Tor Laneryd, Kateryna Morozovska
Title: Optimal Sensor Placement in Power Transformers Using Physics-Informed Neural Networks
Abstract:
Our work aims at simulating and predicting the temperature conditions inside a power transformer using Physics-Informed Neural Networks (PINNs). The predictions obtained are then used to determine the optimal placement for temperature sensors inside the transformer under the constraint of a limited number of sensors, enabling efficient performance monitoring. The method consists of combining PINNs with Mixed Integer Optimization Programming to obtain the optimal temperature reconstruction inside the transformer. First, we extend our PINN model for the thermal modeling of power transformers to solve the heat diffusion equation from 1D to 2D space. Finally, we construct an optimal sensor placement model inside the transformer that can be applied to problems in 1D and 2D.

Authors:Dongwei Zhao, Stefanos Delikaraogloub, Vladimir Dvorkin Alberto J. Lamadrid L., Audun Botterud
Title: Optimizing Bidding Curves for Renewable Energy in Two-Settlement Electricity Markets
Abstract:
Coordination of day-ahead and real-time electricity markets is imperative for cost-effective electricity supply and also to provide efficient incentives for the energy transition. Although stochastic market designs feature the least-cost coordination, they are incompatible with current deterministic markets. This paper proposes a new approach for compatible coordination in two-settlement markets based on benchmark bidding curves for variable renewable energy. These curves are optimized based on a bilevel optimization problem, anticipating per-scenario responses of deterministic market-clearing problems and ultimately minimizing the expected cost across day-ahead and real-time markets. Although the general bilevel model is challenging to solve, we theoretically prove that a single-segment bidding curve with a zero bidding price is sufficient to achieve system optimality if the marginal cost of variable renewable energy is zero, thus addressing the computational challenge. In practice, variable renewable energy producers can be allowed to bid multi-segment curves with non-zero prices. We test the bilevel framework for both single- and multiple-segment bidding curves under the assumption of fixed bidding prices. We leverage duality theory and McCormick envelopes to derive the linear programming approximation of the bilevel problem, which scales to practical systems such as a 1576-bus NYISO system. We benchmark the proposed coordination and find absolute dominance over the baseline solution, which assumes that renewables agnostically bid their expected forecasts. We also demonstrate that our proposed scheme provides a good approximation of the least-cost, yet unattainable in practice, stochastic market outcome.

Authors:Aakash Khandelwal, Ranjan Mukherjee
Title: Propeller Motion of a Devil-Stick using Normal Forcing
Abstract:
The problem of realizing rotary propeller motion of a devil-stick in the vertical plane using forces purely normal to the stick is considered. This problem represents a nonprehensile manipulation task of an underactuated system. In contrast with previous approaches, the devil-stick is manipulated by controlling the normal force and its point of application. Virtual holonomic constraints are used to design the trajectory of the center-of-mass of the devil-stick in terms of its orientation angle, and conditions for stable propeller motion are derived. Intermittent large-amplitude forces are used to asymptotically stabilize a desired propeller motion. Simulations demonstrate the efficacy of the approach in realizing stable propeller motion without loss of contact between the actuator and devil-stick.

Authors:Libe Mori, Ibone Lizarraga, Aitziber Anakabe, Juan-Mari Collantes, Vincent Armengaud, Geoffroy Soubercaze-Pun
Title: Efficient Calculation of Stabilization Parameters in RF Power Amplifiers
Abstract:
This paper proposes an efficient method for the calculation of the stabilization parameters in RF power amplifiers operating in periodic large-signal regimes. Stabilization is achieved by applying the principles of linear control theory for Periodic Linear Time-Varying (PLTV) systems. A numerical method is proposed to obtain the Harmonic Transfer Function that represents the system linearized around the large-signal steady state. Then, a feedback analysis is performed to calculate the closed-loop poles of the PLTV system. The proposed approach is demonstrated with two examples. Firstly, a three-stage amplifier that exhibits a low-frequency oscillation for increasing values of input power is correctly stabilized. Next, the stabilization of an unstable design that exhibits an odd-mode parametric oscillation is presented. The results of the proposed technique are compared to those obtained with the conventional parametric stability simulation. These examples serve to illustrate the capability and efficiency of the proposed approach.

Authors:Juan-Mari Collantes, Libe Mori, Aitziber Anakabe, Nerea Otegi, Natanael Ayllon, Franco Ramirez, Vincent Armengaud, Geoffroy Soubercaze-Pun
Title: Pole-Zero Identification: Unveiling the Critical Dynamics of Microwave Circuits Beyond Stability Analysis
Abstract:
Pole-zero identification refers to the obtaining of the poles and zeros of a linear (or linearized) system described by its frequency response. This is usually done using optimization techniques (such as least squares, maximum likelihood estimation, or vector fitting) that fit a given frequency response of the linear system to a transfer function defined as the ratio of two polynomials. This kind of linear system identification in the frequency domain has numerous applications in a wide variety of engineering fields (such as mechanical systems, power systems and Electromagnetic Compatibility). In the microwave domain, rational approximation is increasingly used to obtain black-box models of complex passive structures for model order reduction and efficient transient simulation. In this paper we will focus on a different application of pole-zero identification. We will review the different ways in which pole-zero identification can be applied to nonlinear circuit design (for power amplifier stability analysis and beyond). We will give a comprehensive view on recent approaches through illustrative application examples. Other uses of rational approximation techniques are beyond the scope of this paper.

Authors:Juan-Mari Collantes, Nerea Otegi, Aitziber Anakabe, Libe Mori, Asier Barcenilla, Jose Manuel Gonzalez-Perez
Title: Detecting Critical Resonances in Microwave Amplifiers through Noise Simulations
Abstract:
The presence of critical resonances in microwave power amplifiers has a negative impact on its behavior and performance. These critical resonances are usually predicted from pole-zero stability simulations. In this paper, a different and less demanding approach for the circuit designer is proposed. It is based on performing noise simulations of the amplifier and observing the rise in the noise spectrum that happens when the system has low damping poles. Critical resonance detection is simplified since no additional probes have to be inserted in the circuit and no post-processing for pole-zero analysis is required. The technique is applied to two amplifier prototypes fabricated in microstrip hybrid technology and the results are compared with the conventional pole-zero approach.

Authors:Jose Manuel Gonzalez, Nerea Otegi, Aitziber Anakabe, Libe Mori, Asier Barcenilla, Juan-Mari Collantes
Title: In-Circuit Characterization of Low-Frequency Stability Margins in Power Amplifiers
Abstract:
Low-frequency resonances with low stability margins affect video bandwidth characteristics of power amplifiers. In this work, a non-connectorized measurement technique is presented to obtain the low-frequency critical poles at internal nodes of a hybrid amplifier. The experimental setup uses a high impedance probe connected to a vector network analyzer (VNA) to obtain a fully calibrated closed-loop frequency response that is identified to get the poles of the device at low frequency. Compared to previous connectorized solutions, the approach avoids the ad-hoc insertion of extra RF connectors to access the low-frequency dynamics of the amplifier. In addition, it simplifies the characterization at multiple internal nodes, which is worthwhile for an efficient detection and fixing of critical low frequency dynamics in multistage power amplifiers. The technique is first applied to dc steady state regimes and compared to the connectorized approach on a single stage amplifier. Next, it is applied to a three-stage amplifier to show its potential to detect the origin of the undesired dynamics and the most effective way to increase stability margin. Finally, the technique has been extended to the large-signal case to increase its usefulness for the design and diagnosis of high power amplifiers.

Authors:Libe Mori, Aitziber Anakabe, Juan-Mari Collantes, Vincent Armengaud
Title: Understanding the Effect of Long-Term Memory Model Parameters in Pole-Zero Identification for Stability Analysis of Power Amplifiers
Abstract:
Understanding the nature of potential instabilities is indispensable for the stabilization of power amplifiers. Pole-zero identification is one of the techniques that can be used to determine the stability of a design in large-signal operation. In this work, the possible presence of poles at the fundamental frequency linked to the long-term memory parameters of the transistor's model (self-heating and traps) is presented and discussed. The paper shows how their effect on the identified frequency responses around the fundamental frequency may compromise the stability analysis results and the assessment of stability margins. The low observability of the poles at the fundamental frequency highlights the importance of an accurate identification of real poles in low-frequency bands. A specific algorithm for the automatic frequency domain identification of non-resonant frequency responses and a procedure for detecting and reducing overfitting of real poles is proposed in this article. The benefits of the proposed methodology to correctly detect and analyze real poles at low frequencies is demonstrated through Monte-Carlo sensitivity analyses of two different amplifier designs.

Authors:Hamid Toshani, Janith Petangoda, Chatura Samarakoon, Phillip Stanley-Marbell
Title: Sensitivity Analysis of the Laser Power Control System to Measurement Noise in SLS 3D Printers
Abstract:
Uniform temperature distribution in Selective Laser Sintering (SLS) is essential for producing durable 3D prints. Achieving uniformity requires a laser power control system that minimises deviation of the printing temperatures from the target temperature. Because the estimate of the actual process temperature is an input to the laser power control, uncertainty in the estimate of the actual temperature can lead to fluctuations in laser power that affect the thermal performance of the SLS. This article investigates the sensitivity of a laser power control system to temperature measurement uncertainty. This article evaluates the effectiveness of two methods for quantifying the effect of input uncertainty on a SLS laser power control system: a recent innovation in uncertainty-tracked architecture and traditional Monte Carlo simulation. We show that recent advances in computer architecture for arithmatic on probability distributions make it possible for the first time, to perform control system uncertainty analysis with latencies under 30 ms, while achieving the same level of uncertainty analysis as Monte Carlo methods with latencies that are two orders of magnitude slower.

Authors:Nanda Kishor Panda, Peter Palensky, Simon H. Tindemans
Title: Impact of Lead Time on Aggregate EV Flexibility for Congestion Management Services
Abstract:
Increased electrification of energy end-usage can lead to network congestion during periods of high consumption. Flexibility of loads, such as aggregate smart charging of Electric Vehicles (EVs), is increasingly leveraged to manage grid congestion through various market-based mechanisms. Under such an arrangement, this paper quantifies the effect of lead time on the aggregate flexibility of EV fleets. Simulations using real-world charging transactions spanning over different categories of charging stations are performed for two flexibility products (redispatch and capacity limitations) when offered along with different business-as-usual (BAU) schedules. Results show that the variation of tradable flexibility depends mainly on the BAU schedules, the duration of the requested flexibility, and its start time. Further, the implication of these flexibility products on the average energy costs and emissions is also studied for different cases. Simulations show that bidirectional (V2G) charging outperforms unidirectional smart charging in all cases.

Authors:Mingyuan Li, Jiahao Wang, Bo Du, Jun Shen, Qiang Wu
Title: FuzzyLight: A Robust Two-Stage Fuzzy Approach for Traffic Signal Control Works in Real Cities
Abstract:
Effective traffic signal control (TSC) is crucial in mitigating urban congestion and reducing emissions. Recently, reinforcement learning (RL) has been the research trend for TSC. However, existing RL algorithms face several real-world challenges that hinder their practical deployment in TSC: (1) Sensor accuracy deteriorates with increased sensor detection range, and data transmission is prone to noise, potentially resulting in unsafe TSC decisions. (2) During the training of online RL, interactions with the environment could be unstable, potentially leading to inappropriate traffic signal phase (TSP) selection and traffic congestion. (3) Most current TSC algorithms focus only on TSP decisions, overlooking the critical aspect of phase duration, affecting safety and efficiency. To overcome these challenges, we propose a robust two-stage fuzzy approach called FuzzyLight, which integrates compressed sensing and RL for TSC deployment. FuzzyLight offers several key contributions: (1) It employs fuzzy logic and compressed sensing to address sensor noise and enhances the efficiency of TSP decisions. (2) It maintains stable performance during training and combines fuzzy logic with RL to generate precise phases. (3) It works in real cities across 22 intersections and demonstrates superior performance in both real-world and simulated environments. Experimental results indicate that FuzzyLight enhances traffic efficiency by 48% compared to expert-designed timings in the real world. Furthermore, it achieves state-of-the-art (SOTA) performance in simulated environments using six real-world datasets with transmission noise. The code and deployment video are available at the URL1

Authors:Xianyuan Zhan, Xiangyu Zhu, Peng Cheng, Xiao Hu, Ziteng He, Hanfei Geng, Jichao Leng, Huiwen Zheng, Chenhui Liu, Tianshun Hong, Yan Liang, Yunxin Liu, Feng Zhao
Title: Data Center Cooling System Optimization Using Offline Reinforcement Learning
Abstract:
The recent advances in information technology and artificial intelligence have fueled a rapid expansion of the data center (DC) industry worldwide, accompanied by an immense appetite for electricity to power the DCs. In a typical DC, around 30~40% of the energy is spent on the cooling system rather than on computer servers, posing a pressing need for developing new energy-saving optimization technologies for DC cooling systems. However, optimizing such real-world industrial systems faces numerous challenges, including but not limited to a lack of reliable simulation environments, limited historical data, and stringent safety and control robustness requirements. In this work, we present a novel physics-informed offline reinforcement learning (RL) framework for energy efficiency optimization of DC cooling systems. The proposed framework models the complex dynamical patterns and physical dependencies inside a server room using a purposely designed graph neural network architecture that is compliant with the fundamental time-reversal symmetry. Because of its well-behaved and generalizable state-action representations, the model enables sample-efficient and robust latent space offline policy learning using limited real-world operational data. Our framework has been successfully deployed and verified in a large-scale production DC for closed-loop control of its air-cooling units (ACUs). We conducted a total of 2000 hours of short and long-term experiments in the production DC environment. The results show that our method achieves 14~21% energy savings in the DC cooling system, without any violation of the safety or operational constraints. Our results have demonstrated the significant potential of offline RL in solving a broad range of data-limited, safety-critical real-world industrial control problems.

Authors:Audrey Blizard, Stephanie Stockar
Title: Communication-Based Distributed Control of Large-Scale District Heating Networks
Abstract:
This paper presents a non-cooperative distributed model predictive controller for the control of large-scale District Heating Networks. To enable the design of this controller a novel information passing scheme and feasibility restoration method are created, allowing the local controllers to achieve a global consensus while minimizing a local cost function. The effectiveness of this controller is demonstrated on an 18-user District Heating Network decomposed into six subsystems. The results show that the developed control scheme effectively uses flexibility to manage the buildings' heat demands reducing the total losses by 14% and the return temperature by 37%.

Authors:Huang Zhang, Xixi Liu, Faisal Altaf, Torsten Wik
Title: A Transferable Physics-Informed Framework for Battery Degradation Diagnosis, Knee-Onset Detection and Knee Prediction
Abstract:
The techno-economic and safety concerns of battery capacity knee occurrence call for developing online knee detection and prediction methods as an advanced battery management system (BMS) function. To address this, a transferable physics-informed framework that consists of a histogram-based feature engineering method, a hybrid physics-informed model, and a fine-tuning strategy, is proposed for online battery degradation diagnosis and knee-onset detection. The hybrid model is first developed and evaluated using a scenario-aware pipeline in protocol cycling scenarios and then fine-tuned to create local models deployed in a dynamic cycling scenario. A 2D histogram-based 17-feature set is found to be the best choice in both source and target scenarios. The fine-tuning strategy is proven to be effective in improving battery degradation mode estimation and degradation phase detection performance in the target scenario. Again, a strong linear correlation was found between the identified knee-onset and knee points. As a result, advanced BMS functions, such as online degradation diagnosis and prognosis, online knee-onset detection and knee prediction, aging-aware battery classification, and second-life repurposing, can be enabled through a battery performance digital twin in the cloud.

Authors:Afrah Gueriani, Hamza Kheddar, Ahmed Cherif Mazari
Title: Adaptive Cyber-Attack Detection in IIoT Using Attention-Based LSTM-CNN Models
Abstract:
The rapid expansion of the industrial Internet of things (IIoT) has introduced new challenges in securing critical infrastructures against sophisticated cyberthreats. This study presents the development and evaluation of an advanced Intrusion detection (IDS) based on a hybrid LSTM-convolution neural network (CNN)-Attention architecture, specifically designed to detect and classify cyberattacks in IIoT environments. The research focuses on two key classification tasks: binary and multi-class classification. The proposed models was rigorously tested using the Edge-IIoTset dataset. To mitigate the class imbalance in the dataset, the synthetic minority over-sampling technique (SMOTE) was employed to generate synthetic samples for the underrepresented classes. This ensured that the model could learn effectively from all classes, thereby improving the overall classification performance. Through systematic experimentation, various deep learning (DL) models were compared, ultimately demonstrating that the LSTM-CNN-Attention model consistently outperformed others across key performance metrics. In binary classification, the model achieved near-perfect accuracy, while in multi-class classification, it maintained a high accuracy level (99.04%), effectively categorizing different attack types with a loss value of 0.0220%.

Authors:Kevin Riehl, Anastasios Kouvelas, Michail Makridis
Title: Urban Priority Pass: Fair Signalized Intersection Management Accounting For Passenger Needs Through Prioritization
Abstract:
Over the past few decades, efforts of road traffic management and practice have predominantly focused on maximizing system efficiency and mitigating congestion from a system perspective. This efficiency-driven approach implies the equal treatment of all vehicles, which often overlooks individual user experiences, broader social impacts, and the fact that users are heterogeneous in their urgency and experience different costs when being delayed. Existing strategies to account for the differences in needs of users in traffic management cover dedicated transit lanes, prioritization of emergency vehicles, transit signal prioritization, and economic instruments. Even though they are the major bottleneck for traffic in cities, no dedicated instrument that enables prioritization of individual drivers at intersections. The Priority Pass is a reservation-based, economic controller that expedites entitled vehicles at signalized intersections, without causing arbitrary delays for not-entitled vehicles and without affecting transportation efficiency de trop. The prioritization of vulnerable road users, emergency vehicles, commercial taxi and delivery drivers, or urgent individuals can enhance road safety, and achieve social, environmental, and economic goals. A case study in Manhattan demonstrates the feasibility of individual prioritization (up to 40\% delay decrease), and quantifies the potential of the Priority Pass to gain social welfare benefits for the people. A market for prioritization could generate up to 1 million \$ in daily revenues for Manhattan, and equitably allocate delay reductions to those in need, rather than those with a high income.

Authors:M. Umar B. Niazi, John Cao, Matthieu Barreau, Karl Henrik Johansson
Title: KKL Observer Synthesis for Nonlinear Systems via Physics-Informed Learning
Abstract:
This paper proposes a novel learning approach for designing Kazantzis-Kravaris/Luenberger (KKL) observers for autonomous nonlinear systems. The design of a KKL observer involves finding an injective map that transforms the system state into a higher-dimensional observer state, whose dynamics is linear and stable. The observer's state is then mapped back to the original system coordinates via the inverse map to obtain the state estimate. However, finding this transformation and its inverse is quite challenging. We propose to sequentially approximate these maps by neural networks that are trained using physics-informed learning. We generate synthetic data for training by numerically solving the system and observer dynamics. Theoretical guarantees for the robustness of state estimation against approximation error and system uncertainties are provided. Additionally, a systematic method for optimizing observer performance through parameter selection is presented. The effectiveness of the proposed approach is demonstrated through numerical simulations on benchmark examples and its application to sensor fault detection and isolation in a network of Kuramoto oscillators using learned KKL observers.

Authors:Abdul Basit, Muddasir Rahim, Tri Nhu Do, Nadir Adam, Georges Kaddoum
Title: DRL-Based Maximization of the Sum Cross-Layer Achievable Rate for Networks Under Jamming
Abstract:
In quasi-static wireless networks characterized by infrequent changes in the transmission schedules of user equipment (UE), malicious jammers can easily deteriorate network performance. Accordingly, a key challenge in these networks is managing channel access amidst jammers and under dynamic channel conditions. In this context, we propose a robust learning-based mechanism for channel access in multi-cell quasi-static networks under jamming. The network comprises multiple legitimate UEs, including predefined UEs (pUEs) with stochastic predefined schedules and an intelligent UE (iUE) with an undefined transmission schedule, all transmitting over a shared, time-varying uplink channel. Jammers transmit unwanted packets to disturb the pUEs' and the iUE's communication. The iUE's learning process is based on the deep reinforcement learning (DRL) framework, utilizing a residual network (ResNet)-based deep Q-Network (DQN). To coexist in the network and maximize the network's sum cross-layer achievable rate (SCLAR), the iUE must learn the unknown network dynamics while concurrently adapting to dynamic channel conditions. Our simulation results reveal that, with properly defined state space, action space, and rewards in DRL, the iUE can effectively coexist in the network, maximizing channel utilization and the network's SCLAR by judiciously selecting transmission time slots and thus avoiding collisions and jamming.

Authors:Bosen Yang, Kang Ma, Jin Lin, Mingjun Zhang, QiweiDuan, Zhendong Ji, Zhi Liu, Yonghua Song
Title: Achieving Stability and Optimality: Control Strategy for a Wind Turbine Supplying an Electrolyzer in the Islanded Storage-less Microgrid
Abstract:
Wind power generation supplying electrolyzers in islanded microgrids is an essential technical pathway for green hydrogen production, attracting growing attention in the transition towards net zero carbon emissions. Both academia and industry widely recognize that islanded AC microgrids normally rely on battery energy storage systems (BESSs) for grid-forming functions. However, the high cost of BESS significantly increases the levelized cost of hydrogen (LCOH), compromising economic feasibility. To address this challenge and reduce the LCOH, this paper focuses on a wind turbine (WT) supplying an electrolyzer in a storage-less microgrid and identifies a unique characteristic that challenges the conventional understanding of this microgrid: active power is coupled with microgrid voltage rather than frequency, the latter being entirely decoupled from active power balance. Based on this unique characteristic, this paper develops a new control strategy that maintains power balance, stabilizes the voltage and frequency, and maximizes hydrogen production. The effectiveness of the control strategy is validated through case studies conducted in Matlab/Simulink, especially its capability to maintain stability while maximizing hydrogen production under various conditions.

Authors:Yahya Sattar, Yassir Jedra, Maryam Fazel, Sarah Dean
Title: Finite Sample Identification of Partially Observed Bilinear Dynamical Systems
Abstract:
We consider the problem of learning a realization of a partially observed bilinear dynamical system (BLDS) from noisy input-output data. Given a single trajectory of input-output samples, we provide a finite time analysis for learning the system's Markov-like parameters, from which a balanced realization of the bilinear system can be obtained. Our bilinear system identification algorithm learns the system's Markov-like parameters by regressing the outputs to highly correlated, nonlinear, and heavy-tailed covariates. Moreover, the stability of BLDS depends on the sequence of inputs used to excite the system. These properties, unique to partially observed bilinear dynamical systems, pose significant challenges to the analysis of our algorithm for learning the unknown dynamics. We address these challenges and provide high probability error bounds on our identification algorithm under a uniform stability assumption. Our analysis provides insights into system theoretic quantities that affect learning accuracy and sample complexity. Lastly, we perform numerical experiments with synthetic data to reinforce these insights.

Authors:Laifa Tao, Zhengduo Zhao, Xuesong Wang, Bin Li, Wenchao Zhan, Xuanyuan Su, Shangyu Li, Qixuan Huang, Haifei Liu, Chen Lu, Zhixuan Lian
Title: Pre-Trained Large Language Model Based Remaining Useful Life Transfer Prediction of Bearing
Abstract:
Accurately predicting the remaining useful life (RUL) of rotating machinery, such as bearings, is essential for ensuring equipment reliability and minimizing unexpected industrial failures. Traditional data-driven deep learning methods face challenges in practical settings due to inconsistent training and testing data distributions and limited generalization for long-term predictions.

Authors:Jannik Graebner, Ryne Beeson
Title: Global Search for Optimal Low Thrust Spacecraft Trajectories using Diffusion Models and the Indirect Method
Abstract:
Long time-duration low-thrust nonlinear optimal spacecraft trajectory global search is a computationally and time expensive problem characterized by clustering patterns in locally optimal solutions. During preliminary mission design, mission parameters are subject to frequent changes, necessitating that trajectory designers efficiently generate high-quality control solutions for these new scenarios. Generative machine learning models can be trained to learn how the solution structure varies with respect to a conditional parameter, thereby accelerating the global search for missions with updated parameters. In this work, state-of-the-art diffusion models are integrated with the indirect approach for trajectory optimization within a global search framework. This framework is tested on two low-thrust transfers of different complexity in the circular restricted three-body problem. By generating and analyzing a training data set, we develop mathematical relations and techniques to understand the complex structures in the costate domain of locally optimal solutions for these problems. A diffusion model is trained on this data and successfully accelerates the global search for both problems. The model predicts how the costate solution structure changes, based on the maximum spacecraft thrust magnitude. Warm-starting a numerical solver with diffusion model samples for the costates at the initial time increases the number of solutions generated per minute for problems with unseen thrust magnitudes by one to two orders of magnitude in comparison to samples from a uniform distribution and from an adjoint control transformation.

Authors:Aayushman Sharma, Suman Chakravorty
Title: A Reduced Order Iterative Linear Quadratic Regulator (ILQR) Technique for the Optimal Control of Nonlinear Partial Differential Equations
Abstract:
In this paper, we introduce a reduced order model-based reinforcement learning (MBRL) approach, utilizing the Iterative Linear Quadratic Regulator (ILQR) algorithm for the optimal control of nonlinear partial differential equations (PDEs). The approach proposes a novel modification of the ILQR technique: it uses the Method of Snapshots to identify a reduced order Linear Time Varying (LTV) approximation of the nonlinear PDE dynamics around a current estimate of the optimal trajectory, utilizes the identified LTV model to solve a time-varying reduced order LQR problem to obtain an improved estimate of the optimal trajectory along with a new reduced basis, and iterates till convergence. The convergence behavior of the reduced order approach is analyzed and the algorithm is shown to converge to a limit set that is dependent on the truncation error in the reduction. The proposed approach is tested on the viscous Burger's equation and two phase-field models for microstructure evolution in materials, and the results show that there is a significant reduction in the computational burden over the standard ILQR approach, without significantly sacrificing performance.

Authors:Yongqi Dong, Bart van Arem, Haneen Farah
Title: Towards Developing Socially Compliant Automated Vehicles: Advances, Expert Insights, and A Conceptual Framework
Abstract:
Automated Vehicles (AVs) hold promise for revolutionizing transportation by improving road safety, traffic efficiency, and overall mobility. Despite the steady advancement in high-level AVs in recent years, the transition to full automation entails a period of mixed traffic, where AVs of varying automation levels coexist with human-driven vehicles (HDVs). Making AVs socially compliant and understood by human drivers is expected to improve the safety and efficiency of mixed traffic. Thus, ensuring AVs' compatibility with HDVs and social acceptance is crucial for their successful and seamless integration into mixed traffic. However, research in this critical area of developing Socially Compliant AVs (SCAVs) remains sparse. This study carries out the first comprehensive scoping review to assess the current state of the art in developing SCAVs, identifying key concepts, methodological approaches, and research gaps. An informal expert interview was also conducted to discuss the literature review results and identify critical research gaps and expectations towards SCAVs. Based on the scoping review and expert interview input, a conceptual framework is proposed for the development of SCAVs. The conceptual framework is evaluated using an online survey targeting researchers, technicians, policymakers, and other relevant professionals worldwide. The survey results provide valuable validation and insights, affirming the significance of the proposed conceptual framework in tackling the challenges of integrating AVs into mixed-traffic environments. Additionally, future research perspectives and suggestions are discussed, contributing to the research and development agenda of SCAVs.

Authors:David Carraminana, Ana M. Bernardos, Juan A. Besada, Jose R. Casar
Title: Towards resilient cities: A hybrid simulation framework for risk mitigation through data driven decision making
Abstract:
Providing a comprehensive view of the city operation and offering useful metrics for decision making is a well known challenge for urban risk analysis systems. Existing systems are, in many cases, generalizations of previous domain specific tools and or methodologies that may not cover all urban interdependencies and makes it difficult to have homogeneous indicators. In order to overcome this limitation while seeking for effective support to decision makers, this article introduces a novel hybrid simulation framework for risk mitigation. The framework is built on a proposed city concept that considers urban space as a Complex Adaptive System composed by interconnected Critical Infrastructures. In this concept, a Social System, which models daily patterns and social interactions of the citizens in the Urban Landscape, drives the CIs demand to configure the full city picture. The frameworks hybrid design integrates agent based and network based modeling by breaking down city agents into system dependent subagents, to enable both inter and intra system interaction simulation, respectively. A layered structure of indicators at different aggregation levels is also developed, to ensure that decisions are not only data driven but also explainable. Therefore, the proposed simulation framework can serve as a DSS tool that allows the quantitative analysis of the impact of threats at different levels. First, system level metrics can be used to get a broad view on the city resilience. Then, agent level metrics back those figures and provide better explainability. On implementation, the proposed framework enables component reusability (for eased coding), simulation federation (enabling the integration of existing system oriented simulators), discrete simulation in accelerated time (for rapid scenario simulation) and decision oriented visualization (for informed outputs).

Authors:Chen Qian, Tangyou Liu, Liao Wu
Title: JammingSnake: A follow-the-leader continuum robot with variable stiffness based on fiber jamming
Abstract:
Follow-the-leader (FTL) motion is essential for continuum robots operating in fragile and confined environments. It allows the robot to exert minimal force on its surroundings, reducing the risk of damage. This paper presents a novel design of a snake-like robot capable of achieving FTL motion by integrating fiber jamming modules (FJMs). The proposed robot can dynamically adjust its stiffness during propagation and interaction with the environment. An algorithm is developed to independently control the tendon and FJM insertion movements, allowing the robot to maintain its shape while minimizing the forces exerted on surrounding structures. To validate the proposed design, comparative tests were conducted between a traditional tendon-driven robot and the novel design under different configurations. The results demonstrate that our design relies significantly less on contact with the surroundings to maintain its shape. This highlights its potential for safer and more effective operations in delicate environments, such as minimally invasive surgery (MIS) or industrial in-situ inspection.

Authors:Zaint A. Alexakis, Panos C. Papageorgiou, Antonio T. Alexandridis, Federico Milano, Georgios Tzounas
Title: Smooth Rate Limiter Model for Power System Stability Analysis and Control
Abstract:
The letter proposes a smooth Rate Limiter (RL) model for power system stability analysis and control. The proposed model enables the effects of derivative bounds to be incorporated into system eigenvalue analysis, while replicating the behavior of conventional non-smooth RLs with high fidelity. In addition, it can be duly modified to enhance the system's dynamic control performance. The behavior of the proposed model is demonstrated through illustrative examples as well as through a simulation of the New York/New England 16-machine 68-bus system.

Authors:Arslan Ali Syed, Majid Rostami-Shahrbabaki, Klaus Bogenberger
Title: Can Human Drivers and Connected Autonomous Vehicles Co-exist in Lane-Free Traffic? A Microscopic Simulation Perspective
Abstract:
Recent advancements in connected autonomous vehicle (CAV) technology have sparked growing research interest in lane-free traffic (LFT). LFT envisions a scenario where all vehicles are CAVs, coordinating their movements without lanes to achieve smoother traffic flow and higher road capacity. This potentially reduces congestion without building new infrastructure. However, the transition phase will likely involve non-connected actors such as human-driven vehicles (HDVs) or independent AVs sharing the roads. This raises the question of how LFT performance is impacted when not all vehicles are CAVs, as these non-connected vehicles may prioritize their own benefits over system-wide improvements. This paper addresses this question through microscopic simulation on a ring road, where CAVs follow the potential lines (PL) controller for LFT, while HDVs adhere to a strip-based car-following model. The PL controller is also modified for safe velocities to prevent collisions. The results reveal that even a small percentage of HDVs can significantly disrupt LFT flow: 5% HDVs can reduce LFT's maximum road capacity by 16%, and a 20% HDVs nearly halves it. The study also develops an adaptive potential (APL) controller that forms APL corridors with modified PLs in the surroundings of HDVs. APL shows a peak traffic flow improvement of 23.6% over the PL controller. The study indicates that a penetration rate of approximately 60% CAVs in LFT is required before significant benefits of LFT start appearing compared to a scenario with all HDVs. These findings open a new research direction on minimizing the adverse effects of non-connected vehicles on LFT.

Authors:Peihan Zhang, Bhathiya Rathnayake, Mamadou Diagne, Miroslav Krstic
Title: Performance-Barrier Event-Triggered PDE Control of Traffic Flow
Abstract:
For stabilizing stop-and-go oscillations in traffic flow by actuating a variable speed limit (VSL) at a downstream boundary of a freeway segment, we introduce event-triggered PDE backstepping designs employing the recent concept of performance-barrier event-triggered control (P-ETC). Our design is for linearized hyperbolic Aw-Rascle-Zhang (ARZ) PDEs governing traffic velocity and density. Compared to continuous feedback, ETC provides a piecewise-constant VSL commands-more likely to be obeyed by human drivers. Unlike the existing regular ETC (R-ETC), which enforces conservatively a strict decrease of a Lyapunov function, our performance-barrier (P-ETC) approach permits an increase, as long as the Lyapunov function remains below a performance barrier, resulting in fewer control updates than R-ETC. To relieve VSL from continuously monitoring the triggering function, we also develop periodic event-triggered (PETC) and self-triggered (STC) versions of both R-ETC and P-ETC. These are referred to as R/P-PETC and R/P-STC, respectively, and we show that they both guarantee Zeno-free behavior and exponential convergence in the spatial $L^2$ norm. With comparative simulations, we illustrate the benefits of the performance-barrier designs through traffic metrics (driver comfort, safety, travel time, fuel consumption). The proposed algorithms reduce discomfort nearly in half relative to driver behavior without VSL, while tripling the driver safety, measured by the average dwell time, relative to the R-ETC frequent-switching VSL schedule.

Authors:Gabriel de Albuquerque Gleizer, Peyman Mohajerin Esfahani, Tamas Keviczky
Title: Active Estimation of Multiplicative Faults in Dynamical Systems
Abstract:
This paper addresses the problem of estimating multiplicative fault signals in linear time-invariant systems by processing its input and output variables, as well as designing an input signal to maximize the accuracy of such estimates. The proposed real-time fault estimator is based on a residual generator used for fault detection and a multiple-output regressor generator, which feed a moving-horizon linear regression that estimates the parameter changes. Asymptotic performance guarantees are provided in the presence of noise. Motivated by the performance bounds, an optimal input design problem is formulated, for which we provide efficient algorithms and optimality bounds. Numerical examples demonstrate the efficacy of our approach and the importance of the optimal input design for accurate fault estimation.

Authors:Blair Archibald, Paul Harvey, Michele Sevegnani
Title: A Digital Twinning Approach to Decarbonisation: Research Challenges
Abstract:
Transportation accounts for around 27% of green house gas emissions in the UK. While an obvious priority area for decarbonisation, and aligned to the UK government goal of reducing emissions by 68% for 2030, the free-market nature of the transportation sector combined with its fundamentally implicit and pervasive connections to all aspects of society and national infrastructure mean that all decarbonisation efforts to date have been siloed within a single transport sector, e.g. only considering greener aviation fuels. Truly decarbonising transport requires radical changes to the entire transport infrastructure, and since that transport does not happen in isolation, a single user often using multiple modes, we need a view over the whole transport system. The first step to solving a problem is to understand it. As a result of the fragmented nature of the transportation sector, there is currently no system level view. Without the ability to monitor even adjacent transport domains, the ability for people or organisations to (dynamically) adapt their operations for decarbonisation outcomes is unrealistic. As transportation is a complex social-techno-economic system, information and knowledge sharing is a must to be able to understand and explore potential solutions to the decarbonisation challenge. We believe a Federated Digital Twinning Approach has the potential to tackle transport decarbonisation problems, and, in this extended abstract, we give an overview of the research required to tackle the fundamental challenges around digital twin design, generation, validation and verification.

Authors:Yuxin Yang, Hang Zhou, Chaojie Li, Xin Li, Yingyi Yan, Mingyang Zheng
Title: Revisiting Z Transform Laplace Inversion: To Correct flaws in Signal and System Theory
Abstract:
This paper revisits the classical formulation of the Z-transform and its relationship to the inverse Laplace transform (L-1), originally developed by Ragazzini in sampled-data theory. It identifies a longstanding mathematical oversight in standard derivations, which typically neglect the contribution from the infinite arc in the complex plane during inverse Laplace evaluation. This omission leads to inconsistencies, especially at discontinuities such as t = 0. By incorporating the full Bromwich contour, including all boundary contributions, we restore internal consistency between L-1 and the Z-transform, aligning the corrected L-1 with results from Discrete-Time Fourier Transform (DTFT) aliasing theory. Consequently, this necessitates a structural revision of the Z-transform, inverse Laplace transform, and the behavior of the Heaviside step function at discontinuities, providing a more accurate foundation for modeling and analysis of sampled-data systems.

Authors:Zain ul Abdeen, Ming Jin
Title: Fragile, Robust, and Antifragile: A Perspective from Parameter Responses in Reinforcement Learning Under Stress
Abstract:
This paper explores Reinforcement learning (RL) policy robustness by systematically analyzing network parameters under internal and external stresses. Inspired by synaptic plasticity in neuroscience, synaptic filtering introduces internal stress by selectively perturbing parameters, while adversarial attacks apply external stress through modified agent observations. This dual approach enables the classification of parameters as fragile, robust, or antifragile, based on their influence on policy performance in clean and adversarial settings. Parameter scores are defined to quantify these characteristics, and the framework is validated on PPO-trained agents in Mujoco continuous control environments. The results highlight the presence of antifragile parameters that enhance policy performance under stress, demonstrating the potential of targeted filtering techniques to improve RL policy adaptability. These insights provide a foundation for future advancements in the design of robust and antifragile RL systems.

Authors:Hongliang Li, Herschel C. Pangborn, Ilya Kovalenko
Title: Energy-Aware Model Predictive Control for Batch Manufacturing System Scheduling Under Different Electricity Pricing Strategies
Abstract:
Manufacturing industries are among the highest energy-consuming sectors, facing increasing pressure to reduce energy costs. This paper presents an energy-aware Model Predictive Control (MPC) framework to dynamically schedule manufacturing processes in response to time-varying electricity prices without compromising production goals or violating production constraints. A network-based manufacturing system model is developed to capture complex material flows, batch processing, and capacities of buffers and machines. The scheduling problem is formulated as a Mixed-Integer Quadratic Program (MIQP) that balances energy costs, buffer levels, and production requirements. A case study evaluates the proposed MPC framework under four industrial electricity pricing schemes. Numerical results demonstrate that the approach reduces energy usage expenses while satisfying production goals and adhering to production constraints. The findings highlight the importance of considering the detailed electricity cost structure in manufacturing scheduling decisions and provide practical insights for manufacturers when selecting among different electricity pricing strategies.

Authors:Faizal Hafiz, Amelia Kunze, Enrico Formenti, Davide La Torre
Title: Identification of Cellular Automata on Spaces of Bernoulli Probability Measures
Abstract:
Classical Cellular Automata (CCAs) are a powerful computational framework for modeling global spatio-temporal dynamics with local interactions. While CCAs have been applied across numerous scientific fields, identifying the local rule that governs observed dynamics remains a challenging task. Moreover, the underlying assumption of deterministic cell states often limits the applicability of CCAs to systems characterized by inherent uncertainty. This study, therefore, focuses on the identification of Cellular Automata on spaces of probability measures (CAMs), where cell states are represented by probability distributions. This framework enables the modeling of systems with probabilistic uncertainty and spatially varying dynamics. Moreover, we formulate the local rule identification problem as a parameter estimation problem and propose a meta-heuristic search based on Self-adaptive Differential Evolution (SaDE) to estimate local rule parameters accurately from the observed data. The efficacy of the proposed approach is demonstrated through local rule identification in two-dimensional CAMs with varying neighborhood types and radii.

Authors:Liang Chen, Yu Song, Kanglian Zhao, Juan A. Fraire, Wenfeng Li
Title: Reliable Transmission of LTP Using Reinforcement Learning-Based Adaptive FEC
Abstract:
Delay/Disruption Tolerant Networking (DTN) employs the Licklider Transmission Protocol (LTP) with Automatic Repeat reQuest (ARQ) for reliable data delivery in challenging interplanetary networks. While previous studies have integrated packet-level Forward Erasure Correction (FEC) into LTP to reduce retransmission time costs, existing static and delay-feedback-based dynamic coding methods struggle with highly variable and unpredictable deep space channel conditions. This paper proposes a reinforcement learning (RL)-based adaptive FEC algorithm to address these limitations. The algorithm utilizes historical feedback and system state to predict future channel conditions and proactively adjust the code rate. This approach aims to anticipate channel quality degradation, thereby preventing decoding failures and subsequent LTP retransmissions and improving coding efficiency by minimizing redundancy during favorable channel conditions. Performance evaluations conducted in simulated Earth-Moon and Earth-Mars link scenarios demonstrate this algorithm's effectiveness in optimizing data transmission for interplanetary networks. Compared to existing methods, this approach demonstrates significant improvement, with matrix decoding failures reduced by at least 2/3.

Authors:Fenglan Wang, Xinguo Shu, Lei He, Lin Zhao
Title: Learning Distributed Safe Multi-Agent Navigation via Infinite-Horizon Optimal Graph Control
Abstract:
Distributed multi-agent navigation faces inherent challenges due to the competing requirements of maintaining safety and achieving goal-directed behavior, particularly for agents with limited sensing range operating in unknown environments with dense obstacles. Existing approaches typically project predefined goal-reaching controllers onto control barrier function (CBF) constraints, often resulting in conservative and suboptimal trade-offs between safety and goal-reaching performance. We propose an infinite-horizon CBF-constrained optimal graph control formulation for distributed safe multi-agent navigation. By deriving the analytical solution structure, we develop a novel Hamilton-Jacobi-Bellman (HJB)-based learning framework to approximate the solution. In particular, our algorithm jointly learns a CBF and a distributed control policy, both parameterized by graph neural networks (GNNs), along with a value function that robustly guides agents toward their goals. Moreover, we introduce a state-dependent parameterization of Lagrange multipliers, enabling dynamic trade-offs between safety and performance. Unlike traditional short-horizon, quadratic programming-based CBF methods, our approach leverages long-horizon optimization to proactively avoid deadlocks and navigate complex environments more effectively. Extensive simulation results demonstrate substantial improvements in safety and task success rates across various agent dynamics, with strong scalability and generalization to large-scale teams in previously unseen environments. Real-world experiments using Crazyflie drone swarms on challenging antipodal position-swapping tasks further validate the practicality, generalizability, and robustness of the proposed HJB-GNN learning framework.

Authors:Anders Hansson, João Victor Galvão da Mata, Martin S. Andersen
Title: Identifiability and Maximum Likelihood Estimation for System Identification of Networks of Dynamical Systems
Abstract:
In this paper we investigate identifiability and maximum likelihood estimation for direct system identification of networks of dynamical systems. We provide necessary and sufficient conditions for network identifiability in terms of Gröbner bases. We show that the maximum likelihood approach is both consistent and efficient, which is in contrast to existing prediction error approaches. Moreover, our approach has wider applicability, i.e., it is applicable whenever network identifiability holds. Finally, we show that we can formulate the maximum likelihood problem without the use of a predictor, which is the key to numerically being able to solve it efficiently.

Authors:Hao Chen, Yu Hin Ng, Ching-Wei Chang, Haobo Liang, Yanke Wang
Title: Learning-based safety lifting monitoring system for cranes on construction sites
Abstract:
Lifting on construction sites, as a frequent operation, works still with safety risks, especially for modular integrated construction (MiC) lifting due to its large weight and size, probably leading to accidents, causing damage to the modules, or more critically, posing safety hazards to on-site workers. Aiming to reduce the safety risks in lifting scenarios, we design an automated safe lifting monitoring algorithm pipeline based on learning-based methods, and deploy it on construction sites. This work is potentially to increase the safety and efficiency of MiC lifting process via automation technologies. A dataset is created consisting of 1007 image-point cloud pairs (37 MiC liftings). Advanced object detection models are trained for automated two-dimensional (2D) detection of MiCs and humans. Fusing the 2D detection results with the point cloud information allows accurate determination of the three-dimensional (3D) positions of MiCs and humans. The system is designed to automatically trigger alarms that notify individuals in the MiC lifting danger zone, while providing the crane operator with real-time lifting information and early warnings. The monitoring process minimizes the human intervention and no or less signal men are required on real sites assisted by our system. A quantitative analysis is conducted to evaluate the effectiveness of the algorithmic pipeline. The pipeline shows promising results in MiC and human perception with the mean distance error of 1.5640 m and 0.7824 m respectively. Furthermore, the developed system successfully executes safety risk monitoring and alarm functionalities during the MiC lifting process with limited manual work on real construction sites.

Authors:Aniol Martí, Luca Sanguinetti, Jaume Riba, Meritxell Lamarca
Title: Coherent and Noncoherent Detection in Dense Arrays: Can We Ignore Mutual Coupling?
Abstract:
This paper investigates the impact of mutual coupling on MIMO systems with densely deployed antennas. Leveraging multiport communication theory, we analyze both coherent and noncoherent detection approaches in a single-user uplink scenario where the receiver ignores mutual coupling effects. Simulation results indicate that while coherent detection is generally more accurate, it is highly sensitive to mismatches in the coupling model, leading to severe performance degradation when antennas are closely spaced, to the point of becoming unusable. Noncoherent detection, on the other hand, exhibits a higher error probability but is more robust to coupling model mismatches.

Authors:Vincent Leon, S. Rasoul Etesami
Title: Online Learning for Dynamic Vickrey-Clarke-Groves Mechanism in Sequential Auctions under Unknown Environments
Abstract:
We consider the problem of online dynamic mechanism design for sequential auctions in unknown environments, where the underlying market and, thus, the bidders' values vary over time as interactions between the seller and the bidders progress. We model the sequential auctions as an infinite-horizon average-reward Markov decision process (MDP), where the transition kernel and reward functions are unknown to the seller. In each round, the seller determines an allocation and a payment for each bidder. Each bidder receives a private reward and submits a sealed bid to the seller. The state, which represents the underlying market, evolves according to an unknown transition kernel and the seller's allocation policy. Unlike existing works that formulate the problem as a multi-armed bandit model or as an episodic MDP, where the environment resets to an initial state after each round or episode, our paper considers a more realistic and sophisticated setting in which the market continues to evolve without restarting. We first extend the Vickrey-Clarke-Groves (VCG) mechanism, which is known to be efficient, truthful, and individually rational for one-shot static auctions, to sequential auctions, thereby obtaining a dynamic VCG mechanism counterpart that preserves these desired properties. We then focus on the online setting and develop an online reinforcement learning algorithm for the seller to learn the underlying MDP model and implement a mechanism that closely resembles the dynamic VCG mechanism. We show that the learned online mechanism asymptotically converges to a dynamic mechanism that approximately satisfies efficiency, truthfulness, and individual rationality with arbitrarily high probability and achieves guaranteed performance in terms of various notions of regret.

Authors:Yanke Wang, Yu Hin Ng, Haobo Liang, Ching-Wei Chang, Hao Chen
Title: Bird's-eye view safety monitoring for the construction top under the tower crane
Abstract:
The tower crane is involving more automated and intelligent operation procedure, and importantly, the application of automation technologies to the safety issues is imperative ahead of the utilization of any other advances. Among diverse risk management tasks on site, it is essential to protect the human workers on the workspace between the tower crane and constructed building top area (construction top) from the bird's-eye view, especially with Modular Integrated Construction (MiC) lifted. Also, the camera and Light Detection And Ranging (LiDAR) can capture abundant 3D information on site, which is however yet made the best use. Considering the safety protection for humans and tower cranes, we present an AI-based fully automated safety monitoring system for tower crane lifting from the bird's-eye view, surveilling to shield the human workers on the construction top and avoid cranes' collision by alarming the crane operator. The system achieved a 3D data fusion for localization of humans and MiCs by integrating the captured information from camera and LiDAR. The state-of-the-art methods were explored and implemented into our proposed software pipeline coupled with the hardware and display systems. Furthermore, we conducted an analysis of the components in the pipeline to verify the accuracy and effectiveness of the involved methods. The display and visualization on the real site proved that our system can serve as a valuable safety monitoring toolkit on site.

Authors:Johannes Heid, Nils Bornhorst, Eric Tönges, Philipp Härtel, Denis Mende, Martin Braun
Title: A Computationally Efficient Method for Solving Mixed-Integer AC Optimal Power Flow Problems
Abstract:
Stepwise controllable devices, such as switched capacitors or stepwise controllable loads and generators, transform the nonconvex AC optimal power flow (AC-OPF) problem into a nonconvex mixed-integer (MI) programming problem which is generally hard to solve optimally. Existing methods for solving MI-AC-OPF problems usually suffer from either limited accuracy or computational intractability, making them impractical for real-world applications. To address these challenges, we propose an efficient iterative deflation approach providing high-quality approximate solutions. In each iteration, a continuously relaxed version of the MI-AC-OPF problem is solved and one candidate integer value is systematically eliminated based on the evaluation of a simple power flow result. The computational complexity of the proposed algorithm grows linearly with the number of integer optimization variables, ensuring scalability. Simulations demonstrate that the proposed approach achieves significant improvements in solution accuracy compared to a state-of-the-art approach. Thus, the proposed method is promising for solving practical MI-AC-OPF problems.

Authors:Marcelo Jacinto, Rita Cunha
Title: Vision-Based Multirotor Control for Spherical Target Tracking: A Bearing-Angle Approach
Abstract:
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing measurements provided by a camera sensor into a bearing-angle pair. We then use this information to derive the system's dynamics in a new set of coordinates, where the angle measurement is used to quantify a relative distance to the target. Building on this system representation, we design an adaptive nonlinear control algorithm that takes advantage of the properties of the new system geometry and assumes that the target follows a constant acceleration model. Simulation results illustrate the performance of the proposed control algorithm.

Authors:Tyler Landle, Jordan Rapp, Dean Blank, Chandramouli Amarnath, Abhijit Chatterjee, Alexandros Daglis, Umakishore Ramachandran
Title: eCAV: An Edge-Assisted Evaluation Platform for Connected Autonomous Vehicles
Abstract:
As autonomous vehicles edge closer to widespread adoption, enhancing road safety through collision avoidance and minimization of collateral damage becomes imperative. Vehicle-to-everything (V2X) technologies, which include vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), and vehicle-to-cloud (V2C), are being proposed as mechanisms to achieve this safety improvement. Simulation-based testing is crucial for early-stage evaluation of Connected Autonomous Vehicle (CAV) control systems, offering a safer and more cost-effective alternative to real-world tests. However, simulating large 3D environments with many complex single- and multi-vehicle sensors and controllers is computationally intensive. There is currently no evaluation framework that can effectively evaluate realistic scenarios involving large numbers of autonomous vehicles. We propose eCAV -- an efficient, modular, and scalable evaluation platform to facilitate both functional validation of algorithmic approaches to increasing road safety, as well as performance prediction of algorithms of various V2X technologies, including a futuristic Vehicle-to-Edge control plane and correspondingly designed control algorithms. eCAV can model up to 256 vehicles running individual control algorithms without perception enabled, which is $8\times$ more vehicles than what is possible with state-of-the-art alternatives.

Authors:William Sharpless, Dylan Hirsch, Sander Tonkens, Nikhil Shinde, Sylvia Herbert
Title: Dual-Objective Reinforcement Learning with Novel Hamilton-Jacobi-Bellman Formulations
Abstract:
Hard constraints in reinforcement learning (RL), whether imposed via the reward function or the model architecture, often degrade policy performance. Lagrangian methods offer a way to blend objectives with constraints, but often require intricate reward engineering and parameter tuning. In this work, we extend recent advances that connect Hamilton-Jacobi (HJ) equations with RL to propose two novel value functions for dual-objective satisfaction. Namely, we address: (1) the Reach-Always-Avoid problem - of achieving distinct reward and penalty thresholds - and (2) the Reach-Reach problem - of achieving thresholds of two distinct rewards. In contrast with temporal logic approaches, which typically involve representing an automaton, we derive explicit, tractable Bellman forms in this context by decomposing our problem into reach, avoid, and reach-avoid problems, as to leverage these aforementioned recent advances. From a mathematical perspective, the Reach-Always-Avoid and Reach-Reach problems are complementary and fundamentally different from standard sum-of-rewards problems and temporal logic problems, providing a new perspective on constrained decision-making. We leverage our analysis to propose a variation of Proximal Policy Optimization (DO-HJ-PPO), which solves these problems. Across a range of tasks for safe-arrival and multi-target achievement, we demonstrate that DO-HJ-PPO produces qualitatively distinct behaviors from previous approaches and out-competes a number of baselines in various metrics.

Authors:Israel Charles, Hossein Maghsoumi, Yaser Fallah
Title: Advancing Autonomous Racing: A Comprehensive Survey of the RoboRacer (F1TENTH) Platform
Abstract:
The RoboRacer (F1TENTH) platform has emerged as a leading testbed for advancing autonomous driving research, offering a scalable, cost-effective, and community-driven environment for experimentation. This paper presents a comprehensive survey of the platform, analyzing its modular hardware and software architecture, diverse research applications, and role in autonomous systems education. We examine critical aspects such as bridging the simulation-to-reality (Sim2Real) gap, integration with simulation environments, and the availability of standardized datasets and benchmarks. Furthermore, the survey highlights advancements in perception, planning, and control algorithms, as well as insights from global competitions and collaborative research efforts. By consolidating these contributions, this study positions RoboRacer as a versatile framework for accelerating innovation and bridging the gap between theoretical research and real-world deployment. The findings underscore the platform's significance in driving forward developments in autonomous racing and robotics.

Authors:Hossein Maghsoumi, Yaser Fallah
Title: A Small-Scale Robot for Autonomous Driving: Design, Challenges, and Best Practices
Abstract:
Small-scale autonomous vehicle platforms provide a cost-effective environment for developing and testing advanced driving systems. However, specific configurations within this scale are underrepresented, limiting full awareness of their potential. This paper focuses on a one-sixth-scale setup, offering a high-level overview of its design, hardware and software integration, and typical challenges encountered during development. We discuss methods for addressing mechanical and electronic issues common to this scale and propose guidelines for improving reliability and performance. By sharing these insights, we aim to expand the utility of small-scale vehicles for testing autonomous driving algorithms and to encourage further research in this domain.

Authors:Zhongyuan Kong, Lei Li, Erwin Ang Tien Yew, Zirui Chen, Wenbo Li, Shiwu Zhang, Jian Yang, Shuaishuai Sun
Title: A Force Feedback Exoskeleton for Teleoperation Using Magnetorheological Clutches
Abstract:
This paper proposes an upper-limb exoskeleton teleoperation system based on magnetorheological (MR) clutches, aiming to improve operational accuracy and enhance the immersive experience during lunar sampling tasks. Conventional exoskeleton teleoperation systems commonly employ active force feedback solutions, such as servo motors, which typically suffer from high system complexity and increased energy consumption. Furthermore, force feedback devices utilizing motors and gear reducers generally compromise backdrivability and pose safety risks to operators due to active force output. To address these limitations, we propose a semi-active force feedback strategy based on MR clutches. Dynamic magnetic field control enables precise adjustment of joint stiffness and damping, thereby providing smooth and high-resolution force feedback. The designed MR clutch exhibits outstanding performance across key metrics, achieving a torque-to-mass ratio (TMR) of 93.6 Nm/kg, a torque-to-volume ratio (TVR) of 4.05 x 10^5 Nm/m^3, and a torque-to-power ratio (TPR) of 4.15 Nm/W. Notably, the TMR represents an improvement of approximately 246% over a representative design in prior work. Experimental results validate the system's capability to deliver high-fidelity force feedback. Overall, the proposed system presents a promising solution for deep-space teleoperation with strong potential for real-world deployment in future missions.

Authors:Javad Enayati, Pedram Asef, Alexandre Benoit
Title: A Hybrid Artificial Intelligence Method for Estimating Flicker in Power Systems
Abstract:
This paper introduces a novel hybrid AI method combining H filtering and an adaptive linear neuron network for flicker component estimation in power distribution systems.The proposed method leverages the robustness of the H filter to extract the voltage envelope under uncertain and noisy conditions followed by the use of ADALINE to accurately identify flicker frequencies embedded in the envelope.This synergy enables efficient time domain estimation with rapid convergence and noise resilience addressing key limitations of existing frequency domain approaches.Unlike conventional techniques this hybrid AI model handles complex power disturbances without prior knowledge of noise characteristics or extensive training.To validate the method performance we conduct simulation studies based on IEC Standard 61000 4 15 supported by statistical analysis Monte Carlo simulations and real world data.Results demonstrate superior accuracy robustness and reduced computational load compared to Fast Fourier Transform and Discrete Wavelet Transform based estimators.

Authors:Nicals Tietze, Kai Wulff, Johann Reger
Title: High-gain model-following control for trajectory tracking
Abstract:
We consider trajectory tracking for minimum-phase nonlinear systems in Byrnes-Isidori form using the model-following control (MFC) architecture. The tracking problem is motivated by a hierarchical control concept where a higher-level instance provides the reference trajectory at run-time. We present a computational efficient implementation of the feedback linearisation MFC design, and apply high-gain feedback in the process control loop (PCL) to achieve practical tracking in presence of Lipschitz perturbations. Our main results establish ultimate boundedness of the tracking error and give a constructive bound for the high-gain scaling parameter to achieve arbitrary tracking precision. Further we establish that the peaking phenomenon can be attenuated using MFC. We demonstrate the results via an automotive case study considering advanced engine-based cruise control.

Authors:Xiang Zhu, Hua Geng, Hongyang Qing, Xin Zou
Title: Aggregating Inverter-Based Resources for Fast Frequency Response: A Nash Bargaining Game-Based Approach
Abstract:
This paper proposes a multi-objective optimization (MOO) approach for grid-level frequency regulation by aggregating inverter-based resources (IBRs). Virtual power plants (VPPs), acting as aggregators, can efficiently respond to dynamic response requirements from the grid. Through parametric modeling, grid-level frequency regulation requirements are accurately quantified and translated into a feasible parameter region defined by device-level parameters. Based on this feasible region, an MOO model is developed to address the conflicting demands of IBRs during frequency response. A Nash bargaining game-based approach is then employed to optimally allocate regulation requirements within the VPP, balancing the various demands of the IBRs. Numerical experiments demonstrate the effectiveness of the proposed method in enhancing frequency stability and improving coordination among IBRs.

Authors:Pantelis Dogoulis, Karim Tit, Maxime Cordy
Title: KCLNet: Physics-Informed Power Flow Prediction via Constraints Projections
Abstract:
In the modern context of power systems, rapid, scalable, and physically plausible power flow predictions are essential for ensuring the grid's safe and efficient operation. While traditional numerical methods have proven robust, they require extensive computation to maintain physical fidelity under dynamic or contingency conditions. In contrast, recent advancements in artificial intelligence (AI) have significantly improved computational speed; however, they often fail to enforce fundamental physical laws during real-world contingencies, resulting in physically implausible predictions. In this work, we introduce KCLNet, a physics-informed graph neural network that incorporates Kirchhoff's Current Law as a hard constraint via hyperplane projections. KCLNet attains competitive prediction accuracy while ensuring zero KCL violations, thereby delivering reliable and physically consistent power flow predictions critical to secure the operation of modern smart grids.

Authors:Jan C. Schulze, Alexander Mitsos
Title: Nonlinear Model Order Reduction of Dynamical Systems in Process Engineering: Review and Comparison
Abstract:
Computationally cheap yet accurate enough dynamical models are vital for real-time capable nonlinear optimization and model-based control. When given a computationally expensive high-order prediction model, a reduction to a lower-order simplified model can enable such real-time applications. Herein, we review state-of-the-art nonlinear model order reduction methods and provide a theoretical comparison of method properties. Additionally, we discuss both general-purpose methods and tailored approaches for (chemical) process systems and we identify similarities and differences between these methods. As manifold-Galerkin approaches currently do not account for inputs in the construction of the reduced state subspace, we extend these methods to dynamical systems with inputs. In a comparative case study, we apply eight established model order reduction methods to an air separation process model: POD-Galerkin, nonlinear-POD-Galerkin, manifold-Galerkin, dynamic mode decomposition, Koopman theory, manifold learning with latent predictor, compartment modeling, and model aggregation. Herein, we do not investigate hyperreduction (reduction of FLOPS). Based on our findings, we discuss strengths and weaknesses of the model order reduction methods.

Authors:Ryan Quach, Yidi Wang, Ali Jahanshahi, Daniel Wong, Hyoseung Kim
Title: ECLIP: Energy-efficient and Practical Co-Location of ML Inference on Spatially Partitioned GPUs
Abstract:
As AI inference becomes mainstream, research has begun to focus on improving the energy consumption of inference servers. Inference kernels commonly underutilize a GPU's compute resources and waste power from idling components. To improve utilization and energy efficiency, multiple models can co-locate and share the GPU. However, typical GPU spatial partitioning techniques often experience significant overheads when reconfiguring spatial partitions, which can waste additional energy through repartitioning overheads or non-optimal partition configurations. In this paper, we present ECLIP, a framework to enable low-overhead energy-efficient kernel-wise resource partitioning between co-located inference kernels. ECLIP minimizes repartitioning overheads by pre-allocating pools of CU masked streams and assigns optimal CU assignments to groups of kernels through our resource allocation optimizer. Overall, ECLIP achieves an average of 13% improvement to throughput and 25% improvement to energy efficiency.

Authors:Jichen Zhang, Liqun Zhao, Antonis Papachristodoulou, Jack Umenberger
Title: Constrained Diffusers for Safe Planning and Control
Abstract:
Diffusion models have shown remarkable potential in planning and control tasks due to their ability to represent multimodal distributions over actions and trajectories. However, ensuring safety under constraints remains a critical challenge for diffusion models. This paper proposes Constrained Diffusers, a novel framework that incorporates constraints into pre-trained diffusion models without retraining or architectural modifications. Inspired by constrained optimization, we apply a constrained Langevin sampling mechanism for the reverse diffusion process that jointly optimizes the trajectory and realizes constraint satisfaction through three iterative algorithms: projected method, primal-dual method and augmented Lagrangian approaches. In addition, we incorporate discrete control barrier functions as constraints for constrained diffusers to guarantee safety in online implementation. Experiments in Maze2D, locomotion, and pybullet ball running tasks demonstrate that our proposed methods achieve constraint satisfaction with less computation time, and are competitive to existing methods in environments with static and time-varying constraints.

Authors:Jihoon Suh, Yeongjun Jang, Kaoru Teranishi, Takashi Tanaka
Title: Relative Entropy Regularized Reinforcement Learning for Efficient Encrypted Policy Synthesis
Abstract:
We propose an efficient encrypted policy synthesis to develop privacy-preserving model-based reinforcement learning. We first demonstrate that the relative-entropy-regularized reinforcement learning framework offers a computationally convenient linear and ``min-free'' structure for value iteration, enabling a direct and efficient integration of fully homomorphic encryption with bootstrapping into policy synthesis. Convergence and error bounds are analyzed as encrypted policy synthesis propagates errors under the presence of encryption-induced errors including quantization and bootstrapping. Theoretical analysis is validated by numerical simulations. Results demonstrate the effectiveness of the RERL framework in integrating FHE for encrypted policy synthesis.

Authors:Rongfei Li, Francis Assadian
Title: Role of Uncertainty in Model Development and Control Design for a Manufacturing Process
Abstract:
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in the micro scale manufacturing, which requires high-precision robot manipulators. These sensory cues naturally compensate for high level of uncertainties that exist in the manufacturing environment. Uncertainties in performing manufacturing tasks may come from measurement noise, model inaccuracy, joint compliance (e.g., elasticity) etc. Although advanced metrology sensors and high-precision microprocessors, which are utilized in nowadays robots, have compensated for many structural and dynamic errors in robot positioning, but a well-designed control algorithm still works as a comparable and cheaper alternative to reduce uncertainties in automated manufacturing. Our work illustrates that a multi-robot control system can reduce various uncertainties to a great amount.

Authors:Zhenning Yang, Archit Bhatnagar, Yiming Qiu, Tongyuan Miao, Patrick Tser Jern Kon, Yunming Xiao, Yibo Huang, Martin Casado, Ang Chen
Title: Cloud Infrastructure Management in the Age of AI Agents
Abstract:
Cloud infrastructure is the cornerstone of the modern IT industry. However, managing this infrastructure effectively requires considerable manual effort from the DevOps engineering team. We make a case for developing AI agents powered by large language models (LLMs) to automate cloud infrastructure management tasks. In a preliminary study, we investigate the potential for AI agents to use different cloud/user interfaces such as software development kits (SDK), command line interfaces (CLI), Infrastructure-as-Code (IaC) platforms, and web portals. We report takeaways on their effectiveness on different management tasks, and identify research challenges and potential solutions.

Authors:Yuxing Zhong, Yuzhe Li, Daniel E. Quevedo, Ling Shi
Title: Harvest and Jam: Optimal Self-Sustainable Jamming Attacks against Remote State Estimation
Abstract:
This paper considers the optimal power allocation of a jamming attacker against remote state estimation. The attacker is self-sustainable and can harvest energy from the environment to launch attacks. The objective is to carefully allocate its attack power to maximize the estimation error at the fusion center. Regarding the attacker's knowledge of the system, two cases are discussed: (i) perfect channel knowledge and (ii) unknown channel model. For both cases, we formulate the problem as a Markov decision process (MDP) and prove the existence of an optimal deterministic and stationary policy. Moreover, for both cases, we develop algorithms to compute the allocation policy and demonstrate that the proposed algorithms for both cases converge to the optimal policy as time goes to infinity. Additionally, the optimal policy exhibits certain structural properties that can be leveraged to accelerate both algorithms. Numerical examples are given to illustrate the main results.

Authors:Qianxi Tang, Li Peng, Xuefeng Wang, Xinchen Yao
Title: Symmetric Sliding-Mode Control of Grid-Forming Inverters With Precision Region Under AC and DC Sides Varying
Abstract:
Voltage regulation under conventional grid-forming controllers is tightly coupled to power sharing and dc-link dynamics. Consequently, its tracking accuracy deteriorates during grid faults, sudden power sharing changes, or dc-bus voltage varying. To address this issue, a symmetric sliding-mode control (SSMC) method is developed and its voltage precision region is derived. It illustrates how much ac-side power dynamics and dc-link voltage varying can be decoupled from the voltage regulation task, which helps predict when an abnormal entangling appears. While conventional sliding-mode controls address voltage-tracking error through complex sliding surface designs, repetitive correction techniques or special reaching laws, this work identifies that the error at power-line frequency primarily stem from the asymmetry property of inverters with the delay effect and the computational inaccuracy. Guided by this insight, an asymmetry compensation structure is proposed, which avoids added design complexity and directly mitigates voltage tracking error. Furthermore, the control design is supported by a physical and quantitative explanation, aiding in parameter tuning. Simulation and experimental results demonstrate that the proposed method achieves faster tracking responses while maintaining robust and more accurate tracking under both dc-link voltage and ac-side current variations. Conventional grid-forming and classical sliding-mode controllers, which handle these variations separately, cannot match this combined speed and robustness. Furthermore, the voltage precision region is explicitly verified.

Authors:Uttej Kallakurik, Edward Humes, Rithvik Jonna, Xiaomin Lin, Tinoosh Mohsenin
Title: Enabling On-Device Medical AI Assistants via Input-Driven Saliency Adaptation
Abstract:
Large Language Models (LLMs) have significant impact on the healthcare scenarios but remain prohibitively large for deployment in real-time, resource-constrained environments such as edge devices. In this work, we introduce a novel medical assistant system, optimized through our general-purpose compression framework, which tailors Large Language Models (LLMs) for deployment in specialized domains. By measuring neuron saliency on domain-specific data, our method can aggressively prune irrelevant neurons, reducing model size while preserving performance. Following pruning, we apply post-training quantization to further reduce the memory footprint, and evaluate the compressed model across medical benchmarks including MedMCQA, MedQA, and PubMedQA. We also deploy the 50\% compressed Gemma and the 67\% compressed LLaMA3 models on Jetson Orin Nano (18.7W peak) and Raspberry Pi 5 (6.3W peak), achieving real-time, energy-efficient inference under hardware constraints.

Authors:Hanqing Zhang, Junyu Mao, Mohammad Fahim Shakib, Giordano Scarciotti
Title: Data-Driven Model Reduction by Moment Matching for Linear and Nonlinear Parametric Systems
Abstract:
Theory and methods to obtain parametric reduced-order models by moment matching are presented. The definition of the parametric moment is introduced, and methods (model-based and data-driven) for the approximation of the parametric moment of linear and nonlinear parametric systems are proposed. These approximations are exploited to construct families of parametric reduced-order models that match the approximate parametric moment of the system to be reduced and preserve key system properties such as asymptotic stability and dissipativity. The use of the model reduction methods is illustrated by means of a parametric benchmark model for the linear case and a large-scale wind farm model for the nonlinear case. In the illustration, a comparison of the proposed approximation methods is drawn and their advantages/disadvantages are discussed.

Authors:Zhi Chai, Jiajie Xu, Justin P Coon, Mohamed-Slim Alouini
Title: Joint Beamforming with Extremely Large Scale RIS: A Sequential Multi-Agent A2C Approach
Abstract:
It is a challenging problem to jointly optimize the base station (BS) precoding matrix and the reconfigurable intelligent surface (RIS) phases simultaneously in a RIS-assisted multiple-user multiple-input-multiple-output (MU-MIMO) scenario when the size of the RIS becomes extremely large. In this paper, we propose a deep reinforcement learning algorithm called sequential multi-agent advantage actor-critic (A2C) to solve this problem. In addition, the discrete phase of RISs, imperfect channel state information (CSI), and channel correlations between users are taken into consideration. The computational complexity is also analyzed, and the performance of the proposed algorithm is compared with the zero-forcing (ZF) beamformer in terms of the sum spectral efficiency (SE). It is noted that the computational complexity of the proposed algorithm is lower than the benchmark, while the performance is better than the benchmark. Throughout simulations, it is also found that the proposed algorithm is robust to medium channel estimation error.

Authors:Rongfei Li, Francis Assadian
Title: A Novel Feedforward Youla Parameterization Method for Avoiding Local Minima in Stereo Image Based Visual Servoing Control
Abstract:
In robot navigation and manipulation, accurately determining the camera's pose relative to the environment is crucial for effective task execution. In this paper, we systematically prove that this problem corresponds to the Perspective-3-Point (P3P) formulation, where exactly three known 3D points and their corresponding 2D image projections are used to estimate the pose of a stereo camera. In image-based visual servoing (IBVS) control, the system becomes overdetermined, as the 6 degrees of freedom (DoF) of the stereo camera must align with 9 observed 2D features in the scene. When more constraints are imposed than available DoFs, global stability cannot be guaranteed, as the camera may become trapped in a local minimum far from the desired configuration during servoing. To address this issue, we propose a novel control strategy for accurately positioning a calibrated stereo camera. Our approach integrates a feedforward controller with a Youla parameterization-based feedback controller, ensuring robust servoing performance. Through simulations, we demonstrate that our method effectively avoids local minima and enables the camera to reach the desired pose accurately and efficiently.

Authors:Rongfei Li, Francis Assadian
Title: Energy Aware Camera Location Search Algorithm for Increasing Precision of Observation in Automated Manufacturing
Abstract:
Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or eye-to-hand/eye-in-hand cooperation configuration in an automated manufacturing environment. Most research papers mainly put efforts into developing control and observation architectures in various scenarios, but few of them have discussed the importance of the camera's location in eye-to-hand configuration. In a manufacturing environment, the quality of camera estimations may vary significantly from one observation location to another, as the combined effects of environmental conditions result in different noise levels of a single image shot at different locations. In this paper, we propose an algorithm for the camera's moving policy so that it explores the camera workspace and searches for the optimal location where the images' noise level is minimized. Also, this algorithm ensures the camera ends up at a suboptimal (if the optimal one is unreachable) location among the locations already searched, with limited energy available for moving the camera. Unlike a simple brute force approach, the algorithm enables the camera to explore space more efficiently by adapting the search policy from learning the environment. With the aid of an image averaging technique, this algorithm, in use of a solo camera, achieves the observation accuracy in eye-to-hand configurations to a desirable extent without filtering out high-frequency information in the original image. An automated manufacturing application has been simulated and the results show the success of this algorithm's improvement of observation precision with limited energy.

Authors:Rongfei Li, Francis Assadian
Title: Innovative Adaptive Imaged Based Visual Servoing Control of 6 DoFs Industrial Robot Manipulators
Abstract:
Image-based visual servoing (IBVS) methods have been well developed and used in many applications, especially in pose (position and orientation) alignment. However, most research papers focused on developing control solutions when 3D point features can be detected inside the field of view. This work proposes an innovative feedforward-feedback adaptive control algorithm structure with the Youla Parameterization method. A designed feature estimation loop ensures stable and fast motion control when point features are outside the field of view. As 3D point features move inside the field of view, the IBVS feedback loop preserves the precision of the pose at the end of the control period. Also, an adaptive controller is developed in the feedback loop to stabilize the system in the entire range of operations. The nonlinear camera and robot manipulator model is linearized and decoupled online by an adaptive algorithm. The adaptive controller is then computed based on the linearized model evaluated at current linearized point. The proposed solution is robust and easy to implement in different industrial robotic systems. Various scenarios are used in simulations to validate the effectiveness and robust performance of the proposed controller.

Authors:Shabnam Khodakaramzadeh, Soroosh Shafiee, Gabriel de Albuquerque Gleizer, Peyman Mohajerin Esfahani
Title: A Saddle Point Algorithm for Robust Data-Driven Factor Model Problems
Abstract:
We study the factor model problem, which aims to uncover low-dimensional structures in high-dimensional datasets. Adopting a robust data-driven approach, we formulate the problem as a saddle-point optimization. Our primary contribution is a general first-order algorithm that solves this reformulation by leveraging a linear minimization oracle (LMO). We further develop semi-closed form solutions (up to a scalar) for three specific LMOs, corresponding to the Frobenius norm, Kullback-Leibler divergence, and Gelbrich (aka Wasserstein) distance. The analysis includes explicit quantification of these LMOs' regularity conditions, notably the Lipschitz constants of the dual function, whthich govern the algorithm's convergence performance. Numerical experiments confirm our meod's effectiveness in high-dimensional settings, outperforming standard off-the-shelf optimization solvers.

Authors:Eric Tönges, Philipp Härtel, Martin Braun
Title: Vulnerability-Based Optimal Grid Defense Strategies for Enhancing Cyber-Physical Energy System Resilience
Abstract:
An approach is proposed to identify optimal asset protection strategies based on vulnerability assessment outcomes. Traditional bilevel attacker-defender models emphasize worstcase scenarios but offer limited defensive guidance. In contrast, trilevel models introduce high computational complexity and rely on fixed network configurations. The proposed critical-components method leverages vulnerability assessment results to determine protection strategies, effectively outsourcing the upper-level defense decision. This enables adaptability to diverse network topologies, assessment techniques, and cyber-physical energy systems without the overhead of multi-level optimization. Case studies demonstrate the potential for improved system resilience across varying operational conditions.

Authors:Armin Gießler, Albertus Johannes Malan, Sören Hohmann
Title: Bridging Continuous-time LQR and Reinforcement Learning via Gradient Flow of the Bellman Error
Abstract:
In this paper, we present a novel method for computing the optimal feedback gain of the infinite-horizon Linear Quadratic Regulator (LQR) problem via an ordinary differential equation. We introduce a novel continuous-time Bellman error, derived from the Hamilton-Jacobi-Bellman (HJB) equation, which quantifies the suboptimality of stabilizing policies and is parametrized in terms of the feedback gain. We analyze its properties, including its effective domain, smoothness, coerciveness and show the existence of a unique stationary point within the stability region. Furthermore, we derive a closed-form gradient expression of the Bellman error that induces a gradient flow. This converges to the optimal feedback and generates a unique trajectory which exclusively comprises stabilizing feedback policies. Additionally, this work advances interesting connections between LQR theory and Reinforcement Learning (RL) by redefining suboptimality of the Algebraic Riccati Equation (ARE) as a Bellman error, adapting a state-independent formulation, and leveraging Lyapunov equations to overcome the infinite-horizon challenge. We validate our method in a simulation and compare it to the state of the art.

Authors:Hao Li, Rizwan S. Peerla, Frank Barrows, Francesco Caravelli, Bibhu Datta Sahoo
Title: Voltage-Controlled Oscillator and Memristor-Based Analog Computing for Solving Systems of Linear Equations
Abstract:
Matrix computations have become increasingly significant in many data-driven applications. However, Moores law for digital computers has been gradually approaching its limit in recent years. Moreover, digital computers encounter substantial complexity when performing matrix computations and need a long time to finish the computations, and existing analog matrix computation schemes require a large chip area and power consumption. This paper proposes a linear algebra system of equations based on integrators, which features low power consumption, compact area, and fast computation time. Due to the simple structure of the ring oscillator, the ring oscillator-based integrator exhibits a compact area and low power consumption. Therefore, ring oscillator-based integrators are introduced into the linear algebra system of equations, and this system can be used to compute the linear algebra equations of the matrix with either positive or negative values. This paper provides a detailed analysis and verification of the proposed circuit structure. Compared to similar circuits, this work has significant advantages in terms of area, power consumption, and computation speed.

Authors:Neşet Ünver Akmandor, Sarvesh Prajapati, Mark Zolotas, Taşkın Padır
Title: Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning
Abstract:
Traditional motion planning methods for robots with many degrees-of-freedom, such as mobile manipulators, are often computationally prohibitive for real-world settings. In this paper, we propose a novel multi-model motion planning pipeline, termed Re4MPC, which computes trajectories using Nonlinear Model Predictive Control (NMPC). Re4MPC generates trajectories in a computationally efficient manner by reactively selecting the model, cost, and constraints of the NMPC problem depending on the complexity of the task and robot state. The policy for this reactive decision-making is learned via a Deep Reinforcement Learning (DRL) framework. We introduce a mathematical formulation to integrate NMPC into this DRL framework. To validate our methodology and design choices, we evaluate DRL training and test outcomes in a physics-based simulation involving a mobile manipulator. Experimental results demonstrate that Re4MPC is more computationally efficient and achieves higher success rates in reaching end-effector goals than the NMPC baseline, which computes whole-body trajectories without our learning mechanism.

Authors:Hassan Alnahhal, Sifeddine Benahmed, Soulaimane Berkane, Tarel Hamel
Title: Attitude Estimation Using Scalar Measurements
Abstract:
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the reliable axes of vector measurements while seamlessly incorporating alternative scalar modalities such as Pitot tubes, barometers with range sensors, and landmark-based constraints. The estimation problem is reformulated within a linear time-varying (LTV) framework, allowing the application of a deterministic linear Kalman filter. This design guarantees Global Uniform Exponential Stability (GES) under the Uniform Observability (UO) condition. Simulation results demonstrate the effectiveness of the proposed approach in achieving robust and accurate attitude estimation, even with partial vector measurements that simulate sensor axis failure.

Authors:Ryan Piansky, Daniel K. Molzahn, Nicole D. Jackson, J. Kyle Skolfield
Title: Evaluating Undergrounding Decisions for Wildfire Ignition Risk Mitigation across Multiple Hazards
Abstract:
With electric power infrastructure increasingly susceptible to impacts from climate-driven natural disasters, there is an increasing need for optimization algorithms that determine where to harden the power grid. Prior work has primarily developed optimal hardening approaches for specific acute disaster scenarios. Given the extensive costs of hardening the grid, it is important to understand how a particular set of resilience investments will perform under multiple types of natural hazards. Using a large-scale test case representing the Texas power system, this paper aims to understand how line undergrounding investment decisions made for wildfire ignition risk mitigation perform during a range of wildfire, hurricane, and wind events. Given the varying geographical spread and damage profile of these events, we show that investment decisions made to address one type of natural disaster do not necessarily improve broader resilience outcomes, supporting the need for co-optimization across a range of hazards.

Authors:Manuel Sage, Khalil Al Handawi, Yaoyao Fiona Zhao
Title: The Economic Dispatch of Power-to-Gas Systems with Deep Reinforcement Learning:Tackling the Challenge of Delayed Rewards with Long-Term Energy Storage
Abstract:
Power-to-Gas (P2G) technologies gain recognition for enabling the integration of intermittent renewables, such as wind and solar, into electricity grids. However, determining the most cost-effective operation of these systems is complex due to the volatile nature of renewable energy, electricity prices, and loads. Additionally, P2G systems are less efficient in converting and storing energy compared to battery energy storage systems (BESs), and the benefits of converting electricity into gas are not immediately apparent. Deep Reinforcement Learning (DRL) has shown promise in managing the operation of energy systems amidst these uncertainties. Yet, DRL techniques face difficulties with the delayed reward characteristic of P2G system operation. Previous research has mostly focused on short-term studies that look at the energy conversion process, neglecting the long-term storage capabilities of P2G. This study presents a new method by thoroughly examining how DRL can be applied to the economic operation of P2G systems, in combination with BESs and gas turbines, over extended periods. Through three progressively more complex case studies, we assess the performance of DRL algorithms, specifically Deep Q-Networks and Proximal Policy Optimization, and introduce modifications to enhance their effectiveness. These modifications include integrating forecasts, implementing penalties on the reward function, and applying strategic cost calculations, all aimed at addressing the issue of delayed rewards. Our findings indicate that while DRL initially struggles with the complex decision-making required for P2G system operation, the adjustments we propose significantly improve its capability to devise cost-effective operation strategies, thereby unlocking the potential for long-term energy storage in P2G technologies.

Authors:Gil Serrano, Bruno J. Guerreiro, Pedro Lourenço, Rita Cunha
Title: Equivariant Filter for Relative Attitude and Target Angular Velocity Estimation
Abstract:
Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the orientation and angular velocity of a target object using onboard sensors. This work addresses the challenge of designing an Equivariant Filter (EqF) that can reliably estimate both the relative attitude and the target angular velocity using noisy observations of two known, non-collinear vectors fixed in the target frame. To derive the EqF, a symmetry for the system is proposed and an equivariant lift onto the symmetry group is calculated. Observability and convergence properties are analyzed. Simulations demonstrate the filter's performance, with Monte Carlo runs yielding statistically significant results. The impact of low-rate measurements is also examined and a strategy to mitigate this effect is proposed. Experimental results, using fiducial markers and both conventional and event cameras for measurement acquisition, further validate the approach, confirming its effectiveness in a realistic setting.

Authors:Marcos Lima Romero, Ricardo Suyama
Title: Agentic AI for Intent-Based Industrial Automation
Abstract:
The recent development of Agentic AI systems, empowered by autonomous large language models (LLMs) agents with planning and tool-usage capabilities, enables new possibilities for the evolution of industrial automation and reduces the complexity introduced by Industry 4.0. This work proposes a conceptual framework that integrates Agentic AI with the intent-based paradigm, originally developed in network research, to simplify human-machine interaction (HMI) and better align automation systems with the human-centric, sustainable, and resilient principles of Industry 5.0. Based on the intent-based processing, the framework allows human operators to express high-level business or operational goals in natural language, which are decomposed into actionable components. These intents are broken into expectations, conditions, targets, context, and information that guide sub-agents equipped with specialized tools to execute domain-specific tasks. A proof of concept was implemented using the CMAPSS dataset and Google Agent Developer Kit (ADK), demonstrating the feasibility of intent decomposition, agent orchestration, and autonomous decision-making in predictive maintenance scenarios. The results confirm the potential of this approach to reduce technical barriers and enable scalable, intent-driven automation, despite data quality and explainability concerns.

Authors:Salah Eddine Choutri, Boualem Djehiche, Prajwal Chauhan, Saif Eddin Jabari
Title: Backpressure-based Mean-field Type Game for Scheduling in Multi-Hop Wireless Sensor Networks
Abstract:
We propose a Mean-Field Type Game (MFTG) framework for effective scheduling in multi-hop wireless sensor networks (WSNs) using backpressure as a performance criterion. Traditional backpressure algorithms leverage queue differentials to regulate data flow and maintain network stability. In this work, we extend the backpressure framework by incorporating a mean-field term into the cost functional, capturing the global behavior of the system alongside local dynamics. The resulting model utilizes the strengths of non-cooperative mean-field type games, enabling nodes to make decentralized decisions based on both individual queue states and system mean-field effects while accounting for stochastic network interactions. By leveraging the interplay between backpressure dynamics and mean-field coupling, the approach balances local optimization with global efficiency. Numerical simulations demonstrate the efficacy of the proposed method in handling congestion and scheduling in large-scale WSNs.

Authors:Mohammad Fakhruddin Babar, Zain A. H. Hammadeh, Mohammad Hamad, Monowar Hasan
Title: Investigating Timing-Based Information Leakage in Data Flow-Driven Real-Time Systems
Abstract:
Leaking information about the execution behavior of critical real-time tasks may lead to serious consequences, including violations of temporal constraints and even severe failures. We study information leakage for a special class of real-time tasks that have two execution modes, namely, typical execution (which invokes the majority of times) and critical execution (to tackle exceptional conditions). The data flow-driven applications inherit such a multimode execution model. In this paper, we investigate whether a low-priority "observer" task can infer the execution patterns of a high-priority "victim" task (especially the critical executions). We develop a new statistical analysis technique and show that by analyzing the response times of the low-priority task, it becomes possible to extract the execution behavior of the high-priority task. We test our approach against a random selection technique that arbitrarily classifies a job as critical. We find that correlating the observer's response times with the victim's jobs can result in higher precision in identifying critical invocations compared to a random guess. We conduct extensive evaluations with systemically generated workloads, including a case study using a UAV autopilot (ArduPilot) taskset parameters. We found that our inference algorithm can achieve relatively low false positive rates (less than 25%) with relatively low footprint (1 MB memory and 50 ms timing overhead on a Raspberry Pi 4 platform). We further demonstrate the feasibility of inference on two cyber-physical platforms: an off-the-shelf manufacturing robot and a custom-built surveillance system.

Authors:J. Wehbeh, E. C. Kerrigan
Title: Smooth Logic Constraints in Nonlinear Optimization and Optimal Control Problems
Abstract:
In some optimal control problems, complex relationships between states and inputs cannot be easily represented using continuous constraints, necessitating the use of discrete logic instead. This paper presents a method for incorporating such logic constraints directly within continuous optimization frameworks, eliminating the need for binary variables or specialized solvers. Our approach reformulates arbitrary logic constraints under minimal assumptions as max-min constraints, which are then smoothed by introducing auxiliary variables into the optimization problem. When these reformulated constraints are satisfied, they guarantee that the original logical conditions hold, ensuring correctness in the optimization process. We demonstrate the effectiveness of this method on two planar quadrotor control tasks with complex logic constraints. Compared to existing techniques for encoding logic in continuous optimization, our approach achieves faster computational performance and improved convergence to feasible solutions.

Authors:J. Wehbeh, E. C. Kerrigan
Title: Update-Aware Robust Optimal Model Predictive Control for Nonlinear Systems
Abstract:
Robust optimal or min-max model predictive control (MPC) approaches aim to guarantee constraint satisfaction over a known, bounded uncertainty set while minimizing a worst-case performance bound. Traditionally, these methods compute a trajectory that meets the desired properties over a fixed prediction horizon, apply a portion of the resulting input, and then re-solve the MPC problem using newly obtained measurements at the next time step. However, this approach fails to account for the fact that the control trajectory will be updated in the future, potentially leading to conservative designs. In this paper, we present a novel update-aware robust optimal MPC algorithm for decreasing horizon problems on nonlinear systems that explicitly accounts for future control trajectory updates. This additional insight allows our method to provably expand the feasible solution set and guarantee improved worst-case performance bounds compared to existing techniques. Our approach formulates the trajectory generation problem as a sequence of nested existence-constrained semi-infinite programs (SIPs), which can be efficiently solved using local reduction techniques. To demonstrate its effectiveness, we evaluate our approach on a planar quadrotor problem, where it clearly outperforms an equivalent method that does not account for future updates at the cost of increased computation time.

Authors:Bryan Van Scoy, Laurent Lessard
Title: The Fastest Known First-Order Method for Minimizing Twice Continuously Differentiable Smooth Strongly Convex Functions
Abstract:
We consider iterative gradient-based optimization algorithms applied to functions that are smooth and strongly convex. The fastest globally convergent algorithm for this class of functions is the Triple Momentum (TM) method. We show that if the objective function is also twice continuously differentiable, a new, faster algorithm emerges, which we call $C^2$-Momentum (C2M). We prove that C2M is globally convergent and that its worst-case convergence rate is strictly faster than that of TM, with no additional computational cost. We validate our theoretical findings with numerical examples, demonstrating that C2M outperforms TM when the objective function is twice continuously differentiable.

Authors:Megan Harris, Ehsanoddin Ghorbanichemazkati, Mohammad Mahdi Naderi, John C. Little, Amro M. Farid
Title: Integrative, Scalable Modeling of Hydrological Systems with MBSE and HFGT
Abstract:
Worsening global challenges in the Anthropocene demand complex, adaptive solutions grounded in a systems-level understanding of coupled social and environmental dynamics. However, existing modeling approaches often fall short due to disciplinary silos, limited scalability, and the absence of shared ontological frameworks. Model-Based Systems Engineering (MBSE), when integrated with Hetero-functional Graph Theory (HFGT), offers a powerful methodology for modeling systems of systems while preserving subsystem heterogeneity and enabling cross-disciplinary integration. This paper presents the first application of the MBSE-HFGT methodology to environmental systems, using a series of worked examples involving flow through lake and land segments. These examples demonstrate how the approach enables consistent, scalable, and integrative modeling of complex environmental processes.

Authors:Amro M. Farid, Amirreza Hosseini, John C. Little
Title: A Conceptual Introduction to Hetero-functional Graph Theory for Systems-of-Systems
Abstract:
A defining feature of twenty first century engineering challenges is their inherent complexity, demanding the convergence of knowledge across diverse disciplines. Establishing consistent methodological foundations for engineering systems remains a challenge -- one that both systems engineering and network science have sought to address. Model-based systems engineering (MBSE) has recently emerged as a practical, interdisciplinary approach for developing complex systems from concept through implementation. In contrast, network science focuses on the quantitative analysis of networks present within engineering systems. This paper introduces hetero-functional graph theory (HFGT) as a conceptual bridge between these two fields, serving as a tutorial for both communities. For systems engineers, HFGT preserves the heterogeneity of conceptual and ontological constructs in MBSE, including system form, function, and concept. For network scientists, it provides multiple graph-based data structures enabling matrix-based quantitative analysis. The modeling process begins with ontological foundations, defining an engineering system as an abstraction and representing it with a model. Model fidelity is assessed using four linguistic properties: soundness, completeness, lucidity, and laconicity. A meta-architecture is introduced to manage the convergence challenges between domain-specific reference architectures and case-specific instantiations. Unlike other meta-architectures, HFGT is rooted in linguistic structures, modeling resources as subjects, system processes as predicates, and operands-such as matter, energy, organisms, information, and money-as objects. These elements are integrated within a system meta-architecture expressed in the Systems Modeling Language (SysML). The paper concludes by offering guidance for further reading.

Authors:Thomas SJ Burger, Amir Shahhosseini, Rodolphe Sepulchre
Title: A memristive model of spatio-temporal excitability
Abstract:
This paper introduces a model of excitability that unifies the mechanism of an important neuronal property both in time and in space. As a starting point, we revisit both a key model of temporal excitability, proposed by Hodgkin and Huxley, and a key model of spatial excitability, proposed by Amari. We then propose a novel model that captures the temporal and spatial properties of both models. Our aim is to regard neuronal excitability as a property across scales, and to explore the benefits of modeling excitability with one and the same mechanism, whether at the cellular or the population level.

Authors:Mohammad Mahdi Naderi, Megan Harris, Ehsanoddin Ghorbanichemazkati, John C. Little, Amro M. Farid
Title: Convergent Anthropocene Systems-of-Systems: Overcoming the Limitations of System Dynamics with Hetero-functional Graph Theory
Abstract:
Understanding the complexity and interdependence of systems in the Anthropocene is essential for making informed decisions about societal challenges spanning geophysical, biophysical, sociocultural, and sociotechnical domains. This paper explores the potential of Hetero-functional Graph Theory (HFGT) as a quantification tool for converting Model-based Systems Engineering (MBSE), stated in the Systems Modeling Language (SysML), into dynamic simulations-offering a comprehensive alternative to System Dynamics (SD) for representing interdependent systems of systems in the Anthropocene. The two approaches are compared in terms of systems thinking abstractions, methodological flexibility, and their ability to represent dynamic, multi-functional systems. Through a comparative study, the Mono Lake system is simulated in Northern California using both SD, and MBSE and HFGT, to highlight technical, conceptual and analytical differences. The simulations show equivalent results. However, MBSE and HFGT provide distinct advantages in capturing the nuances of the system through a broader set of systems thinking abstractions and in managing adaptive, multi-functional system interactions. These strengths position MBSE and HFGT as a powerful and flexible approach for representing, modeling, analyzing, and simulating heterogeneous and complex systems-of-systems in the Anthropocene.

Authors:Anand Brahmbhatt, Gon Buzaglo, Sofiia Druchyna, Elad Hazan
Title: Efficient Spectral Control of Partially Observed Linear Dynamical Systems
Abstract:
We propose a new method for the problem of controlling linear dynamical systems under partial observation and adversarial disturbances. Our new algorithm, Double Spectral Control (DSC), matches the best known regret guarantees while exponentially improving runtime complexity over previous approaches in its dependence on the system's stability margin. Our key innovation is a two-level spectral approximation strategy, leveraging double convolution with a universal basis of spectral filters, enabling efficient and accurate learning of the best linear dynamical controllers.

Authors:Yu Xu, Biqiang Mu, Tianshi Chen
Title: On Kernel Design for Regularized Volterra Series Identification of Wiener-Hammerstein Systems
Abstract:
There have been increasing interests on the Volterra series identification with the kernel-based regularization method. The major difficulties are on the kernel design and efficiency of the corresponding implementation. In this paper, we first assume that the underlying system to be identified is the Wiener-Hammerstein (WH) system with polynomial nonlinearity. We then show how to design kernels with nonzero off-diagonal blocks for Volterra maps by taking into account the prior knowledge of the linear blocks and the structure of WH systems. Moreover, exploring the structure of the designed kernels leads to the same computational complexity as the state-of-the-art result, i.e., $O(N^3)$, where $N$ is the sample size, but with a significant difference that the proposed kernels are designed in a direct and flexible way. In addition, for a special case of the kernel and a class of widely used input signals, further exploring the separable structure of the output kernel matrix can lower the computational complexity from $O(N^3)$ to $O(Nγ^2)$, where $γ$ is the separability rank of the output kernel matrix and can be much smaller than $N$. We finally run Monte Carlo simulations to demonstrate the proposed kernels and the obtained theoretical results.

Authors:Wenjing Ren, Xin Dong, Yangjie Cui, Binqi Yang, Haoze Li, Tao Yu, Jinwu Xiang, Daochun Li, Zhan Tu
Title: A Cooperative Aerial System of A Payload Drone Equipped with Dexterous Rappelling End Droid for Cluttered Space Pickup
Abstract:
In cluttered spaces, such as forests, drone picking up a payload via an abseil claw is an open challenge, as the cable is likely tangled and blocked by the branches and obstacles. To address such a challenge, in this work, a cooperative aerial system is proposed, which consists of a payload drone and a dexterous rappelling end droid. The two ends are linked via a Kevlar tether cable. The end droid is actuated by four propellers, which enable mid-air dexterous adjustment of clawing angle and guidance of cable movement. To avoid tanglement and rappelling obstacles, a trajectory optimization method that integrates cable length constraints and dynamic feasibility is developed, which guarantees safe pickup. A tether cable dynamic model is established to evaluate real-time cable status, considering both taut and sagging conditions. Simulation and real-world experiments are conducted to demonstrate that the proposed system is capable of picking up payload in cluttered spaces. As a result, the end droid can reach the target point successfully under cable constraints and achieve passive retrieval during the lifting phase without propulsion, which enables effective and efficient aerial manipulation.

Authors:Sel Ly, Anshuman Singh, Petr Vorobev, Yeng Chai Soh, Hung Dinh Nguyen
Title: Chance-constrained Solar PV Hosting Capacity Assessment for Distribution Grids Using Gaussian Process and Logit Learning
Abstract:
Growing penetration of distributed generation such as solar PV can increase the risk of over-voltage in distribution grids, affecting network security. Therefore, assessment of the so-called, PV hosting capacity (HC) - the maximum amount of PV that a given grid can accommodate becomes an important practical problem. In this paper, we propose a novel chance-constrained HC estimation framework using Gaussian Process and Logit learning that can account for uncertainty and risk management. Also, we consider the assessment of HC under different voltage control strategies. Our results have demonstrated that the proposed models can achieve high accuracy levels of up to 93% in predicting nodal over-voltage events on IEEE 33-bus and 123-bus test-cases. Thus, these models can be effectively employed to estimate the chance-constrained HC with various risk levels. Moreover, our proposed methods have simple forms and low computational costs of only a few seconds.

Authors:Yahya Naveed, Julia Gersey, Pei Zhang
Title: Preliminary Characterization of Bio-inspired Dog-Nose Sampler for Aerosol Detection
Abstract:
Before aerosols can be sensed, sampling technologies must capture the particulate matter of interest. To that end, for systems deployed in open environments where the location of the aerosol is unknown, extending the reach of the sampler could lessen the precision required in sensor placement or reduce the number of sensors required for full spatial coverage. Inspired by the sensitivity of the canine olfactory system, this paper presents a rudimentary sampler that mimics the air flow of a dog's nose. The design consists of speed-controlled inhalation jets, as well as exhalation jets that are angled down and to the side. We tested this design on volatile organic compounds (VOC) in a small number of scenarios to validate the concept and understand how the system behaves. We show that in preliminary testing this dog-nose setup provides improvements over passive and solely inhalation sensing.

Authors:Hossein Maghsoumi, Yaser Fallah
Title: ConvoyNext: A Scalable Testbed Platform for Cooperative Autonomous Vehicle Systems
Abstract:
The advancement of cooperative autonomous vehicle systems depends heavily on effective coordination between multiple agents, aiming to enhance traffic efficiency, fuel economy, and road safety. Despite these potential benefits, real-world testing of such systems remains a major challenge and is essential for validating control strategies, trajectory modeling methods, and communication robustness across diverse environments. To address this need, we introduce ConvoyNext, a scalable, modular, and extensible platform tailored for the real-world evaluation of cooperative driving behaviors. We demonstrate the capabilities of ConvoyNext through a series of experiments involving convoys of autonomous vehicles navigating complex trajectories. These tests highlight the platform's robustness across heterogeneous vehicle configurations and its effectiveness in assessing convoy behavior under varying communication conditions, including intentional packet loss. Our results validate ConvoyNext as a comprehensive, open-access testbed for advancing research in cooperative autonomous vehicle systems.

Authors:Jinquan Wang, Xiaojian Liao, Xuzhao Liu, Jiashun Suo, Zhisheng Huo, Chenhao Zhang, Xiangrong Xu, Runnan Shen, Xilong Xie, Limin Xiao
Title: DeepCEE: Efficient Cross-Region Model Distributed Training System under Heterogeneous GPUs and Networks
Abstract:
Most existing training systems focus on a single region. In contrast, we envision that cross-region training offers more flexible GPU resource allocation and yields significant potential. However, the hierarchical cluster topology and unstable networks in the cloud-edge-end (CEE) environment, a typical cross-region scenario, pose substantial challenges to building an efficient and autonomous model training system. We propose DeepCEE, a geo-distributed model training system tailored for heterogeneous GPUs and networks in CEE environments. DeepCEE adopts a communication-centric design philosophy to tackle challenges arising from slow and unstable inter-region networks. It begins with a heterogeneous device profiler that identifies and groups devices based on both network and compute characteristics. Leveraging device groups, DeepCEE implements compact, zero-bubble pipeline parallelism, automatically deriving optimal parallel strategies. To further adapt to runtime variability, DeepCEE integrates a dynamic environment adapter that reacts to network fluctuations. Extensive evaluations demonstrate that DeepCEE achieves 1.3-2.8x higher training throughput compared to widely used and SOTA training systems.

Authors:Zongyuan Shen, James P. Wilson, Shalabh Gupta
Title: C*: A Coverage Path Planning Algorithm for Unknown Environments using Rapidly Covering Graphs
Abstract:
The paper presents a novel sample-based algorithm, called C*, for real-time coverage path planning (CPP) of unknown environments. The C* algorithm is built upon the concept of Rapidly Covering Graph (RCGs). The RCG is constructed incrementally via progressive sampling during robot navigation, which eliminates the need for cellular decomposition of the search space. The RCG has a sparse-graph structure formed by efficient sampling and pruning techniques, which produces non-myopic waypoints of the coverage trajectory. While C* produces the desired back and forth coverage pattern, it adapts to the TSP-based locally optimal coverage of small uncovered regions, called coverage holes, that are surrounded by obstacles and covered regions. Thus, C* proactively detects and covers the coverage holes in situ, which reduces the coverage time by preventing the longer return trajectories from distant regions to cover such holes later. The algorithmic simplicity and low computational complexity of C* makes it easy to implement and suitable for real-time onboard applications. It is analytically proven that C* provides complete coverage of unknown environments. The performance of C* is validated by 1) extensive high-fidelity simulations and 2) real laboratory experiments using autonomous robots. A comparative evaluation with seven existing CPP methods demonstrate that C* yields significant performance improvements in terms of coverage time, number of turns, trajectory length and overlap ratio, while preventing the formation of coverage holes. Finally, C* is evaluated on two different applications of CPP using 1) energy-constrained robots and 2) multi-robot teams.

Authors:Wenxuan Zhang, Peng Hu
Title: An Edge AI Solution for Space Object Detection
Abstract:
Effective Edge AI for space object detection (SOD) tasks that can facilitate real-time collision assessment and avoidance is essential with the increasing space assets in near-Earth orbits. In SOD, low Earth orbit (LEO) satellites must detect other objects with high precision and minimal delay. We explore an Edge AI solution based on deep-learning-based vision sensing for SOD tasks and propose a deep learning model based on Squeeze-and-Excitation (SE) layers, Vision Transformers (ViT), and YOLOv9 framework. We evaluate the performance of these models across various realistic SOD scenarios, demonstrating their ability to detect multiple satellites with high accuracy and very low latency.

Authors:Babak Badnava, Jacob Chakareski, Morteza Hashemi
Title: Neural-Enhanced Rate Adaptation and Computation Distribution for Emerging mmWave Multi-User 3D Video Streaming Systems
Abstract:
We investigate multitask edge-user communication-computation resource allocation for $360^\circ$ video streaming in an edge-computing enabled millimeter wave (mmWave) multi-user virtual reality system. To balance the communication-computation trade-offs that arise herein, we formulate a video quality maximization problem that integrates interdependent multitask/multi-user action spaces and rebuffering time/quality variation constraints. We formulate a deep reinforcement learning framework for \underline{m}ulti-\underline{t}ask \underline{r}ate adaptation and \underline{c}omputation distribution (MTRC) to solve the problem of interest. Our solution does not rely on a priori knowledge about the environment and uses only prior video streaming statistics (e.g., throughput, decoding time, and transmission delay), and content information, to adjust the assigned video bitrates and computation distribution, as it observes the induced streaming performance online. Moreover, to capture the task interdependence in the environment, we leverage neural network cascades to extend our MTRC method to two novel variants denoted as R1C2 and C1R2. We train all three methods with real-world mmWave network traces and $360^\circ$ video datasets to evaluate their performance in terms of expected quality of experience (QoE), viewport peak signal-to-noise ratio (PSNR), rebuffering time, and quality variation. We outperform state-of-the-art rate adaptation algorithms, with C1R2 showing best results and achieving $5.21-6.06$ dB PSNR gains, $2.18-2.70$x rebuffering time reduction, and $4.14-4.50$ dB quality variation reduction.

Authors:Babak Badnava, Jacob Chakareski, Morteza Hashemi
Title: Learning Driven Elastic Task Multi-Connectivity Immersive Computing Systems
Abstract:
In virtual reality (VR) environments, computational tasks exhibit an elastic nature, meaning they can dynamically adjust based on various user and system constraints. This elasticity is essential for maintaining immersive experiences; however, it also introduces challenges for communication and computing in VR systems. In this paper, we investigate elastic task offloading for multi-user edge-computing-enabled VR systems with multi-connectivity, aiming to maximize the computational energy-efficiency (computational throughput per unit of energy consumed). To balance the induced communication, computation, energy consumption, and quality of experience trade-offs due to the elasticity of VR tasks, we formulate a constrained stochastic computational energy-efficiency optimization problem that integrates the multi-connectivity/multi-user action space and the elastic nature of VR computational tasks. We formulate a centralized phasic policy gradient (CPPG) framework to solve the problem of interest online, using only prior elastic task offloading statistics (energy consumption, response time, and transmission time), and task information (i.e., task size and computational intensity), while observing the induced system performance (energy consumption and latency). We further extend our approach to decentralized learning by formulating an independent phasic policy gradient (IPPG) method and a decentralized shared multi-armed bandit (DSMAB) method. We train our methods with real-world 4G, 5G, and WiGig network traces and 360 video datasets to evaluate their performance in terms of response time, energy efficiency, scalability, and delivered quality of experience. We also provide a comprehensive analysis of task size and its effect on offloading policy and system performance. In particular, we show that CPPG reduces latency by 28% and energy consumption by 78% compared to IPPG.

Authors:Gabriel Wiest, Niklas Nolzen, Florian Baader, André Bardow, Stefano Moret
Title: Low-regret Strategies for Energy Systems Planning in a Highly Uncertain Future
Abstract:
Large uncertainties in the energy transition urge decision-makers to develop low-regret strategies, i.e., strategies that perform well regardless of how the future unfolds. To address this challenge, we introduce a decision-support framework that identifies low-regret strategies in energy system planning under uncertainty. Our framework (i) automatically identifies strategies, (ii) evaluates their performance in terms of regret, (iii) assesses the key drivers of regret, and (iv) supports the decision process with intuitive decision trees, regret curves and decision maps. We apply the framework to evaluate the optimal use of biomass in the transition to net-zero energy systems, considering all major biomass utilization options: biofuels, biomethane, chemicals, hydrogen, biochar, electricity, and heat. Producing fuels and chemicals from biomass performs best across various decision-making criteria. In contrast, the current use of biomass, mainly for low-temperature heat supply, results in high regret, making it a must-avoid in the energy transition.

Authors:Max Grobbel, Daniel Flögel, Philipp Rigoll, Sören Hohmann
Title: Disentangling Coordiante Frames for Task Specific Motion Retargeting in Teleoperation using Shared Control and VR Controllers
Abstract:
Task performance in terms of task completion time in teleoperation is still far behind compared to humans conducting tasks directly. One large identified impact on this is the human capability to perform transformations and alignments, which is directly influenced by the point of view and the motion retargeting strategy. In modern teleoperation systems, motion retargeting is usually implemented through a one time calibration or switching modes. Complex tasks, like concatenated screwing, might be difficult, because the operator has to align (e.g. mirror) rotational and translational input commands. Recent research has shown, that the separation of translation and rotation leads to increased task performance. This work proposes a formal motion retargeting method, which separates translational and rotational input commands. This method is then included in a optimal control based trajectory planner and shown to work on a UR5e manipulator.

Authors:Zeping Su, Sen Kuang, Daoyi Dong
Title: Finite-time stabilization of ladder multi-level quantum systems
Abstract:
In this paper, a novel continuous non-smooth control strategy is proposed to achieve finite-time stabilization of ladder quantum systems. We first design a universal fractional-order control law for a ladder n-level quantum system using a distance-based Lyapunov function, and then apply the Filippov solution in the sense of differential inclusions and the LaSalle's invariance principle to prove the existence and uniqueness of the solution of the ladder system under the continuous non-smooth control law. Both asymptotic stability and finite-time stability for the ladder system is rigorously established by applying Lyapunov stability theory and finite-time stability criteria. We also derive an upper bound of the time required for convergence to an eigenstate of the intrinsic Hamiltonian. Numerical simulations on a rubidium ladder three-level atomic system validate the effectiveness of the proposed method.

Authors:Arghya Mallick, Georgios Pantazis, Mohammad Khosravi, Peyman Mohajerin Esfahani, Sergio Grammatico
Title: User-centric Vehicle-to-Grid Optimization with an Input Convex Neural Network-based Battery Degradation Model
Abstract:
We propose a data-driven, user-centric vehicle-to-grid (V2G) methodology based on multi-objective optimization to balance battery degradation and V2G revenue according to EV user preference. Given the lack of accurate and generalizable battery degradation models, we leverage input convex neural networks (ICNNs) to develop a data-driven degradation model trained on extensive experimental datasets. This approach enables our model to capture nonconvex dependencies on battery temperature and time while maintaining convexity with respect to the charging rate. Such a partial convexity property ensures that the second stage of our methodology remains computationally efficient. In the second stage, we integrate our data-driven degradation model into a multi-objective optimization framework to generate an optimal smart charging profile for each EV. This profile effectively balances the trade-off between financial benefits from V2G participation and battery degradation, controlled by a hyperparameter reflecting the user prioritization of battery health. Numerical simulations show the high accuracy of the ICNN model in predicting battery degradation for unseen data. Finally, we present a trade-off curve illustrating financial benefits from V2G versus losses from battery health degradation based on user preferences and showcase smart charging strategies under realistic scenarios.

Authors:Arghya Mallick, Georgios Pantazis, Peyman Mohajerin Esfahani, Sergio Grammatico
Title: A User-centric Game for Balancing V2G Benefits with Battery Degradation of Electric Vehicles
Abstract:
We present a novel user-centric vehicle-to-grid (V2G) framework that enables electric vehicle (EV) users to balance the trade-off between financial benefits from V2G and battery health degradation based on individual preference signals.

Authors:Hardeep Bassi, Yizhi Shen, Harish S. Bhat, Roel Van Beeumen
Title: From noisy observables to accurate ground state energies: a quantum classical signal subspace approach with denoising
Abstract:
We propose a hybrid quantum-classical algorithm for ground state energy (GSE) estimation that remains robust to highly noisy data and exhibits low sensitivity to hyperparameter tuning. Our approach -- Fourier Denoising Observable Dynamic Mode Decomposition (FDODMD) -- combines Fourier-based denoising thresholding to suppress spurious noise modes with observable dynamic mode decomposition (ODMD), a quantum-classical signal subspace method. By applying ODMD to an ensemble of denoised time-domain trajectories, FDODMD reliably estimates the system's eigenfrequencies. We also provide an error analysis of FDODMD. Numerical experiments on molecular systems demonstrate that FDODMD achieves convergence in high-noise regimes inaccessible to baseline methods under a limited quantum computational budget, while accelerating spectral estimation in intermediate-noise regimes. Importantly, this performance gain is entirely classical, requiring no additional quantum overhead and significantly reducing overall quantum resource demands.

Authors:Chuanqing Pu, Feilong Fan, Nengling Tai, Songyuan Liu, Jinming Yu
Title: A Hybrid Strategy for Aggregated Probabilistic Forecasting and Energy Trading in HEFTCom2024
Abstract:
Obtaining accurate probabilistic energy forecasts and making effective decisions amid diverse uncertainties are routine challenges in future energy systems. This paper presents the solution of team GEB, which ranked 3rd in trading, 4th in forecasting, and 1st among student teams in the IEEE Hybrid Energy Forecasting and Trading Competition 2024 (HEFTCom2024). The solution provides accurate probabilistic forecasts for a wind-solar hybrid system, and achieves substantial trading revenue in the day-ahead electricity market. Key components include: (1) a stacking-based approach combining sister forecasts from various Numerical Weather Predictions (NWPs) to provide wind power forecasts, (2) an online solar post-processing model to address the distribution shift in the online test set caused by increased solar capacity, (3) a probabilistic aggregation method for accurate quantile forecasts of hybrid generation, and (4) a stochastic trading strategy to maximize expected trading revenue considering uncertainties in electricity prices. This paper also explores the potential of end-to-end learning to further enhance the trading revenue by adjusting the distribution of forecast errors. Detailed case studies are provided to validate the effectiveness of these proposed methods. Code for all mentioned methods is available for reproduction and further research in both industry and academia.

Authors:Alvin Combrink, Stephie Do, Kristofer Bengtsson, Sabino Francesco Roselli, Martin Fabian
Title: A Comparative Study of SMT and MILP for the Nurse Rostering Problem
Abstract:
The effects of personnel scheduling on the quality of care and working conditions for healthcare personnel have been thoroughly documented. However, the ever-present demand and large variation of constraints make healthcare scheduling particularly challenging. This problem has been studied for decades, with limited research aimed at applying Satisfiability Modulo Theories (SMT). SMT has gained momentum within the formal verification community in the last decades, leading to the advancement of SMT solvers that have been shown to outperform standard mathematical programming techniques. In this work, we propose generic constraint formulations that can model a wide range of real-world scheduling constraints. Then, the generic constraints are formulated as SMT and MILP problems and used to compare the respective state-of-the-art solvers, Z3 and Gurobi, on academic and real-world inspired rostering problems. Experimental results show how each solver excels for certain types of problems; the MILP solver generally performs better when the problem is highly constrained or infeasible, while the SMT solver performs better otherwise. On real-world inspired problems containing a more varied set of shifts and personnel, the SMT solver excels. Additionally, it was noted during experimentation that the SMT solver was more sensitive to the way the generic constraints were formulated, requiring careful consideration and experimentation to achieve better performance. We conclude that SMT-based methods present a promising avenue for future research within the domain of personnel scheduling.

Authors:Ziyang Zhou, Yogesh Phalak, Vishrut Deshpande, Ethan O'Brien, Ian Walker, Suyi Li
Title: Hyper Yoshimura: How a slight tweak on a classical folding pattern unleashes meta-stability for deployable robots
Abstract:
Deployable structures inspired by origami have provided lightweight, compact, and reconfigurable solutions for various robotic and architectural applications. However, creating an integrated structural system that can effectively balance the competing requirements of high packing efficiency, simple deployment, and precise morphing into multiple load-bearing configurations remains a significant challenge. This study introduces a new class of hyper-Yoshimura origami, which exhibits a wide range of kinematically admissible and locally metastable states, including newly discovered symmetric "self-packing" and asymmetric "pop-out" states. This metastability is achieved by breaking a design rule of Yoshimura origami that has been in place for many decades. To this end, this study derives a new set of mathematically rigorous design rules and geometric formulations. Based on this, forward and inverse kinematic strategies are developed to stack hyper-Yoshimura modules into deployable booms that can approximate complex 3D shapes. Finally, this study showcases the potential of hyper-Yoshimura with a meter-scale pop-up cellphone charging station deployed at our university's bus transit station, along with a 3D-printed, scaled prototype of a space crane that can function as an object manipulator, solar tracking device, or high-load-bearing structure. These results establish hyper-Yoshimura as a promising platform for deployable and adaptable robotic systems in both terrestrial and space environments.

Authors:Justin Ting, Jing Shuang Li
Title: The Path Integral Bottleneck: Exploring the Control-Compute Tradeoff
Abstract:
Executing a control sequence requires some computation effort. Intuitively, a high-effort, fine-grained computation should result in better control (e.g. lower cost), whereas little to no computation effort would lead to worse control. To quantify and explore the tradeoff between control performance and compute effort, we present the Path Integral Bottleneck (PIB), a fusion of the Path Integral (PI) optimal control and Information Bottleneck (IB) frameworks. Both frameworks provide flexible and probabilistic descriptions of control. The PI does not limit itself to a particular control law, and the IB is not bound to any specific state encoding. Combining the generality of both frameworks enables us to produce an analytical description of the control-compute tradeoff. We provide PIB formulations for both continuous and discrete random variables. With these formulations, we can plot a tradeoff curve between performance and computation effort for any given plant description and control cost function. Simulations of a cart-pole for both the continuous and discrete variable cases reveal fundamental control-compute tradeoffs, exposing regions where the task performance-per-compute is higher than others.

Authors:Babak Esmaeili, Nariman Niknejad, Hamidreza Modares
Title: Risk-Aware Safe Reinforcement Learning for Control of Stochastic Linear Systems
Abstract:
This paper presents a risk-aware safe reinforcement learning (RL) control design for stochastic discrete-time linear systems. Rather than using a safety certifier to myopically intervene with the RL controller, a risk-informed safe controller is also learned besides the RL controller, and the RL and safe controllers are combined together. Several advantages come along with this approach: 1) High-confidence safety can be certified without relying on a high-fidelity system model and using limited data available, 2) Myopic interventions and convergence to an undesired equilibrium can be avoided by deciding on the contribution of two stabilizing controllers, and 3) highly efficient and computationally tractable solutions can be provided by optimizing over a scalar decision variable and linear programming polyhedral sets. To learn safe controllers with a large invariant set, piecewise affine controllers are learned instead of linear controllers. To this end, the closed-loop system is first represented using collected data, a decision variable, and noise. The effect of the decision variable on the variance of the safe violation of the closed-loop system is formalized. The decision variable is then designed such that the probability of safety violation for the learned closed-loop system is minimized. It is shown that this control-oriented approach reduces the data requirements and can also reduce the variance of safety violations. Finally, to integrate the safe and RL controllers, a new data-driven interpolation technique is introduced. This method aims to maintain the RL agent's optimal implementation while ensuring its safety within environments characterized by noise. The study concludes with a simulation example that serves to validate the theoretical results.

Authors:Tianfu Wu, Jiaqi Fu, Wugang Meng, Sungjin Cho, Huanzhe Zhan, Fumin Zhang
Title: Design of a Formation Control System to Assist Human Operators in Flying a Swarm of Robotic Blimps
Abstract:
Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach enhanced with a dynamic leader-switching mechanism. This strategy allows any blimp to take on the leader role, distributing maneuvering demands across the swarm and enhancing overall formation stability. Only the leader blimp is manually controlled by a human operator, while follower blimps use onboard monocular cameras and a laser altimeter for relative position and altitude estimation. A leader-switching scheme is proposed to assist the human operator to maintain stability of the swarm, especially when a sharp turn is performed. Experimental results confirm that the leader-switching mechanism effectively maintains stable formations and adapts to dynamic indoor environments while assisting human operator.

Authors:Riwa Karam, Ruoyu Lin, Brooks A. Butler, Magnus Egerstedt
Title: Resource Allocation with Multi-Team Collaboration Based on Hamilton's Rule
Abstract:
This paper presents a multi-team collaboration strategy based on Hamilton's rule from ecology that facilitates resource allocation among multiple teams, where agents are considered as shared resource among all teams that must be allocated appropriately. We construct an algorithmic framework that allows teams to make bids for agents that consider the costs and benefits of transferring agents while also considering relative mission importance for each team. This framework is applied to a multi-team coverage control mission to demonstrate its effectiveness. It is shown that the necessary criteria of a mission evaluation function are met by framing it as a function of the locational coverage cost of each team with respect to agent gain and loss, and these results are illustrated through simulations.

Authors:Yunwoo Lee, Jungwon Park
Title: MC-Swarm: Minimal-Communication Multi-Agent Trajectory Planning and Deadlock Resolution for Quadrotor Swarm
Abstract:
For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates asynchronously and requires no communication except during the initial planning phase. Moreover, our algorithm guarantees no deadlock under asynchronous updates and absence of communication during flight. To effectively ensure these points, we build two main modules: coordination state updater and trajectory optimizer. The coordination state updater computes waypoints for each agent toward its goal and performs subgoal optimization while considering deadlocks, as well as safety constraints with respect to neighbor agents and obstacles. Then, the trajectory optimizer generates a trajectory that ensures collision avoidance even with the asynchronous planning updates of neighboring agents. We provide a theoretical guarantee of collision avoidance with deadlock resolution and evaluate the effectiveness of our method in complex simulation environments, including random forests and narrow-gap mazes. Additionally, to reduce the total mission time, we design a faster coordination state update using lightweight communication. Lastly, our approach is validated through extensive simulations and real-world experiments with cluttered environment scenarios.

Authors:Ramin Esmzad, Gokul S. Sankar, Teawon Han, Hamidreza Modares
Title: Direct Data Driven Control Using Noisy Measurements
Abstract:
This paper presents a novel direct data-driven control framework for solving the linear quadratic regulator (LQR) under disturbances and noisy state measurements. The system dynamics are assumed unknown, and the LQR solution is learned using only a single trajectory of noisy input-output data while bypassing system identification. Our approach guarantees mean-square stability (MSS) and optimal performance by leveraging convex optimization techniques that incorporate noise statistics directly into the controller synthesis. First, we establish a theoretical result showing that the MSS of an uncertain data-driven system implies the MSS of the true closed-loop system. Building on this, we develop a robust stability condition using linear matrix inequalities (LMIs) that yields a stabilizing controller gain from noisy measurements. Finally, we formulate a data-driven LQR problem as a semidefinite program (SDP) that computes an optimal gain, minimizing the steady-state covariance. Extensive simulations on benchmark systems -- including a rotary inverted pendulum and an active suspension system -- demonstrate the superior robustness and accuracy of our method compared to existing data-driven LQR approaches. The proposed framework offers a practical and theoretically grounded solution for controller design in noise-corrupted environments where system identification is infeasible.

Authors:Xinyu Liang, Frits de Nijs, Buser Say, Hao Wang
Title: Human-in-the-Loop AI for HVAC Management Enhancing Comfort and Energy Efficiency
Abstract:
Heating, Ventilation, and Air Conditioning (HVAC) systems account for approximately 38% of building energy consumption globally, making them one of the most energy-intensive services. The increasing emphasis on energy efficiency and sustainability, combined with the need for enhanced occupant comfort, presents a significant challenge for traditional HVAC systems. These systems often fail to dynamically adjust to real-time changes in electricity market rates or individual comfort preferences, leading to increased energy costs and reduced comfort. In response, we propose a Human-in-the-Loop (HITL) Artificial Intelligence framework that optimizes HVAC performance by incorporating real-time user feedback and responding to fluctuating electricity prices. Unlike conventional systems that require predefined information about occupancy or comfort levels, our approach learns and adapts based on ongoing user input. By integrating the occupancy prediction model with reinforcement learning, the system improves operational efficiency and reduces energy costs in line with electricity market dynamics, thereby contributing to demand response initiatives. Through simulations, we demonstrate that our method achieves significant cost reductions compared to baseline approaches while maintaining or enhancing occupant comfort. This feedback-driven approach ensures personalized comfort control without the need for predefined settings, offering a scalable solution that balances individual preferences with economic and environmental goals.

Authors:Aritrik Ghosh, Nakul Garg, Nirupam Roy
Title: DeepSync: A Learning Framework for Pervasive Localization using Code Synchronization on Compressed Cellular Spectrum
Abstract:
Pervasive localization is essential for continuous tracking applications, yet existing solutions face challenges in balancing power consumption and accuracy. GPS, while precise, is impractical for continuous tracking of micro-assets due to high power requirements. Recent advances in non-linear compressed spectrum sensing offer low-power alternatives, but existing implementations achieve only coarse positioning through Received Signal Strength Indicator (RSSI) measurements. We present DeepSync, a deep learning framework that enables precise localization using compressed cellular spectrum. Our key technical insight lies in formulating sub-sample timing estimation as a template matching problem, solved through a novel architecture combining temporal CNN encoders for multi-frame processing with cross-attention mechanisms. The system processes non-linear inter-modulated spectrum through hierarchical feature extraction, achieving robust performance at SNR levels below -10dB -- a regime where conventional timing estimation fails. By integrating real cellular infrastructure data with physics-based ray-tracing simulations, DeepSync achieves 2.128-meter median accuracy while consuming significantly less power than conventional systems. Real-world evaluations demonstrate 10x improvement over existing compressed spectrum approaches, establishing a new paradigm for ultra-low-power localization.

Authors:Rahman Saadat Yeganeh, Hamid Behroozi
Title: Energy Efficient RSMA-Based LEO Satellite Communications Assisted by UAV-Mounted BD-Active RIS: A DRL Approach
Abstract:
This paper proposes an advanced non-terrestrial communication architecture that integrates Rate-Splitting Multiple Access (RSMA) with a Beyond-Diagonal Active Reconfigurable Intelligent Surface (BD-ARIS) mounted on a UAV under the coverage of a Low Earth Orbit (LEO) satellite. The BD-ARIS adopts a group-connected structure to enhance signal amplification and adaptability, while RSMA enables efficient multi-user access by dividing messages into common and private components. The system jointly optimizes satellite beamforming, UAV positioning, power allocation, and rate-splitting ratios to maximize the overall energy efficiency (EE). To solve the resulting non-convex and high-dimensional problem, we employ three state-of-the-art deep reinforcement learning (DRL) algorithms: Trust Region Policy Optimization (TRPO), Twin Delayed Deep Deterministic Policy Gradient (TD3), and Asynchronous Advantage Actor-Critic (A3C). Moreover, realistic models for the power consumption of both the UAV and the BD-ARIS are considered. Simulation results reveal that TRPO consistently achieves the best performance in terms of EE and sum rate, especially under high transmit powers and challenging deployment scenarios. TD3 converges faster and performs competitively in moderate settings, while A3C suffers from instability due to its high variance. Additionally, the robustness of each algorithm under channel state information (CSI) uncertainty is evaluated, confirming TRPO resilience to imperfect observations. Overall, the proposed RSMA-BD-ARIS framework significantly outperforms conventional RIS-assisted designs and provides a scalable, energy-efficient solution for 6G and massive IoT applications in non-terrestrial networks.

Authors:William Lemaire, Esmaeil Ranjbar Koleibi, Maher Benhouria, Konin Koua, Jérémy Ménard, Keven Gagnon, Charles Quesnel, Louis-Philippe Gauthier, Takwa Omrani, Montassar Dridi, Mahdi Majdoub, Marwan Besrour, Sébastien Roy, Réjean Fontaine
Title: Scalable 49-Channel Neural Recorder with an Event-Driven Ramp ADC and PCA Compression in 28 nm CMOS
Abstract:
Neural interfaces advance neuroscience research and therapeutic innovations by accurately measuring neuronal activity. However, recording raw data from numerous neurons results in substantial amount of data and poses challenges for wireless transmission. While conventional neural recorders consume energy to digitize and process the full neural signal, only a fraction of this data carries essential spiking information. Leveraging on this signal sparsity, this paper introduces a neural recording integrated circuit in TSMC 28nm CMOS. It features an event-driven ramp analog-to-digital converter, and a spike compression module based on principal component analysis. The circuit consists of 49 channels, each occupying an on-chip area of 50 $\times$ 60 $μ$m$^2$. The circuit measures 1370 $\times$ 1370 $μ$m$^2$ and consumes 534 $μ$W. Compression testing on a synthetic dataset demonstrated an 8.8-fold reduction compared to raw spikes and a 328-fold reduction relative to the raw signal. This compression approach maintained a spike sorting accuracy of 74.9%, compared to the 79.5% accuracy obtained with the raw signal. The paper details the architecture and performance outcomes of the neural recording circuit and its compression module.

Authors:Keidai Iiyama, Daniel Neamati, Grace Gao
Title: Satellite Autonomous Clock Fault Monitoring with Inter-Satellite Ranges Using Euclidean Distance Matrices
Abstract:
To address the need for robust positioning, navigation, and timing services in lunar environments, this paper proposes a novel onboard clock phase jump detection framework for satellite constellations using range measurements obtained from dual one-way inter-satellite links. Our approach leverages vertex redundantly rigid graphs to detect faults without relying on prior knowledge of satellite positions or clock biases, providing flexibility for lunar satellite networks with diverse satellite types and operators. We model satellite constellations as graphs, where satellites are vertices and inter-satellite links are edges. The proposed algorithm detects and identifies satellites with clock jumps by monitoring the singular values of the geometric-centered Euclidean distance matrix (GCEDM) of 5-clique sub-graphs. The proposed method is validated through simulations of a GPS constellation and a notional constellation around the Moon, demonstrating its effectiveness in various configurations.

Authors:Yulong Gao, Shuhao Yan, Jian Zhou, Mark Cannon
Title: Learning-based Homothetic Tube MPC
Abstract:
In this paper, we study homothetic tube model predictive control (MPC) of discrete-time linear systems subject to bounded additive disturbance and mixed constraints on the state and input. Different from most existing work on robust MPC, we assume that the true disturbance set is unknown but a conservative surrogate is available a priori. Leveraging the real-time data, we develop an online learning algorithm to approximate the true disturbance set. This approximation and the corresponding constraints in the MPC optimisation are updated online using computationally convenient linear programs. We provide statistical gaps between the true and learned disturbance sets, based on which, probabilistic recursive feasibility of homothetic tube MPC problems is discussed. Numerical simulations are provided to demonstrate the efficacy of our proposed algorithm and compare with state-of-the-art MPC algorithms.

Authors:Yang Deng, Yaohui Liu, Rui Liang, Dafang Zhao, Donghua Xie, Ittetsu Taniguchi, Dan Wang
Title: ReeM: Ensemble Building Thermodynamics Model for Efficient HVAC Control via Hierarchical Reinforcement Learning
Abstract:
The building thermodynamics model, which predicts real-time indoor temperature changes under potential HVAC (Heating, Ventilation, and Air Conditioning) control operations, is crucial for optimizing HVAC control in buildings. While pioneering studies have attempted to develop such models for various building environments, these models often require extensive data collection periods and rely heavily on expert knowledge, making the modeling process inefficient and limiting the reusability of the models. This paper explores a model ensemble perspective that utilizes existing developed models as base models to serve a target building environment, thereby providing accurate predictions while reducing the associated efforts. Given that building data streams are non-stationary and the number of base models may increase, we propose a Hierarchical Reinforcement Learning (HRL) approach to dynamically select and weight the base models. Our approach employs a two-tiered decision-making process: the high-level focuses on model selection, while the low-level determines the weights of the selected models. We thoroughly evaluate the proposed approach through offline experiments and an on-site case study, and the experimental results demonstrate the effectiveness of our method.

Authors:Pengda Mao, Shuli Lv, Chen Min, Zhaolong Shen, Quan Quan
Title: An Efficient Real-Time Planning Method for Swarm Robotics Based on an Optimal Virtual Tube
Abstract:
Swarm robotics navigating through unknown obstacle environments is an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making, control, and planning. The limited computational resources of onboard platforms present significant challenges for planning and control. Reactive planners offer low computational demands and high re-planning frequencies but lack predictive capabilities, often resulting in local minima. Long-horizon planners, on the other hand, can perform multi-step predictions to reduce deadlocks but cost much computation, leading to lower re-planning frequencies. This paper proposes a real-time optimal virtual tube planning method for swarm robotics in unknown environments, which generates approximate solutions for optimal trajectories through affine functions. As a result, the computational complexity of approximate solutions is $O(n_t)$, where $n_t$ is the number of parameters in the trajectory, thereby significantly reducing the overall computational burden. By integrating reactive methods, the proposed method enables low-computation, safe swarm motion in unknown environments. The effectiveness of the proposed method is validated through several simulations and experiments.

Authors:Colin Kessler, Ekaterina Komendantskaya, Marco Casadio, Ignazio Maria Viola, Thomas Flinkow, Albaraa Ammar Othman, Alistair Malhotra, Robbie McPherson
Title: Neural Network Verification for Gliding Drone Control: A Case Study
Abstract:
As machine learning is increasingly deployed in autonomous systems, verification of neural network controllers is becoming an active research domain. Existing tools and annual verification competitions suggest that soon this technology will become effective for real-world applications. Our application comes from the emerging field of microflyers that are passively transported by the wind, which may have various uses in weather or pollution monitoring. Specifically, we investigate centimetre-scale bio-inspired gliding drones that resemble Alsomitra macrocarpa diaspores. In this paper, we propose a new case study on verifying Alsomitra-inspired drones with neural network controllers, with the aim of adhering closely to a target trajectory. We show that our system differs substantially from existing VNN and ARCH competition benchmarks, and show that a combination of tools holds promise for verifying such systems in the future, if certain shortcomings can be overcome. We propose a novel method for robust training of regression networks, and investigate formalisations of this case study in Vehicle and CORA. Our verification results suggest that the investigated training methods do improve performance and robustness of neural network controllers in this application, but are limited in scope and usefulness. This is due to systematic limitations of both Vehicle and CORA, and the complexity of our system reducing the scale of reachability, which we investigate in detail. If these limitations can be overcome, it will enable engineers to develop safe and robust technologies that improve people's lives and reduce our impact on the environment.

Authors:Shahbaz P Qadri Syed, He Bai
Title: Exploiting inter-agent coupling information for efficient reinforcement learning of cooperative LQR
Abstract:
Developing scalable and efficient reinforcement learning algorithms for cooperative multi-agent control has received significant attention over the past years. Existing literature has proposed inexact decompositions of local Q-functions based on empirical information structures between the agents. In this paper, we exploit inter-agent coupling information and propose a systematic approach to exactly decompose the local Q-function of each agent. We develop an approximate least square policy iteration algorithm based on the proposed decomposition and identify two architectures to learn the local Q-function for each agent. We establish that the worst-case sample complexity of the decomposition is equal to the centralized case and derive necessary and sufficient graphical conditions on the inter-agent couplings to achieve better sample efficiency. We demonstrate the improved sample efficiency and computational efficiency on numerical examples.

Authors:Jinsun Yoo, ChonLam Lao, Lianjie Cao, Bob Lantz, Minlan Yu, Tushar Krishna, Puneet Sharma
Title: Towards Easy and Realistic Network Infrastructure Testing for Large-scale Machine Learning
Abstract:
This paper lays the foundation for Genie, a testing framework that captures the impact of real hardware network behavior on ML workload performance, without requiring expensive GPUs. Genie uses CPU-initiated traffic over a hardware testbed to emulate GPU to GPU communication, and adapts the ASTRA-sim simulator to model interaction between the network and the ML workload.

Authors:Chen Qian, Jiaxi Xing, Jifu Yan, Mingyu Luo, Shiyu Song, Xuyi Lian, Yongchun Fang, Fei Gao, Tiefeng Li
Title: Periodic Proprioceptive Stimuli Learning and Internal Model Development for Avian-inspired Flapping-wing Flight State Estimation
Abstract:
This paper presents a novel learning-based approach for online state estimation in flapping wing aerial vehicles (FWAVs). Leveraging low-cost Magnetic, Angular Rate, and Gravity (MARG) sensors, the proposed method effectively mitigates the adverse effects of flapping-induced oscillations that challenge conventional estimation techniques. By employing a divide-and-conquer strategy grounded in cycle-averaged aerodynamics, the framework decouples the slow-varying components from the high-frequency oscillatory components, thereby preserving critical transient behaviors while delivering an smooth internal state representation. The complete oscillatory state of FWAV can be reconstructed based on above two components, leading to substantial improvements in accurate state prediction. Experimental validations on an avian-inspired FWAV demonstrate that the estimator enhances accuracy and smoothness, even under complex aerodynamic disturbances. These encouraging results highlight the potential of learning algorithms to overcome issues of flapping-wing induced oscillation dynamics.

Authors:Qianxi Tang, Li Peng
Title: Theoretical Grid-Forming Extreme of Inverters
Abstract:
What are the theoretical and physical limits of a grid-forming inverter? This letter proposes that the extreme grid-forming ability of inverters is limited by their dc-side, ac-side, circuit topology dynamics, but not control. While many papers focus on how to improve grid-forming inverters stability, power sharing, inertia emulation, fault response, few, if any, formally define the fundamental theoretical limits or extremes of grid-forming behavior. It seems that the grid-forming can be improved endlessly. No physical system can support a grid indefinitely without limitations, especially under increasing levels of disturbance or uncertainty. Therefore, this boundary is explicitly shown by a mathematical expression in this letter. Consequently, the results show that relatively low dc-side voltage and high active power injection could damage the grid-forming ability. Poor consideration of dc-side, ac-side, and circuit topology dynamics in real practice will cause jeopardizing oscillation even by the theoretical best grid-forming control strategy.

Authors:Wei Zhang, Zhiyu Wu, Yi Mu, Banruo Liu, Myungjin Lee, Fan Lai
Title: Tempo: Application-aware LLM Serving with Mixed SLO Requirements
Abstract:
The integration of Large Language Models (LLMs) into diverse applications, ranging from interactive chatbots and cloud AIOps to intelligent agents, has introduced a wide spectrum of Service Level Objectives (SLOs) for responsiveness. These workloads include latency-sensitive requests focused on per-token latency in streaming chat, throughput-intensive requests that require rapid full responses to invoke tools, and collective requests with dynamic dependencies arising from self-reflection or agent-based reasoning. This workload diversity, amplified by unpredictable request information such as response lengths and runtime dependencies, makes existing schedulers inadequate even within their design envelopes. In this paper, we define service gain as the useful service delivered by completing requests. We observe that as SLO directly reflects the actual performance needs of requests, completing a request much faster than its SLO (e.g., deadline) yields limited additional service gain. Based on this insight, we introduce Tempo, the first systematic SLO-aware scheduler designed to maximize service gain across diverse LLM workloads. Tempo allocates just enough serving bandwidth to meet each SLO, maximizing residual capacity for others best-effort workloads. Instead of assuming request information or none at all, it adopts a hybrid scheduling strategy: using quantile-based response upper bounds and dependency-graph matching for conservative initial estimates, prioritizing requests by service gain density, and refining decisions online as generation progresses. Our evaluation across diverse workloads, including chat, reasoning, and agentic pipelines, shows that Tempo improves end-to-end service gain by up to 8.3$\times$ and achieves up to 10.3$\times$ SLO goodput compared to state-of-the-art designs

Authors:Jingwen Huang, Shucong Yin, Zhaokai Chen, Hanyang Xu, Chenglong Fu
Title: A Kinematic and Kinetic Dataset of Lower Limb Joints During Obstacle Crossing in Healthy Young Adults
Abstract:
Obstacle crossing is an essential component of human locomotion, particularly for individuals with lower limb amputations who face elevated risks of imbalance and falls. While prior studies have explored this task, they often lack a comprehensive examination of kinematic and kinetic changes throughout the entire gait cycle across varying obstacle heights. This study creates a novel dataset collected from ten healthy adults performing obstacle crossing at four different heights (7.5 cm, 15 cm, 22.5 cm, and 30 cm). Kinematic and kinetic data (angles and torques of hip, knee, and ankle) were recorded and analyzed. Results indicate that increased obstacle height leads to a longer swing phase and significant increases in both hip and knee joint angles (1.5* and 1.0*, respectively) and torques. In contrast, ankle joint angles and moments exhibited minimal variation across obstacle heights, indicating a relatively consistent movement strategy at the ankle. Furthermore, significant asymmetries were observed between the dominant and non-dominant foot: the dominant foot demonstrated larger hip and knee joint angles and more consistent ankle behavior, reflecting greater coordination. These findings offer valuable biomechanical insights for improving fall prevention strategies and informing the design of assistive devices such as prostheses and exoskeletons.

Authors:Richard Schmitz, Franziska Flachsbarth, Leonie Sara Plaga, Martin Braun, Philipp Härtel
Title: Energy Security and Resilience: Reviewing Concepts and Advancing Planning Perspectives for Transforming Integrated Energy Systems
Abstract:
Recent events, including the pandemic, geopolitical conflicts, supply chain disruptions, and climate change impacts, have exposed the critical need to ensure energy security and resilience in energy systems. We review existing definitions and interrelations between energy security and resilience, conceptualising these terms in the context of energy system transformations. We introduce a classification of disturbances into shock events and slow burn processes to highlight key challenges to energy system resilience. Examples illustrate their distinct impacts on technical, economic, and environmental system performance over time. We compile relevant recourse options across resilience capacity levels and system planning horizons to address these challenges, emphasising actionable strategies for an increasingly integrated energy system. Finally, we propose policy recommendations to integrate shock events and slow burn processes into future energy system planning, enabling forward-looking decision-making and system design to analyse and mitigate potential disruptions.

Authors:Amir Modares, Niyousha Ghiasi, Bahare Kiumarsi, Hamidreza Modares
Title: Unifying Direct and Indirect Learning for Safe Control of Linear Systems
Abstract:
This paper develops learning-enabled safe controllers for linear systems subject to system uncertainties and bounded disturbances. Given the disturbance zonotope, the databased closed-loop dynamics (CLDs) are first characterized using a matrix zonotope (MZ), and refined through several steps to yield a constrained matrix zonotope (CMZ). This refinement is achieved by introducing conformal equality constraints that eliminate incompatible disturbance realizations. More precisely, prior knowledge and observed data are used separately to construct CMZ representations of disturbance sequences that conform to both data and prior knowledge, and are intersected by the initial MZ of the disturbance sequence, producing a refined CMZ. This approach reduces conservatism. To further reduce the conservativeness, we unify open-loop learning with closed-loop learning by presenting a novel set-membership identification method that models open-loop dynamics as a CMZ. The prior knowledge serves as an initial feasible open-loop model set (FOLMS) of this CMZ, which is refined into a posterior set whenever new informative online data becomes available. This posterior FOLMS then adaptively replaces the prior knowledge set employed in the disturbance elimination of the closed-loop learning process. The resulting refined parameterized set of CLD is subsequently leveraged to directly and adaptively learn a controller that robustly enforces safety. Toward this goal, we formulate a linear programming problem that guarantees λcontractiveness of a polyhedral safe set. A simulation example is provided to validate the effectiveness of the proposed approach and support the theoretical results.

Authors:Liraz Mudrik, Sean Kragelund, Isaac Kaminer
Title: Mixed Bernstein-Fourier Approximants for Optimal Trajectory Generation with Periodic Behavior
Abstract:
Efficient trajectory generation is critical for autonomous systems, yet current numerical methods often struggle to handle periodic behaviors effectively, especially when equidistant time nodes are required. This paper introduces a novel mixed Bernstein-Fourier approximation framework tailored explicitly for optimal motion planning. Our proposed methodology leverages the uniform convergence properties of Bernstein polynomials for nonperiodic behaviors while effectively capturing periodic dynamics through Fourier series. Theoretical results are established, including uniform convergence proofs for approximations of functions, derivatives, and integrals, as well as detailed error bound analyses. We further introduce a regulated least squares approach for determining approximation coefficients, enhancing numerical stability and practical applicability. Within an optimal control context, we establish feasibility and consistency of approximated solutions to their continuous counterparts. We also extend the covector mapping theorem, providing theoretical guarantees for approximating dual variables crucial in verifying the necessary optimality conditions from Pontryagin's Maximum Principle. Comprehensive numerical examples illustrate the method's superior performance, demonstrating substantial improvements in computational efficiency and precision in scenarios with complex periodic constraints and dynamics. Our mixed Bernstein-Fourier methodology thus presents a robust, theoretically grounded, and computationally efficient approach for advanced optimal trajectory planning in autonomous systems.

Authors:Andres Intriago, Alexandros Paspatis, Francesco Liberati, Charalambos Konstantinou
Title: Admittance Identification of Grid-Forming Inverters Using Time and Frequency-Domain Techniques
Abstract:
The increasing integration of inverter-based resources (IBRs) into the power grid introduces new challenges, requiring detailed electromagnetic transient (EMT) studies to analyze system interactions. Despite these needs, access to the internal firmware of power electronic devices remains restricted due to stringent nondisclosure agreements enforced by manufacturers. To address this, we explore three system identification techniques: sweep frequency response analysis (SFRA), step excitation method (SEM), and eigensystem realization algorithm (ERA). SFRA employs sinusoidal signals of varying frequencies to measure the system's frequency response, while SEM and ERA utilize step functions to derive time-domain responses and transform them into Laplace-domain transfer functions. All three approaches are shown to provide consistent results in identifying the dq admittance of grid-forming inverters (GFM) over a frequency range of 1 Hz to 100 Hz.

Authors:Jacob Levy, Jason Gibson, Bogdan Vlahov, Erica Tevere, Evangelos Theodorou, David Fridovich-Keil, Patrick Spieler
Title: Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving
Abstract:
High-speed off-road autonomous driving presents unique challenges due to complex, evolving terrain characteristics and the difficulty of accurately modeling terrain-vehicle interactions. While dynamics models used in model-based control can be learned from real-world data, they often struggle to generalize to unseen terrain, making real-time adaptation essential. We propose a novel framework that combines a Kalman filter-based online adaptation scheme with meta-learned parameters to address these challenges. Offline meta-learning optimizes the basis functions along which adaptation occurs, as well as the adaptation parameters, while online adaptation dynamically adjusts the onboard dynamics model in real time for model-based control. We validate our approach through extensive experiments, including real-world testing on a full-scale autonomous off-road vehicle, demonstrating that our method outperforms baseline approaches in prediction accuracy, performance, and safety metrics, particularly in safety-critical scenarios. Our results underscore the effectiveness of meta-learned dynamics model adaptation, advancing the development of reliable autonomous systems capable of navigating diverse and unseen environments. Video is available at: https://youtu.be/cCKHHrDRQEA

Authors:Puja Chaudhury, Alexander Estornell, Michael Everett
Title: Learning Verifiable Control Policies Using Relaxed Verification
Abstract:
To provide safety guarantees for learning-based control systems, recent work has developed formal verification methods to apply after training ends. However, if the trained policy does not meet the specifications, or there is conservatism in the verification algorithm, establishing these guarantees may not be possible. Instead, this work proposes to perform verification throughout training to ultimately aim for policies whose properties can be evaluated throughout runtime with lightweight, relaxed verification algorithms. The approach is to use differentiable reachability analysis and incorporate new components into the loss function. Numerical experiments on a quadrotor model and unicycle model highlight the ability of this approach to lead to learned control policies that satisfy desired reach-avoid and invariance specifications.

Authors:Jiayu Chen, Takahiro Kawaguchi, Yuichiro Yano, Yuko Hanado, Takayuki Ishizaki
Title: Hierarchical Distributed Architecture for the Least Allan Variance Atomic Timing
Abstract:
In this paper, we propose a hierarchical distributed timing architecture based on an ensemble of miniature atomic clocks. The goal is to ensure synchronized and accurate timing in a normal operating mode where Global Navigation Satellite System (GNSS) signals are available, as well as in an emergency operating mode during GNSS failures. At the lower level, the miniature atomic clocks employ a distributed control strategy that uses only local information to ensure synchronization in both modes. The resulting synchronized time or generated time scale has the best frequency stability, as measured by the Allan variance, over the short control period. In the upper layer, a supervisor controls the long-term behavior of the generated time scale. In the normal operating mode, the supervisor periodically anchors the generated time scale to the standard time based on GNSS signals, while in the emergency operating mode, it applies optimal floating control to reduce the divergence rate of the generated time scale, which is not observable from the measurable time difference between the miniature atomic clocks. This floating control aims to explicitly control the generated time scale to have the least Allan variance over the long control period. Finally, numerical examples are provided to demonstrate the effectiveness and feasibility of the architecture in high-precision, GNSS-resilient atomic timing.

Authors:Evangelia Gkaravela, Hang Woon Lee, Hao Chen
Title: Distributed Space Resource Logistics Architecture Optimization under Economies of Scale
Abstract:
This paper proposes an optimization framework for distributed resource logistics system design to support future multimission space exploration. The performance and impact of distributed In-Situ Resource Utilization (ISRU) systems in facilitating space transportation are analyzed. The proposed framework considers technology trade studies, deployment strategy, facility location evaluation, and resource logistics after production for distributed ISRU systems. We develop piecewise linear sizing and cost estimation models based on economies of scale that can be easily integrated into network-based mission planning formulations. A case study on a multi-mission cislunar logistics campaign is conducted to demonstrate the value of the proposed method and evaluate key tradeoffs to compare the performance of distributed ISRU systems with traditional concentrated ISRU. Finally, a comprehensive sensitivity analysis is performed to assess the proposed system under varying conditions, comparing concentrated and distributed ISRU systems.

Authors:Connor Blais, Md Abdul Baset Sarker, Masudul H. Imtiaz
Title: Vision Controlled Orthotic Hand Exoskeleton
Abstract:
This paper presents the design and implementation of an AI vision-controlled orthotic hand exoskeleton to enhance rehabilitation and assistive functionality for individuals with hand mobility impairments. The system leverages a Google Coral Dev Board Micro with an Edge TPU to enable real-time object detection using a customized MobileNet\_V2 model trained on a six-class dataset. The exoskeleton autonomously detects objects, estimates proximity, and triggers pneumatic actuation for grasp-and-release tasks, eliminating the need for user-specific calibration needed in traditional EMG-based systems. The design prioritizes compactness, featuring an internal battery. It achieves an 8-hour runtime with a 1300 mAh battery. Experimental results demonstrate a 51ms inference speed, a significant improvement over prior iterations, though challenges persist in model robustness under varying lighting conditions and object orientations. While the most recent YOLO model (YOLOv11) showed potential with 15.4 FPS performance, quantization issues hindered deployment. The prototype underscores the viability of vision-controlled exoskeletons for real-world assistive applications, balancing portability, efficiency, and real-time responsiveness, while highlighting future directions for model optimization and hardware miniaturization.

Authors:Takayuki Ishizaki, Takahiro Kawaguchi, Yuichiro Yano, Yuko Hanado
Title: Explicit Ensemble Mean Clock Synchronization for Optimal Atomic Time Scale Generation
Abstract:
This paper presents a novel theoretical framework for atomic time scale generation, called explicit ensemble mean synchronization, which unifies clock synchronization and time scale generation within a control-theoretic paradigm. By exploiting an observable canonical decomposition of a standard atomic clock ensemble model, the system is decomposed into two complementary components: the observable part, which represents the synchronization deviation, and the unobservable part, which captures the synchronization destination. Within this structure, we mathematically prove that standard Kalman filtering, widely used in current time scale generation, can be interpreted as a special case of the proposed framework that optimizes long-term frequency stability in terms of the Allan variance. Furthermore, by applying appropriate state feedback control to each component based on the Kalman filtering, both clock synchronization and optimal time scale generation are achieved within a unified framework. This framework provides a principled basis for robust timekeeping systems that goes beyond conventional approaches in both scope and performance.

Authors:Farnaz Fallahi, Murat Yildirim, Shijia Zhao, Feng Qiu
Title: A Sensor-Driven Optimization Framework for Asset Management in Energy Systems: Implications for Full and Partial Digital Transformation in Hydro Fleets
Abstract:
This paper proposes a novel prognostics-driven approach to optimize operations and maintenance (O&M) decisions in hydropower systems. Our approach harnesses the insights from sensor data to accurately predict the remaining lifetime distribution of critical generation assets in hydropower systems, i.e., thrust bearings, and use these predictions to optimally schedule O&M actions for a fleet of hydro generators. We consider complex interdependencies across hydro generator failure risks, reservoir, production, and demand management decisions. We propose a stochastic joint O&M scheduling model to tackle the unique challenges of hydropower O&M including the interdependency of generation capacities, the nonlinear nature of power production, operational requirements, and uncertainties. We develop a two-level decomposition-based solution algorithm to effectively handle large-scale cases. The algorithm incorporates a combination of Benders optimality cuts and integer cuts to solve the problem in an efficient manner. We design an experimental framework to evaluate the proposed prognostics-driven O&M scheduling framework, using real-world condition monitoring data from hydropower systems, historical market prices, and water inflow data. The developed framework can be partially implemented for a phased-in approach. Our experiments demonstrate the significant benefits of the sensor-driven O&M framework in improving reliability, availability, effective usage of resources, and system profitability, especially when gradually shifting from traditional time-based maintenance policies to condition-based prognostics-driven maintenance policies.

Authors:Hassan Almubarak, Maitham F. AL-Sunni, Justin T. Dubbin, Nader Sadegh, John M. Dolan, Evangelos A. Theodorou
Title: Nearly Optimal Nonlinear Safe Control with BaS-SDRE
Abstract:
The State-Dependent Riccati Equation (SDRE) approach has emerged as a systematic and effective means of designing nearly optimal nonlinear controllers. The Barrier States (BaS) embedding methodology was developed recently for safe multi-objective controls in which the safety condition is manifested as a state to be controlled along with other states of the system. The overall system, termed the safety embedded system, is highly nonlinear even if the original system is linear. This paper develops a nonlinear nearly optimal safe feedback control technique by combining the two strategies effectively. First, the BaS is derived in an extended linearization formulation to be subsequently used to form an extended safety embedded system. A new optimal control problem is formed thereafter, which is used to construct a safety embedded State-Dependent Riccati Equation, termed BaS-SDRE, whose solution approximates the solution of the optimal control problem's associated Hamilton-Jacobi-Bellman (HJB) equation. The BaS-SDRE is then solved online to synthesize the nearly optimal safe control. The proposed technique's efficacy is demonstrated on an unstable, constrained linear system that shows how the synthesized control reacts to nonlinearities near the unsafe region, a nonlinear flight control system with limited path angular velocity that exists due to structural and dynamic concerns, and a planar quadrotor system that navigates safely in a crowded environment.

Authors:Mohammed Adib Oumer, Vishnu Murali, Majid Zamani
Title: $k$-Inductive and Interpolation-Inspired Barrier Certificates for Stochastic Dynamical Systems
Abstract:
We introduce two notions of barrier certificates that use multiple functions to provide a lower bound on the probabilistic satisfaction of safety for stochastic dynamical systems. A barrier certificate for a stochastic dynamical system acts as a nonnegative supermartingale, and provides a lower bound on the probability that the system is safe. The promise of such certificates is that their search can be effectively automated. Typically, one may use optimization or SMT solvers to find such barrier certificates of a given fixed template. When such approaches fail, a typical approach is to instead change the template. We propose an alternative approach that we dub interpolation-inspired barrier certificates. An interpolation-inspired barrier certificate consists of a set of functions that jointly provide a lower bound on the probability of satisfying safety. We show how one may find such certificates of a fixed template, even when we fail to find standard barrier certificates of the same template. However, we note that such certificates still need to ensure a supermartingale guarantee for one function in the set. To address this challenge, we consider the use of $k$-induction with these interpolation-inspired certificates. The recent use of $k$-induction in barrier certificates allows one to relax the supermartingale requirement at every time step to a combination of a supermartingale requirement every $k$ steps and a $c$-martingale requirement for the intermediate steps. We provide a generic formulation of a barrier certificate that we dub $k$-inductive interpolation-inspired barrier certificate. The formulation allows for several combinations of interpolation and $k$-induction for barrier certificate. We present two examples among the possible combinations. We finally present sum-of-squares programming to synthesize this set of functions and demonstrate their utility in case studies.

Authors:Nathan Steffen, Wilhelm Louw, Nicholas Ernest, Timothy Arnett, Kelly Cohen
Title: A Genetic Fuzzy-Enabled Framework on Robotic Manipulation for In-Space Servicing
Abstract:
Automation of robotic systems for servicing in cislunar space is becoming extremely important as the number of satellites in orbit increases. Safety is critical in performing satellite maintenance, so the control techniques utilized must be trusted in addition to being highly efficient. In this work, Genetic Fuzzy Trees are combined with the widely used LQR control scheme via Thales' TrUE AI Toolkit to create a trusted and efficient controller for a two-degree-of-freedom planar robotic manipulator that would theoretically be used to perform satellite maintenance. It was found that Genetic Fuzzy-LQR is 18.5% more performant than optimal LQR on average, and that it is incredibly robust to uncertainty.

Authors:Partha Sarathi Mohapatra, Puduru Viswanadha Reddy, Georges Zaccour
Title: Feedback Stackelberg-Nash equilibria in difference games with quasi-hierarchical interactions and inequality constraints
Abstract:
In this paper, we study a class of two-player deterministic finite-horizon difference games with coupled inequality constraints, where each player has two types of decision variables: one involving sequential interactions and the other simultaneous interactions. We refer to this class of games as quasi-hierarchical dynamic games and define a solution concept called the feedback Stackelberg-Nash (FSN) equilibrium. Under separability assumption on cost functions, we provide a recursive formulation of the FSN solution using dynamic programming. We show that the FSN solution can be derived from the parametric feedback Stackelberg solution of an associated unconstrained game involving only sequential interactions, with a specific choice of the parameters that satisfy certain implicit complementarity conditions. For the linear-quadratic case, we show that an FSN solution is obtained by reformulating these complementarity conditions as a single large-scale linear complementarity problem. Finally, we illustrate our results using a dynamic duopoly game with production constraints.

Authors:Jayanth Bhargav, Shreyas Sundaram, Mahsa Ghasemi
Title: Sensor Scheduling in Intrusion Detection Games with Uncertain Payoffs
Abstract:
We study the problem of sensor scheduling for an intrusion detection task. We model this as a two-player zero-sum game over a graph, where the defender (Player 1) seeks to identify the optimal strategy for scheduling sensor orientations to minimize the probability of missed detection at minimal cost, while the intruder (Player 2) aims to identify the optimal path selection strategy to maximize missed detection probability at minimal cost. The defender's strategy space grows exponentially with the number of sensors, making direct computation of the Nash Equilibrium (NE) strategies computationally expensive. To tackle this, we propose a distributed variant of the Weighted Majority algorithm that exploits the structure of the game's payoff matrix, enabling efficient computation of the NE strategies with provable convergence guarantees. Next, we consider a more challenging scenario where the defender lacks knowledge of the true sensor models and, consequently, the game's payoff matrix. For this setting, we develop online learning algorithms that leverage bandit feedback from sensors to estimate the NE strategies. By building on existing results from perturbation theory and online learning in matrix games, we derive high-probability order-optimal regret bounds for our algorithms. Finally, through simulations, we demonstrate the empirical performance of our proposed algorithms in both known and unknown payoff scenarios.

Authors:Zeyad M. Manaa, Ayman M. Abdallah, Mohamed Ismail, Samil El Ferik
Title: Koopman-Based Event-Triggered Control from Data
Abstract:
Event-triggered Control (ETC) presents a promising paradigm for efficient resource usage in networked and embedded control systems by reducing communication instances compared to traditional time-triggered strategies. This paper introduces a novel approach to ETC for discrete-time nonlinear systems using a data-driven framework. By leveraging Koopman operator theory, the nonlinear system dynamics are globally linearized (approximately in practical settings) in a higher-dimensional space. We design a state-feedback controller and an event-triggering policy directly from data, ensuring exponential stability in Lyapunov sense. The proposed method is validated through extensive simulation experiments, demonstrating significant resource savings.

Authors:Zinuo You, John Cartlidge, Karen Elliott, Menghan Ge, Daniel Gold
Title: Improving Bayesian Optimization for Portfolio Management with an Adaptive Scheduling
Abstract:
Existing black-box portfolio management systems are prevalent in the financial industry due to commercial and safety constraints, though their performance can fluctuate dramatically with changing market regimes. Evaluating these non-transparent systems is computationally expensive, as fixed budgets limit the number of possible observations. Therefore, achieving stable and sample-efficient optimization for these systems has become a critical challenge. This work presents a novel Bayesian optimization framework (TPE-AS) that improves search stability and efficiency for black-box portfolio models under these limited observation budgets. Standard Bayesian optimization, which solely maximizes expected return, can yield erratic search trajectories and misalign the surrogate model with the true objective, thereby wasting the limited evaluation budget. To mitigate these issues, we propose a weighted Lagrangian estimator that leverages an adaptive schedule and importance sampling. This estimator dynamically balances exploration and exploitation by incorporating both the maximization of model performance and the minimization of the variance of model observations. It guides the search from broad, performance-seeking exploration towards stable and desirable regions as the optimization progresses. Extensive experiments and ablation studies, which establish our proposed method as the primary approach and other configurations as baselines, demonstrate its effectiveness across four backtest settings with three distinct black-box portfolio management models.

Authors:Weiqiang Jiao, Suzhi Bi, Xian Li, Cheng Guo, Hao Chen, Zhi Quan
Title: Transferable Deployment of Semantic Edge Inference Systems via Unsupervised Domain Adaption
Abstract:
This paper investigates deploying semantic edge inference systems for performing a common image clarification task. In particular, each system consists of multiple Internet of Things (IoT) devices that first locally encode the sensing data into semantic features and then transmit them to an edge server for subsequent data fusion and task inference. The inference accuracy is determined by efficient training of the feature encoder/decoder using labeled data samples. Due to the difference in sensing data and communication channel distributions, deploying the system in a new environment may induce high costs in annotating data labels and re-training the encoder/decoder models. To achieve cost-effective transferable system deployment, we propose an efficient Domain Adaptation method for Semantic Edge INference systems (DASEIN) that can maintain high inference accuracy in a new environment without the need for labeled samples. Specifically, DASEIN exploits the task-relevant data correlation between different deployment scenarios by leveraging the techniques of unsupervised domain adaptation and knowledge distillation. It devises an efficient two-step adaptation procedure that sequentially aligns the data distributions and adapts to the channel variations. Numerical results show that, under a substantial change in sensing data distributions, the proposed DASEIN outperforms the best-performing benchmark method by 7.09% and 21.33% in inference accuracy when the new environment has similar or 25 dB lower channel signal to noise power ratios (SNRs), respectively. This verifies the effectiveness of the proposed method in adapting both data and channel distributions in practical transfer deployment applications.

Authors:Zhengbing He, Jorge Laval, Yu Han, Andreas Hegyi, Ryosuke Nishi, Cathy Wu
Title: A Review of Stop-and-Go Traffic Wave Suppression Strategies: Variable Speed Limit vs. Jam-Absorption Driving
Abstract:
The main form of freeway traffic congestion is the familiar stop-and-go wave, characterized by wide moving jams that propagate indefinitely upstream provided enough traffic demand. They cause severe, long-lasting adverse effects, such as reduced traffic efficiency, increased driving risks, and higher vehicle emissions. This underscores the crucial importance of artificial intervention in the propagation of stop-and-go waves. Over the past two decades, two prominent strategies for stop-and-go wave suppression have emerged: variable speed limit (VSL) and jam-absorption driving (JAD). Although they share similar research motivations, objectives, and theoretical foundations, the development of these strategies has remained relatively disconnected. To synthesize fragmented advances and drive the field forward, this paper first provides a comprehensive review of the achievements in the stop-and-go wave suppression-oriented VSL and JAD, respectively. It then focuses on bridging the two areas and identifying research opportunities from the following perspectives: fundamental diagrams, secondary waves, generalizability, traffic state estimation and prediction, robustness to randomness, scenarios for strategy validation, and field tests and practical deployment. We expect that through this review, one area can effectively address its limitations by identifying and leveraging the strengths of the other, thus promoting the overall research goal of freeway stop-and-go wave suppression.

Authors:Sanjay Chandrasekaran, Catalin Arghir, Pieder Joerg, Florian Doerfler, Silvia Mastellone
Title: Reactive power flow optimization in AC drive systems
Abstract:
This paper explores a limit avoidance approach in the case of input (modulation) and output (current) constraints with the aim of enhancing system availability of AC drives. Drawing on the observation that, in a certain range of reactive power, there exists a trade-off between current and modulation magnitude, we exploit this freedom and define a constrained optimization problem. We propose two approaches, one in the form of an activation-function which drives the reactive power set-point towards safety, and an approach which uses online feedback optimization to set the reactive power dynamically. Both methods compromise reactive power tracking accuracy for increased system robustness. Through a high fidelity simulation, we compare the benefits of the two methods, highlighting their effectiveness in industrial applications.

Authors:Fulvio Forni, Rodolphe Sepulchre
Title: Gradient modelling of memristive systems
Abstract:
We introduce a gradient modeling framework for memristive systems. Our focus is on memristive systems as they appear in neurophysiology and neuromorphic systems. Revisiting the original definition of Chua, we regard memristive elements as gradient operators of quadratic functionals with respect to a metric determined by the memristance. We explore the consequences of gradient properties for the analysis and design of neuromorphic circuits.

Authors:Jihoon Suh, Takashi Tanaka
Title: Efficient Implementation of Reinforcement Learning over Homomorphic Encryption
Abstract:
We investigate encrypted control policy synthesis over the cloud. While encrypted control implementations have been studied previously, we focus on the less explored paradigm of privacy-preserving control synthesis, which can involve heavier computations ideal for cloud outsourcing. We classify control policy synthesis into model-based, simulator-driven, and data-driven approaches and examine their implementation over fully homomorphic encryption (FHE) for privacy enhancements. A key challenge arises from comparison operations (min or max) in standard reinforcement learning algorithms, which are difficult to execute over encrypted data. This observation motivates our focus on Relative-Entropy-regularized reinforcement learning (RL) problems, which simplifies encrypted evaluation of synthesis algorithms due to their comparison-free structures. We demonstrate how linearly solvable value iteration, path integral control, and Z-learning can be readily implemented over FHE. We conduct a case study of our approach through numerical simulations of encrypted Z-learning in a grid world environment using the CKKS encryption scheme, showing convergence with acceptable approximation error. Our work suggests the potential for secure and efficient cloud-based reinforcement learning.

Authors:Shuai Feng, Qian Ma, Junsoo Kim, Shengyuan Xu
Title: Asymptotic stabilization under homomorphic encryption: A re-encryption free method
Abstract:
In this paper, we propose methods to encrypted a pre-given dynamic controller with homomorphic encryption, without re-encrypting the control inputs. We first present a preliminary result showing that the coefficients in a pre-given dynamic controller can be scaled up into integers by the zooming-in factor in dynamic quantization, without utilizing re-encryption. However, a sufficiently small zooming-in factor may not always exist because it requires that the convergence speed of the pre-given closed-loop system should be sufficiently fast. Then, as the main result, we design a new controller approximating the pre-given dynamic controller, in which the zooming-in factor is decoupled from the convergence rate of the pre-given closed-loop system. Therefore, there always exist a (sufficiently small) zooming-in factor of dynamic quantization scaling up all the controller's coefficients to integers, and a finite modulus preventing overflow in cryptosystems. The process is asymptotically stable and the quantizer is not saturated.

Authors:Yaashia Gautam, Nataliya Nechyporenko, Chi-Hui Lin, Alessandro Roncone, Marco M. Nicotra
Title: Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
Abstract:
This paper introduces the Compliant Explicit Reference Governor (C-ERG), an extension of the Explicit Reference Governor that allows the robot to operate safely while in contact with the environment. The C-ERG is an intermediate layer that can be placed between a high-level planner and a low-level controller: its role is to enforce operational constraints and to enable the smooth transition between free-motion and contact operations. The C-ERG ensures safety by limiting the total energy available to the robotic arm at the time of contact. In the absence of contact, however, the C-ERG does not penalize the system performance. Numerical examples showcase the behavior of the C-ERG for increasingly complex systems.

Authors:Rayan Bahrami, Hamidreza Jafarnejadsani
Title: Multi-Robot Coordination with Adversarial Perception
Abstract:
This paper investigates the resilience of perception-based multi-robot coordination with wireless communication to online adversarial perception. A systematic study of this problem is essential for many safety-critical robotic applications that rely on the measurements from learned perception modules. We consider a (small) team of quadrotor robots that rely only on an Inertial Measurement Unit (IMU) and the visual data measurements obtained from a learned multi-task perception module (e.g., object detection) for downstream tasks, including relative localization and coordination. We focus on a class of adversarial perception attacks that cause misclassification, mislocalization, and latency. We propose that the effects of adversarial misclassification and mislocalization can be modeled as sporadic (intermittent) and spurious measurement data for the downstream tasks. To address this, we present a framework for resilience analysis of multi-robot coordination with adversarial measurements. The framework integrates data from Visual-Inertial Odometry (VIO) and the learned perception model for robust relative localization and state estimation in the presence of adversarially sporadic and spurious measurements. The framework allows for quantifying the degradation in system observability and stability in relation to the success rate of adversarial perception. Finally, experimental results on a multi-robot platform demonstrate the real-world applicability of our methodology for resource-constrained robotic platforms.

Authors:Michał Forystek, Andrew D. Syrmakesis, Alkistis Kontou, Panos Kotsampopoulos, Nikos D. Hatziargyriou, Charalambos Konstantinou
Title: Exploring the Effects of Load Altering Attacks on Load Frequency Control through Python and RTDS
Abstract:
The modern power grid increasingly depends on advanced information and communication technology (ICT) systems to enhance performance and reliability through real-time monitoring, intelligent control, and bidirectional communication. However, ICT integration also exposes the grid to cyber-threats. Load altering attacks (LAAs), which use botnets of high-wattage devices to manipulate load profiles, are a notable threat to grid stability. While previous research has examined LAAs, their specific impact on load frequency control (LFC), critical for maintaining nominal frequency during load fluctuations, still needs to be explored. Even minor frequency deviations can jeopardize grid operations. This study bridges the gap by analyzing LAA effects on LFC through simulations of static and dynamic scenarios using Python and RTDS. The results highlight LAA impacts on frequency stability and present an eigenvalue-based stability assessment for dynamic LAAs (DLAAs), identifying key parameters influencing grid resilience.

Authors:Jaeyong Shin, Woohyun Cha, Donghyeon Kim, Junhyeok Cha, Jaeheung Park
Title: Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion
Abstract:
Reinforcement learning (RL) has shown great potential in training agile and adaptable controllers for legged robots, enabling them to learn complex locomotion behaviors directly from experience. However, policies trained in simulation often fail to transfer to real-world robots due to unrealistic assumptions such as infinite actuator bandwidth and the absence of torque limits. These conditions allow policies to rely on abrupt, high-frequency torque changes, which are infeasible for real actuators with finite bandwidth. Traditional methods address this issue by penalizing aggressive motions through regularization rewards, such as joint velocities, accelerations, and energy consumption, but they require extensive hyperparameter tuning. Alternatively, Lipschitz-Constrained Policies (LCP) enforce finite bandwidth action control by penalizing policy gradients, but their reliance on gradient calculations introduces significant GPU memory overhead. To overcome this limitation, this work proposes Spectral Normalization (SN) as an efficient replacement for enforcing Lipschitz continuity. By constraining the spectral norm of network weights, SN effectively limits high-frequency policy fluctuations while significantly reducing GPU memory usage. Experimental evaluations in both simulation and real-world humanoid robot show that SN achieves performance comparable to gradient penalty methods while enabling more efficient parallel training.

Authors:Xiaoyi Wu, Ravi Seshadri, Filipe Rodrigues, Carlos Lima Azevedo
Title: Deep Reinforcement Learning for Day-to-day Dynamic Tolling in Tradable Credit Schemes
Abstract:
Tradable credit schemes (TCS) are an increasingly studied alternative to congestion pricing, given their revenue neutrality and ability to address issues of equity through the initial credit allocation. Modeling TCS to aid future design and implementation is associated with challenges involving user and market behaviors, demand-supply dynamics, and control mechanisms. In this paper, we focus on the latter and address the day-to-day dynamic tolling problem under TCS, which is formulated as a discrete-time Markov Decision Process and solved using reinforcement learning (RL) algorithms. Our results indicate that RL algorithms achieve travel times and social welfare comparable to the Bayesian optimization benchmark, with generalization across varying capacities and demand levels. We further assess the robustness of RL under different hyperparameters and apply regularization techniques to mitigate action oscillation, which generates practical tolling strategies that are transferable under day-to-day demand and supply variability. Finally, we discuss potential challenges such as scaling to large networks, and show how transfer learning can be leveraged to improve computational efficiency and facilitate the practical deployment of RL-based TCS solutions.

Authors:Xiang Zhu, Guangchun Ruan, Hua Geng
Title: Optimal Frequency Support from Virtual Power Plants: Minimal Reserve and Allocation
Abstract:
This paper proposes a novel reserve-minimizing and allocation strategy for virtual power plants (VPPs) to deliver optimal frequency support. The proposed strategy enables VPPs, acting as aggregators for inverter-based resources (IBRs), to provide optimal frequency support economically. The proposed strategy captures time-varying active power injections, reducing the unnecessary redundancy compared to traditional fixed reserve schemes. Reserve requirements for the VPPs are determined based on system frequency response and safety constraints, ensuring efficient grid support. Furthermore, an energy-based allocation model decomposes power injections for each IBR, accounting for their specific limitations. Numerical experiments validate the feasibility of the proposed approach, highlighting significant financial gains for VPPs, especially as system inertia decreases due to higher renewable energy integration.

Authors:Jonas Hansson, Emma Tegling
Title: Compositional design for time-varying and nonlinear coordination
Abstract:
This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights, and nonlinearities like saturations -- the theoretical guarantees for high-order consensus are comparatively limited. We propose a compositional control framework that generates high-order consensus protocols by serially connecting stable first-order consensus operators. Under mild assumptions, we establish that the resulting high-order system inherits stability properties from its components. The proposed design is versatile and supports a wide range of real-world constraints. This is demonstrated through applications inspired by vehicular formation control, including protocols with time-varying weights, bounded time-varying delays, and saturated inputs. We derive theoretical guarantees for these settings using the proposed compositional approach and demonstrate the advantages gained compared to conventional protocols in simulations.

Authors:Meng Chen, Yufei Xi, Frede Blaabjerg, Lin Cheng, Ioannis Lestas
Title: LCL Resonance Analysis and Damping in Single-Loop Grid-Forming Wind Turbines
Abstract:
A dynamic phenomenon known as LCL resonance is often neglected when stability analysis is carried out for grid-forming (GFM) control schemes by wind turbine systems, due to its high frequency. This paper shows that this simplification is not always valid for single-loop (SL) control schemes. A detailed small-signal analysis reveals that reactive power (RAP) control significantly influences the resonant modes, which may be dominant in determining overall system stability, even if the resonant frequency is high. The underlying mechanism via which the LCL resonance may dominate the overall system stability is systematically analyzed. Furthermore, various RAP control strategies are compared to assess their different effects on resonant modes. An active damping (AD) strategy favorable for SL-GFM control is then designed. We also provide a comparison between SL-GFM and well-studied grid-following control schemes, highlighting quite different resonance features between them. Finally, case studies associated with a 14-bus, 5-machine IEEE test system are presented. These show that instability originates from the LCL resonance rather than low-frequency interactions among multiple machines, validating the theoretical analysis and the proposed AD strategy.

Authors:Amir Shahhosseini, Thomas Burger, Rodolphe Sepulchre
Title: Variable Metric Splitting Methods for Neuromorphic Circuits Simulation
Abstract:
This paper proposes a variable metric splitting algorithm to solve the electrical behavior of neuromorphic circuits made of capacitors, memristive elements, and batteries. The gradient property of the memristive elements is exploited to split the current to voltage operator as the sum of the derivative operator, a Riemannian gradient operator, and a nonlinear residual operator that is linearized at each step of the algorithm. The diagonal structure of the three operators makes the variable metric forward-backward splitting algorithm scalable and amenable to the simulation of large-scale neuromorphic circuits.

Authors:Yiheng Xie, Lucien Werner, Kaibo Chen, Thuy-Linh Le, Christine Ortega, Steven Low
Title: A Digital Twin of an Electrical Distribution Grid: SoCal 28-Bus Dataset
Abstract:
We provide an open-access dataset of phasor & waveform measurement units (PMUs/WMUs) of a real-world electrical distribution network. The network consists of diverse sets of generation resources (including solar panels, fuel cells, natural gas generators, and utility interconnections), loads (including large-scale electric vehicle charging, data centers, central cooling, offices), topology changes (such as line outages and load transfers), as well as a mixture of single- and three-phase networks. We describe a densely deployed PMU sensor network in a distribution grid, in which all buses with non-zero power injections are measured. This approach enables a range of applications such as state estimation, system identification, power flow optimization, and feedback control, several of which are discussed in this paper. Additionally, we provide a synchronized waveform dataset which allows the analysis of harmonics, transient events, dynamic grid impedance, and stability. Data collection started in 2023 while new data is generated continuously and made available online. A characterization of measurement error is provided. Finally, we provide circuit topology and parameters as a part of the dataset. Together, the circuit and timeseries data offer an opportunity for researchers to develop and test algorithms on a real-world system.

Authors:Elizabeth Dietrich, Rosalyn Devonport, Stephen Tu, Murat Arcak
Title: Data-Driven Reachability with Scenario Optimization and the Holdout Method
Abstract:
Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachability analysis for general nonlinear, high-dimensional systems, recent work has focused on the use of probabilistic methods for computing approximate reachable sets. In this work, we advocate for the use of a general purpose, practical, and sharp method for data-driven reachability: the holdout method. Despite the simplicity of the holdout method, we show -- on several numerical examples including scenario-based reach tubes -- that the resulting probabilistic bounds are substantially sharper and require fewer samples than existing methods for data-driven reachability. Furthermore, we complement our work with a discussion on the necessity of probabilistic reachability bounds. We argue that any method that attempts to de-randomize the bounds, by converting the guarantees to hold deterministically, requires (a) an exponential in state-dimension amount of samples to achieve non-vacuous guarantees, and (b) extra assumptions on the dynamics.

Authors:Reva Dhillon, Agni Ravi Deepa, Hrishav Das, Subham Basak, Satadal Ghosh
Title: A Corrector-aided Look-ahead Distance-based Guidance for Reference Path Following with an Efficient Midcourse Guidance Strategy
Abstract:
Efficient path-following is crucial in most of the applications of autonomous vehicles (UxV). Among various guidance strategies presented in literature, look-ahead distance ($L_1$)-based guidance method has received significant attention due to its ease in implementation and ability to maintain a low cross-track error while following simpler reference paths and generate bounded lateral acceleration commands. However, the constant value of $L_1$ becomes problematic when the UxV is far away from the reference path and also produce higher cross-track error while following complex reference paths having high variation in radius of curvature. To address these challenges, the notion of look-ahead distance is leveraged in a novel way to develop a two-phase guidance strategy. Initially, when the UxV is far from the reference path, an optimized $L_1$ selection strategy is developed to guide the UxV toward the reference path in order to maintain minimal lateral acceleration command. Once the vehicle reaches a close vicinity of the reference path, a novel notion of corrector point is incorporated in the constant $L_1$-based guidance scheme to generate the lateral acceleration command that effectively reduces the root mean square of the cross-track error thereafter. Simulation results demonstrate that this proposed corrector point and look-ahead point pair-based guidance strategy along with the developed midcourse guidance scheme outperforms the conventional constant $L_1$ guidance scheme both in terms of feasibility and measures of effectiveness like cross-track error and lateral acceleration requirements.

Authors:Simon Kuang, Xinfan Lin
Title: Debiasing Continuous-time Nonlinear Autoregressions
Abstract:
We study how to identify a class of continuous-time nonlinear systems defined by an ordinary differential equation affine in the unknown parameter. We define a notion of asymptotic consistency as $(n, h) \to (\infty, 0)$, and we achieve it using a family of direct methods where the first step is differentiating a noisy time series and the second step is a plug-in linear estimator. The first step, differentiation, is a signal processing adaptation of the nonparametric statistical technique of local polynomial regression. The second step, generalized linear regression, can be consistent using a least squares estimator, but we demonstrate two novel bias corrections that improve the accuracy for finite $h$. These methods significantly broaden the class of continuous-time systems that can be consistently estimated by direct methods.

Authors:Zixin Jiang, Xuezheng Wang, Bing Dong
Title: Physics-informed Modularized Neural Network for Advanced Building Control by Deep Reinforcement Learning
Abstract:
Physics-informed machine learning (PIML) provides a promising solution for building energy modeling and can serve as a virtual environment to enable reinforcement learning (RL) agents to interact and learn. However, challenges remain in efficiently integrating physics priors, evaluating the effectiveness of physics constraints, balancing model accuracy and physics consistency, and enabling real-world implementation. To address these gaps, this study introduces a Physics-Informed Modularized Neural Network (PI-ModNN), which incorporates physics priors through a physics-informed model structure, loss functions, and hard constraints. A new evaluation metric called "temperature response violation" is developed to quantify the physical consistency of data-driven building dynamic models under varying control inputs and training data sizes. Additionally, a physics prior evaluation framework based on rule importance is proposed to assess the contribution of each individual physics prior, offering guidance on selecting appropriate PIML techniques. Results indicate that incorporating physical priors does not always improve model performance; inappropriate priors may decrease model accuracy and consistency. However, hard constraints are effective in enforcing model consistency. Furthermore, we present a general workflow for developing control-oriented PIML models and integrating them with deep reinforcement learning (DRL). Following this framework, a case study implementing DRL in an office space over three months demonstrates potential energy savings of 31.4%. Finally, we provide a general guideline for integrating data-driven models with advanced building control through a four-step evaluation framework, paving the way for reliable and scalable deployment of advanced building controls.

Authors:Yuquan Xiao, Qinghe Du, Wenchi Cheng, George K. Karagiannidis, Arumugam Nallanathan, Mohsen Guizani
Title: Redefining Information Freshness: AoGI for Generative AI in 6G Networks
Abstract:
Generative Artificial Intelligence (GenAI) is playing an increasingly important role in enriching and facilitating human life by generating various useful information, of which real-time GenAI is a significant part and has great potential in applications such as real-time robot control, automated driving, augmented reality, etc. There are a variety of information updating processes in real-time GenAI, and the age of information (AoI) is an effective metric for evaluating information freshness. However, due to the diversity and generativity of information in real-time GenAI, it may be incompatible to directly use existing information aging metrics to assess its timeliness. In this article, we introduce a new concept called Age of Generative Information (AoGI) to evaluate the freshness of generative information, which takes into account the information delay caused not only by sampling and transmission, but also by computation. Furthermore, since real-time GenAI services are often supported by mobile-edge-cloud (MEC) collaborative computing in 6G networks and some of the generated information is privacy sensitive, it is recommended that the identities of edge and cloud should always be verified in a zero-trust manner. We introduce the concept of Age of Trust (AoT) to characterise the decay process of their trust level. We also discuss the optimisations of these evolved information aging metrics, focusing on the impact of dynamic external conditions, including wireless environments and limited computational resources. Finally, we highlight several open challenges in providing timeliness guarantees for real-time GenAI services.

Authors:Manuel Sage, Martin Staniszewski, Yaoyao Fiona Zhao
Title: Economic Battery Storage Dispatch with Deep Reinforcement Learning from Rule-Based Demonstrations
Abstract:
The application of deep reinforcement learning algorithms to economic battery dispatch problems has significantly increased recently. However, optimizing battery dispatch over long horizons can be challenging due to delayed rewards. In our experiments we observe poor performance of popular actor-critic algorithms when trained on yearly episodes with hourly resolution. To address this, we propose an approach extending soft actor-critic (SAC) with learning from demonstrations. The special feature of our approach is that, due to the absence of expert demonstrations, the demonstration data is generated through simple, rule-based policies. We conduct a case study on a grid-connected microgrid and use if-then-else statements based on the wholesale price of electricity to collect demonstrations. These are stored in a separate replay buffer and sampled with linearly decaying probability along with the agent's own experiences. Despite these minimal modifications and the imperfections in the demonstration data, the results show a drastic performance improvement regarding both sample efficiency and final rewards. We further show that the proposed method reliably outperforms the demonstrator and is robust to the choice of rule, as long as the rule is sufficient to guide early training into the right direction.

Authors:Fengjun Yang, Jake Welde, Nikolai Matni
Title: Learning Flatness-Preserving Residuals for Pure-Feedback Systems
Abstract:
We study residual dynamics learning for differentially flat systems, where a nominal model is augmented with a learned correction term from data. A key challenge is that generic residual parameterizations may destroy flatness, limiting the applicability of flatness-based planning and control methods. To address this, we propose a framework for learning flatness-preserving residual dynamics in systems whose nominal model admits a pure-feedback form. We show that residuals with a lower-triangular structure preserve both the flatness of the system and the original flat outputs. Moreover, we provide a constructive procedure to recover the flatness diffeomorphism of the augmented system from that of the nominal model. We then introduce a learning algorithm that fits such residuals from trajectory data using smooth function approximators. Our approach is validated in simulation on a 2D quadrotor subject to unmodeled aerodynamic effects. We demonstrate that the resulting learned flat model enables tracking performance comparable to nonlinear model predictive control ($5\times$ lower tracking error than the nominal flat model) while also achieving over a $20\times$ speedup in computation.

Authors:Shreya Khisa, Ali Amhaz, Mohamed Elhattab, Chadi Assi, Sanaa Sharafeddine
Title: Meta-Learning Driven Movable-Antenna-assisted Full-Duplex RSMA for Multi-User Communication: Performance and Optimization
Abstract:
Full-duplex (FD) radios at base station (BS) have gained significant interest because of their ability to simultaneously transmit and receive signals on the same frequency band. However, FD communication is hindered by self-interference (SI) and intra-cell interference caused by simultaneous uplink (UL) transmissions affecting downlink (DL) reception. These interferences significantly limit the ability to fully exploit FD's potential. Recently, movable antenna (MA) technology has emerged as a groundbreaking innovation, offering an effective way to mitigate interference by adjusting the position of each MA within the transmitter or receiver region. This dynamic repositioning allows MAs to move away from high-interference zones to areas with minimal interference, thereby enhancing multiplexing gain and improving spectral efficiency (SE). In light of this, in this paper, we investigate an FD communication system by integrating it with MAs to evaluate and investigate its effectiveness in handling SI and intra-cell interference. Moreover, we utilize rate-splitting multiple access (RSMA) as our multiple access technique in both UL and DL transmission. To achieve the full potential of the system, we evaluated three different scenarios with FD-BS-RSMA with MAs where our goal is to maximize the total sum rate of the system by jointly optimizing the transmitting and receiving beamforming vectors, UL user equipment (UE) transmission power, MA positions, and common stream split ratio of RSMA while satisfying the minimum data rate requirements of all UEs, common stream constraint, power budget requirements of BS and UL UEs, and inter-MA distance. The formulated optimization problem is highly non-convex in nature, and hence, we propose a gradient-based meta-learning (GML) approach which can handle the non-convexity in a discrete manner by optimizing each variable in a different neural network.

Authors:Anand Brahmbhatt, Gon Buzaglo, Sofiia Druchyna, Elad Hazan
Title: A New Approach to Controlling Linear Dynamical Systems
Abstract:
We propose a new method for controlling linear dynamical systems under adversarial disturbances and cost functions. Our algorithm achieves a running time that scales polylogarithmically with the inverse of the stability margin, improving upon prior methods with polynomial dependence maintaining the same regret guarantees. The technique, which may be of independent interest, is based on a novel convex relaxation that approximates linear control policies using spectral filters constructed from the eigenvectors of a specific Hankel matrix.

Authors:Sebastian Gasche, Christian Kallies, Andreas Himmel, Rolf Findeisen
Title: Energy Aware and Safe Path Planning for Unmanned Aircraft Systems
Abstract:
This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed unmanned aerial vehicles. The path planning is optimized in terms of energy efficiency to prefer low energy-consuming maneuvers. In scenarios where a UAS is low on energy, it autonomously returns to its initial position for a safe landing, thus preventing potential battery damage. To accomplish this, an energy-aware multicopter model is integrated into a path planning algorithm based on model predictive control and mixed integer linear programming. Besides factoring in energy consumption, the planning is improved by dynamically defining feasible regions for each UAS to prevent obstacle corner-cutting or over-jumping.

Authors:Ze Zhang, Yifan Xue, Nadia Figueroa, Knut Åkesson
Title: Gradient Field-Based Dynamic Window Approach for Collision Avoidance in Complex Environments
Abstract:
For safe and flexible navigation in multi-robot systems, this paper presents an enhanced and predictive sampling-based trajectory planning approach in complex environments, the Gradient Field-based Dynamic Window Approach (GF-DWA). Building upon the dynamic window approach, the proposed method utilizes gradient information of obstacle distances as a new cost term to anticipate potential collisions. This enhancement enables the robot to improve awareness of obstacles, including those with non-convex shapes. The gradient field is derived from the Gaussian process distance field, which generates both the distance field and gradient field by leveraging Gaussian process regression to model the spatial structure of the environment. Through several obstacle avoidance and fleet collision avoidance scenarios, the proposed GF-DWA is shown to outperform other popular trajectory planning and control methods in terms of safety and flexibility, especially in complex environments with non-convex obstacles.

Authors:Sebastian Gasche, Christian Kallies, Andreas Himmel, Rolf Findeisen
Title: A Modular Energy Aware Framework for Multicopter Modeling in Control and Planning Applications
Abstract:
Unmanned aerial vehicles (UAVs), especially multicopters, have recently gained popularity for use in surveillance, monitoring, inspection, and search and rescue missions. Their maneuverability and ability to operate in confined spaces make them particularly useful in cluttered environments. For advanced control and mission planning applications, accurate and resource-efficient modeling of UAVs and their capabilities is essential. This study presents a modular approach to multicopter modeling that considers vehicle dynamics, energy consumption, and sensor integration. The power train model includes detailed descriptions of key components such as the lithium-ion battery, electronic speed controllers, and brushless DC motors. Their models are validated with real test flight data. In addition, sensor models, including LiDAR and cameras, are integrated to describe the equipment often used in surveillance and monitoring missions. The individual models are combined into an energy-aware multicopter model, which provide the basis for a companion study on path planning for unmanned aircaft system (UAS) swarms performing search and rescue missions in cluttered and dynamic environments. The flexible modeling approach enables easy description of different UAVs in a heterogeneous UAS swarm, allowing for energy-efficient operations and autonomous decision making for a reliable mission performance.

Authors:Aneesh Raghavan, M. Umar B. Niazi, Karl H. Johansson
Title: Sequential Binary Hypothesis Testing with Competing Agents under Information Asymmetry
Abstract:
This paper concerns sequential hypothesis testing in competitive multi-agent systems where agents exchange potentially manipulated information. Specifically, a two-agent scenario is studied where each agent aims to correctly infer the true state of nature while optimizing decision speed and accuracy. At each iteration, agents collect private observations, update their beliefs, and share (possibly corrupted) belief signals with their counterparts before deciding whether to stop and declare a state, or continue gathering more information. The analysis yields three main results: (1)~when agents share information strategically, the optimal signaling policy involves equal-probability randomization between truthful and inverted beliefs; (2)~agents maximize performance by relying solely on their own observations for belief updating while using received information only to anticipate their counterpart's stopping decision; and (3)~the agent reaching their confidence threshold first cause the other agent to achieve a higher conditional probability of error. Numerical simulations further demonstrate that agents with higher KL divergence in their conditional distributions gain competitive advantage. Furthermore, our results establish that information sharing -- despite strategic manipulation -- reduces overall system stopping time compared to non-interactive scenarios, which highlights the inherent value of communication even in this competitive setup.

Authors:Anant A. Joshi, Amirhossein Taghvaei, Prashant G. Mehta
Title: Error Analysis of Sampling Algorithms for Approximating Stochastic Optimal Control
Abstract:
This paper is concerned with the error analysis of two types of sampling algorithms, namely model predictive path integral (MPPI) and an interacting particle system (\IPS) algorithm, that have been proposed in the literature for numerical approximation of the stochastic optimal control. The analysis is presented through the lens of Gibbs variational principle. For an illustrative example of a single-stage stochastic optimal control problem, analytical expressions for approximation error and scaling laws, with respect to the state dimension and sample size, are derived. The analytical results are illustrated with numerical simulations.

Authors:Robert Lefringhausen, Sami Leon Noel Aziz Hanna, Elias August, Sandra Hirche
Title: Barrier Certificates for Unknown Systems with Latent States and Polynomial Dynamics using Bayesian Inference
Abstract:
Certifying safety in dynamical systems is crucial, but barrier certificates - widely used to verify that system trajectories remain within a safe region - typically require explicit system models. When dynamics are unknown, data-driven methods can be used instead, yet obtaining a valid certificate requires rigorous uncertainty quantification. For this purpose, existing methods usually rely on full-state measurements, limiting their applicability. This paper proposes a novel approach for synthesizing barrier certificates for unknown systems with latent states and polynomial dynamics. A Bayesian framework is employed, where a prior in state-space representation is updated using output data via a targeted marginal Metropolis-Hastings sampler. The resulting samples are used to construct a barrier certificate through a sum-of-squares program. Probabilistic guarantees for its validity with respect to the true, unknown system are obtained by testing on an additional set of posterior samples. The approach and its probabilistic guarantees are illustrated through a numerical simulation.

Authors:Dongyan Sui, Haotian Pu, Siyang Leng, Stefan Vlaski
Title: Alpha-Beta HMM: Hidden Markov Model Filtering with Equal Exit Probabilities and a Step-Size Parameter
Abstract:
The hidden Markov model (HMM) provides a powerful framework for inference in time-varying environments, where the underlying state evolves according to a Markov chain. To address the optimal filtering problem in general dynamic settings, we propose the $αβ$-HMM algorithm, which simplifies the state transition model to a Markov chain with equal exit probabilities and introduces a step-size parameter to balance the influence of observational data and the model. By analyzing the algorithm's dynamics in stationary environments, we uncover a fundamental trade-off between inference accuracy and adaptation capability, highlighting how key parameters and observation quality impact performance. A comprehensive theoretical analysis of the nonlinear dynamical system governing the evolution of the log-belief ratio, along with supporting numerical experiments, demonstrates that the proposed approach effectively balances adaptability and inference performance in dynamic environments.

Authors:Lukas Schüepp, Giulia De Pasquale, Florian Dörfler, Carmen Amo Alonso
Title: System Level Synthesis for Affine Control Policies: Model Based and Data-Driven Settings
Abstract:
There is an increasing need for effective control of systems with complex dynamics, particularly through data-driven approaches. System Level Synthesis (SLS) has emerged as a powerful framework that facilitates the control of large-scale systems while accounting for model uncertainties. SLS approaches are currently limited to linear systems and time-varying linear control policies, thus limiting the class of achievable control strategies. We introduce a novel closed-loop parameterization for time-varying affine control policies, extending the SLS framework to a broader class of systems and policies. We show that the closed-loop behavior under affine policies can be equivalently characterized using past system trajectories, enabling a fully data-driven formulation. This parameterization seamlessly integrates affine policies into optimal control problems, allowing for a closed-loop formulation of general Model Predictive Control (MPC) problems. To the best of our knowledge, this is the first work to extend SLS to affine policies in both model-based and data-driven settings, enabling an equivalent formulation of MPC problems using closed-loop maps. We validate our approach through numerical experiments, demonstrating that our model-based and data-driven affine SLS formulations achieve performance on par with traditional model-based MPC.

Authors:Zixin Jiang, Xuezheng Wang, Han Li, Tianzhen Hong, Fengqi You, Ján Drgoňa, Draguna Vrabie, Bing Dong
Title: Physics-informed machine learning for building performance simulation-A review of a nascent field
Abstract:
Building performance simulation (BPS) is critical for understanding building dynamics and behavior, analyzing performance of the built environment, optimizing energy efficiency, improving demand flexibility, and enhancing building resilience. However, conducting BPS is not trivial. Traditional BPS relies on an accurate building energy model, mostly physics-based, which depends heavily on detailed building information, expert knowledge, and case-by-case model calibrations, thereby significantly limiting their scalability. With the development of sensing technology and increased data availability, there is a growing attention and interest in data-driven BPS. However, purely data-driven models often suffer from limited generalization ability and a lack of physical consistency, resulting in poor performance in real-world applications. To address these limitations, recent studies have started to incorporate physics priors into data-driven models, a methodology called physics-informed machine learning (PIML). PIML is an emerging field with the definitions, methodologies, evaluation criteria, application scenarios, and future directions that remain open. To bridge those gaps, this study systematically reviews the state-of-art PIML for BPS, offering a comprehensive definition of PIML, and comparing it to traditional BPS approaches regarding data requirements, modeling effort, performance and computation cost. We also summarize the commonly used methodologies, validation approaches, application domains, available data sources, open-source packages and testbeds. In addition, this study provides a general guideline for selecting appropriate PIML models based on BPS applications. Finally, this study identifies key challenges and outlines future research directions, providing a solid foundation and valuable insights to advance R&D of PIML in BPS.

Authors:Sunjung Kang, Vishrant Tripathi, Christopher G. Brinton
Title: Timely Trajectory Reconstruction in Finite Buffer Remote Tracking Systems
Abstract:
Remote tracking systems play a critical role in applications such as IoT, monitoring, surveillance and healthcare. In such systems, maintaining both real-time state awareness (for online decision making) and accurate reconstruction of historical trajectories (for offline post-processing) are essential. While the Age of Information (AoI) metric has been extensively studied as a measure of freshness, it does not capture the accuracy with which past trajectories can be reconstructed. In this work, we investigate reconstruction error as a complementary metric to AoI, addressing the trade-off between timely updates and historical accuracy. Specifically, we consider three policies, each prioritizing different aspects of information management: Keep-Old, Keep-Fresh, and our proposed Inter-arrival-Aware dropping policy. We compare these policies in terms of impact on both AoI and reconstruction error in a remote tracking system with a finite buffer. Through theoretical analysis and numerical simulations of queueing behavior, we demonstrate that while the Keep-Fresh policy minimizes AoI, it does not necessarily minimize reconstruction error. In contrast, our proposed Inter-arrival-Aware dropping policy dynamically adjusts packet retention decisions based on generation times, achieving a balance between AoI and reconstruction error. Our results provide key insights into the design of efficient buffer management policies for resource-constrained IoT networks.

Authors:Nicolas Kirsch, Leonardo Massai, Giancarlo Ferrari-Trecate
Title: Boosting the transient performance of reference tracking controllers with neural networks
Abstract:
Reference tracking is a key objective in many control systems, including those characterized by complex nonlinear dynamics. In these settings, traditional control approaches can effectively ensure steady-state accuracy but often struggle to explicitly optimize transient performance. Neural network controllers have gained popularity due to their adaptability to nonlinearities and disturbances; however, they often lack formal closed-loop stability and performance guarantees. To address these challenges, a recently proposed neural-network control framework known as Performance Boosting (PB) has demonstrated the ability to maintain $\mathcal{L}_p$ stability properties of nonlinear systems while optimizing generic transient costs. This paper extends the PB approach to reference tracking problems. First, we characterize the complete set of nonlinear controllers that preserve desired tracking properties for nonlinear systems equipped with base reference-tracking controllers. Then, we show how to optimize transient costs while searching within subsets of tracking controllers that incorporate expressive neural network models. Furthermore, we analyze the robustness of our method to uncertainties in the underlying system dynamics. Numerical simulations on a robotic system demonstrate the advantages of our approach over the standard PB framework.

Authors:Jaeuk Shin, Jungjin Lee, Insoon Yang
Title: Egocentric Conformal Prediction for Safe and Efficient Navigation in Dynamic Cluttered Environments
Abstract:
Conformal prediction (CP) has emerged as a powerful tool in robotics and control, thanks to its ability to calibrate complex, data-driven models with formal guarantees. However, in robot navigation tasks, existing CP-based methods often decouple prediction from control, evaluating models without considering whether prediction errors actually compromise safety. Consequently, ego-vehicles may become overly conservative or even immobilized when all potential trajectories appear infeasible. To address this issue, we propose a novel CP-based navigation framework that responds exclusively to safety-critical prediction errors. Our approach introduces egocentric score functions that quantify how much closer obstacles are to a candidate vehicle position than anticipated. These score functions are then integrated into a model predictive control scheme, wherein each candidate state is individually evaluated for safety. Combined with an adaptive CP mechanism, our framework dynamically adjusts to changes in obstacle motion without resorting to unnecessary conservatism. Theoretical analyses indicate that our method outperforms existing CP-based approaches in terms of cost-efficiency while maintaining the desired safety levels, as further validated through experiments on real-world datasets featuring densely populated pedestrian environments.

Authors:Yuping Zheng, Andrew Lamperski
Title: Non-Asymptotic Analysis of Classical Spectrum Estimators for $L$-mixing Time-series Data with Unknown Means
Abstract:
Spectral estimation is an important tool in time series analysis, with applications including economics, astronomy, and climatology. The asymptotic theory for non-parametric estimation is well-known but the development of non-asymptotic theory is still ongoing. Our recent work obtained the first non-asymptotic error bounds on the Bartlett and Welch methods for $L$-mixing stochastic processes. The class of $L$-mixing processes contains common models in time series analysis, including autoregressive processes and measurements of geometrically ergodic Markov chains. Our prior analysis assumes that the process has zero mean. While zero-mean assumptions are common, real-world time-series data often has unknown, non-zero mean. In this work, we derive non-asymptotic error bounds for both Bartlett and Welch estimators for $L$-mixing time-series data with unknown means. The obtained error bounds are of $O(\frac{1}{\sqrt{k}})$, where $k$ is the number of data segments used in the algorithm, which are tighter than our previous results under the zero-mean assumption.

Authors:Adelmo Niccolai, Maurizio Clemente, Theo Hofman, Niccolò Baldanzini
Title: Two-wheel-driven Electric Superbike Powertrain Optimization
Abstract:
In this paper, we propose an optimization framework for the powertrain design of a two-wheel-driven electric superbike, minimizing energy consumption. Specifically, we jointly optimize the force distribution between the wheels with the gear ratio, and rear motor and battery sizing while explicitly considering vehicle dynamics and performance constraints. First, we present an energy consumption model of the vehicle, including a scalable model of the electric machine based on data from the industry, accounting for iron, copper, and mechanical losses. Then, we analyze the propulsive blending strategy to distribute the required power to the wheels while considering adherence limits. Finally, we demonstrate the effectiveness of our approach by analyzing the design of a superbike, based on regulatory driving cycles and a custom high-performance circuit by comparing the force distribution approaches. The results underline the significance of joint optimization of powertrain components and propulsive bias, achieving a reduction of up to 22.36% in energy consumption for the Sport high-performance driving cycle.

Authors:Leonardo Massai, Giancarlo Ferrari-Trecate
Title: Free Parametrization of L2-bounded State Space Models
Abstract:
Structured state-space models (SSMs) have emerged as a powerful architecture in machine learning and control, featuring stacked layers where each consists of a linear time-invariant (LTI) discrete-time system followed by a nonlinearity. While SSMs offer computational efficiency and excel in long-sequence predictions, their widespread adoption in applications like system identification and optimal control is hindered by the challenge of ensuring their stability and robustness properties. We introduce L2RU, a novel parametrization of SSMs that guarantees input-output stability and robustness by enforcing a prescribed L-bound for all parameter values. This design eliminates the need for complex constraints, allowing unconstrained optimization over L2RUs by using standard methods such as gradient descent. Leveraging tools from system theory and convex optimization, we derive a non-conservative parametrization of square discrete-time LTI systems with a specified L2-bound, forming the foundation of the L2RU architecture. Additionally, we enhance its performance with a bespoke initialization strategy optimized for long input sequences. Through a system identification task, we validate L2RU's superior performance, showcasing its potential in learning and control applications.

Authors:Minhyuk Jang, Astghik Hakobyan, Insoon Yang
Title: On the Steady-State Distributionally Robust Kalman Filter
Abstract:
State estimation in the presence of uncertain or data-driven noise distributions remains a critical challenge in control and robotics. Although the Kalman filter is the most popular choice, its performance degrades significantly when distributional mismatches occur, potentially leading to instability or divergence. To address this limitation, we introduce a novel steady-state distributionally robust (DR) Kalman filter that leverages Wasserstein ambiguity sets to explicitly account for uncertainties in both process and measurement noise distributions. Our filter achieves computational efficiency by requiring merely the offline solution of a single convex semidefinite program, which yields a constant DR Kalman gain for robust state estimation under distributional mismatches. Additionally, we derive explicit theoretical conditions on the ambiguity set radius that ensure the asymptotic convergence of the time-varying DR Kalman filter to the proposed steady-state solution. Numerical simulations demonstrate that our approach outperforms existing baseline filters in terms of robustness and accuracy across both Gaussian and non-Gaussian uncertainty scenarios, highlighting its significant potential for real-world control and estimation applications.

Authors:Mahrokh G. Boroujeni, Laura Meroi, Leonardo Massai, Clara L. Galimberti, Giancarlo Ferrari-Trecate
Title: Neural Identification of Feedback-Stabilized Nonlinear Systems
Abstract:
Neural networks have demonstrated remarkable success in modeling nonlinear dynamical systems. However, identifying these systems from closed-loop experimental data remains a challenge due to the correlations induced by the feedback loop. Traditional nonlinear closed-loop system identification methods struggle with reliance on precise noise models, robustness to data variations, or computational feasibility. Additionally, it is essential to ensure that the identified model is stabilized by the same controller used during data collection, ensuring alignment with the true system's closed-loop behavior. The dual Youla parameterization provides a promising solution for linear systems, offering statistical guarantees and closed-loop stability. However, extending this approach to nonlinear systems presents additional complexities. In this work, we propose a computationally tractable framework for identifying complex, potentially unstable systems while ensuring closed-loop stability using a complete parameterization of systems stabilized by a given controller. We establish asymptotic consistency in the linear case and validate our method through numerical comparisons, demonstrating superior accuracy over direct identification baselines and compatibility with the true system in stability properties.

Authors:Shaik Jani Babu, Fan Hu, Linyu Zhu, Sonal Singhal, Xinfei Guo
Title: Extending Silicon Lifetime: A Review of Design Techniques for Reliable Integrated Circuits
Abstract:
Reliability has become an increasing concern in modern computing. Integrated circuits (ICs) are the backbone of modern computing devices across industries, including artificial intelligence (AI), consumer electronics, healthcare, automotive, industrial, and aerospace. Moore Law has driven the semiconductor IC industry toward smaller dimensions, improved performance, and greater energy efficiency. However, as transistors shrink to atomic scales, aging-related degradation mechanisms such as Bias Temperature Instability (BTI), Hot Carrier Injection (HCI), Time-Dependent Dielectric Breakdown (TDDB), Electromigration (EM), and stochastic aging-induced variations have become major reliability threats. From an application perspective, applications like AI training and autonomous driving require continuous and sustainable operation to minimize recovery costs and enhance safety. Additionally, the high cost of chip replacement and reproduction underscores the need for extended lifespans. These factors highlight the urgency of designing more reliable ICs. This survey addresses the critical aging issues in ICs, focusing on fundamental degradation mechanisms and mitigation strategies. It provides a comprehensive overview of aging impact and the methods to counter it, starting with the root causes of aging and summarizing key monitoring techniques at both circuit and system levels. A detailed analysis of circuit-level mitigation strategies highlights the distinct aging characteristics of digital, analog, and SRAM circuits, emphasizing the need for tailored solutions. The survey also explores emerging software approaches in design automation, aging characterization, and mitigation, which are transforming traditional reliability optimization. Finally, it outlines the challenges and future directions for improving aging management and ensuring the long-term reliability of ICs across diverse applications.

Authors:Amr Mousa, Neil Karavis, Michele Caprio, Wei Pan, Richard Allmendinger
Title: TAR: Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotion
Abstract:
Quadrupedal locomotion via Reinforcement Learning (RL) is commonly addressed using the teacher-student paradigm, where a privileged teacher guides a proprioceptive student policy. However, key challenges such as representation misalignment between privileged teacher and proprioceptive-only student, covariate shift due to behavioral cloning, and lack of deployable adaptation; lead to poor generalization in real-world scenarios. We propose Teacher-Aligned Representations via Contrastive Learning (TAR), a framework that leverages privileged information with self-supervised contrastive learning to bridge this gap. By aligning representations to a privileged teacher in simulation via contrastive objectives, our student policy learns structured latent spaces and exhibits robust generalization to Out-of-Distribution (OOD) scenarios, surpassing the fully privileged "Teacher". Results showed accelerated training by 2x compared to state-of-the-art baselines to achieve peak performance. OOD scenarios showed better generalization by 40% on average compared to existing methods. Moreover, TAR transitions seamlessly into learning during deployment without requiring privileged states, setting a new benchmark in sample-efficient, adaptive locomotion and enabling continual fine-tuning in real-world scenarios. Open-source code and videos are available at https://amrmousa.com/TARLoco/.

Authors:Yitian Chen, Timothy L. Molloy, Iman Shames
Title: Two-Player Dynamic Potential LQ Games with Sequentially Revealed Costs
Abstract:
We investigate a novel finite-horizon linear-quadratic (LQ) feedback dynamic potential game with a priori unknown cost matrices played between two players. The cost matrices are revealed to the players sequentially, with the potential for future values to be previewed over a short time window. We propose an algorithm that enables the players to predict and track a feedback Nash equilibrium trajectory, and we measure the quality of their resulting decisions by introducing the concept of \emph{price of uncertainty}. We show that under the proposed algorithm, the price of uncertainty is bounded by horizon-invariant constants. The constants are the sum of three terms; the first and second terms decay exponentially as the preview window grows, and another depends on the magnitude of the differences between the cost matrices for each player. Through simulations, we illustrate that the resulting price of uncertainty initially decays at an exponential rate as the preview window lengthens, then remains constant for large time horizons.

Authors:Shengbo Wang, Ke Li, Zheng Yan, Zhenyuan Guo, Song Zhu, Guanghui Wen, Shiping Wen
Title: Optimal Parameter Adaptation for Safety-Critical Control via Safe Barrier Bayesian Optimization
Abstract:
Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control performance due to its direct modification of original control design and the introduction of uncalibrated parameters. In this work, we shed light on the crucial role of configurable parameters in the CBF method for performance enhancement with a systematical categorization. Based on that, we propose a novel framework combining the CBF method with Bayesian optimization (BO) to optimize the safe control performance. Considering feasibility/safety-critical constraints, we develop a safe version of BO using the barrier-based interior method to efficiently search for promising feasible configurable parameters. Furthermore, we provide theoretical criteria of our framework regarding safety and optimality. An essential advantage of our framework lies in that it can work in model-agnostic environments, leaving sufficient flexibility in designing objective and constraint functions. Finally, simulation experiments on swing-up control and high-fidelity adaptive cruise control are conducted to demonstrate the effectiveness of our framework.

Authors:Shahab Ataei, Dipankar Maity, Debdipta Goswami
Title: QSID-MPC: Model Predictive Control with System Identification from Quantized Data
Abstract:
Least-square system identification is widely used for data-driven model-predictive control (MPC) of unknown or partially known systems. This letter investigates how the system identification and subsequent MPC is affected when the state and input data is quantized. Specifically, we examine the fundamental connection between model error and quantization resolution and how that affects the stability and boundedness of the MPC tracking error. Furthermore, we demonstrate that, with a sufficiently rich dataset, the model error is bounded by a function of quantization resolution and the MPC tracking error is also ultimately bounded similarly. The theory is validated through numerical experiments conducted on two different linear dynamical systems.

Authors:Huan Yan, Juan A. Fraire, Ziqi Yang, Kanglian Zhao, Wenfeng Li, Xiyun Hou, Haohan Li, Yuxuan Miao, Jinjun Zheng, Chengbin Kang, Huichao Zhou, Xinuo Chang, Lu Wang
Title: Contact Plan Design for Cross-Linked GNSSs: An ILP Approach for Extended Applications
Abstract:
Global Navigation Satellite Systems (GNSS) employ inter-satellite links (ISLs) to reduce dependency on ground stations, enabling precise ranging and communication across satellites. Beyond their traditional role, ISLs can support extended applications, including providing navigation and communication services to external entities. However, designing effective contact plan design (CPD) schemes for these multifaceted ISLs, operating under a polling time-division duplex (PTDD) framework, remains a critical challenge. Existing CPD approaches focus solely on meeting GNSS satellites' internal ranging and communication demands, neglecting their extended applications. This paper introduces the first CPD scheme capable of supporting extended GNSS ISLs. By modeling GNSS requirements and designing a tailored service process, our approach ensures the allocation of essential resources for internal operations while accommodating external user demands. Based on the BeiDou constellation, simulation results demonstrate the proposed scheme's efficacy in maintaining core GNSS functionality while providing extended ISLs on a best-effort basis. Additionally, the results highlight the significant impact of GNSS ISLs in enhancing orbit determination and clock synchronization for the Earth-Moon libration point constellation, underscoring the importance of extended GNSS ISL applications.

Authors:Huan Yan, Juan A. Fraire, Ziqi Yang, Kanglian Zhao, Wenfeng Li, Jinjun Zheng, Chengbin Kang, Huichao Zhou, Xinuo Chang, Lu Wang, Linshan Xue
Title: Optimized Contact Plan Design for Reflector and Phased Array Terminals in Cislunar Space Networks
Abstract:
Cislunar space is emerging as a critical domain for human exploration, requiring robust infrastructure to support spatial users-spacecraft with navigation and communication demands. Deploying satellites at Earth-Moon three-body orbits offers an effective solution to construct cislunar space infrastructure (CLSI). However, scheduling satellite links to serve users necessitates an appropriate contact plan design (CPD) scheme. Existing CPD schemes focus solely on inter-satellite link scheduling, overlooking their role in providing services to users. This paper introduces a CPD scheme that considers two classes of satellite transponders: Reflector Links (RL) for high-volume data transfers and Phased Array Links (PL) for fast switching and navigation services. Our approach supports both satellites and spatial users in cislunar space. Simulations validate the scheme, demonstrating effective support for user while meeting satellite ranging and communication requirements. These findings provide essential insights for developing future Cislunar Space Infrastructures.

Authors:Yen-Shao Chen, Tauhid Zaman
Title: Optimizing Influence Campaigns: Nudging under Bounded Confidence
Abstract:
Influence campaigns in online social networks are often run by organizations, political parties, and nation states to influence large audiences. These campaigns are employed through the use of agents in the network that share persuasive content. Yet, their impact might be minimal if the audiences remain unswayed, often due to the bounded confidence phenomenon, where only a narrow spectrum of viewpoints can influence them. Here we show that to persuade under bounded confidence, an agent must nudge its targets to gradually shift their opinions. Using a control theory approach, we show how to construct an agent's nudging policy under the bounded confidence opinion dynamics model and also how to select targets for multiple agents in an influence campaign on a social network. Simulations on real Twitter networks show that a multi-agent nudging policy can shift the mean opinion, decrease opinion polarization, or even increase it. We find that our nudging based policies outperform other common techniques that do not consider the bounded confidence effect. Finally, we show how to craft prompts for large language models, such as ChatGPT, to generate text-based content for real nudging policies. This illustrates the practical feasibility of our approach, allowing one to go from mathematical nudging policies to real social media content.

Authors:Milad Pooladsanj, Ketan Savla, Petros A. Ioannou
Title: Throughput Maximizing Takeoff Scheduling for eVTOL Vehicles in On-Demand Urban Air Mobility Systems
Abstract:
Urban Air Mobility (UAM) offers a solution to current traffic congestion by using electric Vertical Takeoff and Landing (eVTOL) vehicles to provide on-demand air mobility in urban areas. Effective traffic management is crucial for efficient operation of UAM systems, especially for high-demand scenarios. In this paper, we present a centralized framework for conflict-free takeoff scheduling of eVTOLs in on-demand UAM systems. Specifically, we provide a scheduling policy, called VertiSync, which jointly schedules UAM vehicles for servicing trip requests and rebalancing, subject to safety margins and energy requirements. We characterize the system-level throughput of VertiSync, which determines the demand threshold at which the average waiting time transitions from being stable to being increasing over time. We show that the proposed policy maximizes throughput for sufficiently large fleet size and if the UAM network has a certain symmetry property. We demonstrate the performance of VertiSync through a case study for the city of Los Angeles, and show that it significantly reduces average passenger waiting time compared to a first-come first-serve scheduling policy.

Authors:Shamisa Shoja, Daniel Arnström, Daniel Axehill
Title: Parallel Domain-Decomposition Algorithms for Complexity Certification of Branch-and-Bound Algorithms for Mixed-Integer Linear and Quadratic Programming
Abstract:
When implementing model predictive control (MPC) for hybrid systems with a linear or a quadratic performance measure, a mixed-integer linear program (MILP) or a mixed-integer quadratic program (MIQP) needs to be solved, respectively, at each sampling instant. Recent work has introduced the possibility to certify the computational complexity of branch-and-bound (B&B) algorithms when solving MILP and MIQP problems formulated as multi-parametric MILPs (mp-MILPs) and mp-MIQPs. Such a framework allows for computing the worst-case computational complexity of standard B&B-based MILP and MIQP solvers, quantified by metrics such as the total number of LP/QP iterations and B&B nodes. These results are highly relevant for real-time hybrid MPC applications. In this paper, we extend this framework by developing parallel, domain-decomposition versions of the previously proposed algorithm, allowing it to scale to larger problem sizes and enable the use of high-performance computing (HPC) resources. Furthermore, to reduce peak memory consumption, we introduce two novel modifications to the existing (serial) complexity certification framework, integrating them into the proposed parallel algorithms. Numerical experiments show that the parallel algorithms significantly reduce computation time while maintaining the correctness of the original framework.

Authors:Shamisa Shoja, Daniel Arnström, Daniel Axehill
Title: A Unifying Complexity-Certification Framework for Branch-and-Bound Algorithms for Mixed-Integer Linear and Quadratic Programming
Abstract:
In model predictive control (MPC) for hybrid systems, solving optimization problems efficiently and with guarantees on worst-case computational complexity is critical to satisfy the real-time constraints in these applications. These optimization problems often take the form of mixed-integer linear programs (MILPs) or mixed-integer quadratic programs (MIQPs) that depend on system parameters. A common approach for solving such problems is the branch-and-bound (B&B) method. This paper extends existing complexity certification methods by presenting a unified complexity-certification framework for B&B-based MILP and MIQP solvers, specifically for the family of multi-parametric MILP and MIQP problems that arise in, e.g., hybrid MPC applications. The framework provides guarantees on worst-case computational measures, including the maximum number of iterations or relaxations B&B algorithms require to reach optimality. It systematically accounts for different branching and node selection strategies, as well as heuristics integrated into B&B, ensuring a comprehensive certification framework. By offering theoretical guarantees and practical insights for solver customization, the proposed framework enhances the reliability of B&B for real-time application. The usefulness of the proposed framework is demonstrated through numerical experiments on both random MILPs and MIQPs, as well as on MIQPs arising from a hybrid MPC problem.

Authors:Wenbo Li, Xianlong Mai, Ying Li, Weihua Li, Shiwu Zhang, Lei Deng, Shuaishuai Sun
Title: Development of a magnetorheological hand exoskeleton featuring a high force-to-power ratio for enhanced grip endurance
Abstract:
Hand exoskeletons have significant potential in labor-intensive fields by mitigating hand grip fatigue, enhancing hand strength, and preventing injuries. However, most of the traditional hand exoskeletons are driven by motors, whose output force is limited in the constrained installation conditions. Besides, they also come with the disadvantages of high power consumption, complex and bulky assistive systems, and high instability. In this work, we develop a novel hand exoskeleton integrated with magnetorheological (MR) clutches that offers a high force-to-power ratio to improve grip endurance. The clutch features an enhanced structure design, a micro roller enhancing structure, which can significantly boost output forces. The experimental data demonstrate that the clutch can deliver a peak holding force of 380 N with a 1.48 W consumption, yielding a force-to-power ratio of 256.75N/W, which is 2.35 times higher than the best-reported actuator used for hand exoskeletons. This capability enables the designed MRHE to provide approximately 419.79 N support force for gripping. The designed MR hand exoskeleton is highly integrated, comprising an exoskeleton frame, MR clutches, a control unit, and a battery. Evaluations through static grip endurance tests and dynamic carrying and lifting tests confirm that the MR hand exoskeleton can effectively reduce muscle fatigue, extend grip endurance, and minimize injuries. These findings highlight its strong potential for practical applications in repetitive tasks such as carrying and lifting in industrial settings.

Authors:Matthieu Jacobs, Mario Paolone
Title: Probabilistic Flexibility Aggregation of DERs for Ancillary Services Provision
Abstract:
This paper presents a grid-aware probabilistic approach to compute the aggregated flexibility at the grid connection point (GCP) of active distribution networks (ADNs) to allow the participation of DERs in ancillary services (AS) markets. Specifically an optimal power flow (OPF) method using a linear network model is used to compute the aggregated capability for the provision of multiple AS. We start from the method proposed in [1] and extend it to allow for optimizing the provision of multiple services simultaneously, ensure cost-effectiveness of the used DERs and handle uncertainties in a probabilistic way. The allocation of individual DERs power flexibilities accounts for the operational costs associated to the provision of different services and ensures cost-effectiveness while maximizing the value of the advertised aggregated flexibility, assuming known service prices. Empirical uncertainty sets are obtained to achieve a predefined coverage of the probability distribution in line with recent developments in the Nordic AS markets. Finally, a feeder-decomposition approach is proposed to ensure the methods applicability to realistic distribution networks with a large number of buses. Different case studies show the effectiveness of the method, highlight the importance of accounting for network constraints and illustrate its applicability to realistic distribution systems.

Authors:Matthieu Jacobs, Hanmin Cai, Mario Paolone
Title: Experimental Validation of Distributed Dispatching of Multiple Active Distribution Networks Using the ADMM
Abstract:
This paper presents the experimental validation of a framework for the coordinated dispatch and control of multiple active distribution networks (ADNs) hosting distributed energy resource (DER). We show that the presented method, which builds further on work done in [1], effectively allows to control multiple ADNs in a distributed way to ensure they achieve a common objective without revealing information on their DERs capabilities or grid model. This experimental validation is carried out using demonstrators at the DESL of EPFL and the NEST site at Empa, both in Switzerland. The coordination of the systems to share the flexibility of their controllable assets is demonstrated through a set of 24h experiments. Finally, the limitations of the method are discussed and future extensions proposed.

Authors:Shivanshu Tripathi, Abed AlRahman Al Makdah, Fabio Pasqualetti
Title: Online Optimization with Unknown Time-varying Parameters
Abstract:
In this paper, we study optimization problems where the cost function contains time-varying parameters that are unmeasurable and evolve according to linear, yet unknown, dynamics. We propose a solution that leverages control theoretic tools to identify the dynamics of the parameters, predict their evolution, and ultimately compute a solution to the optimization problem. The identification of the dynamics of the time-varying parameters is done online using measurements of the gradient of the cost function. This system identification problem is not standard, since the output matrix is known and the dynamics of the parameters must be estimated in the original coordinates without similarity transformations. Interestingly, our analysis shows that, under mild conditions that we characterize, the identification of the parameters dynamics and, consequently, the computation of a time-varying solution to the optimization problem, requires only a finite number of measurements of the gradient of the cost function. We illustrate the effectiveness of our algorithm on a series of numerical examples.

Authors:Johannes Huemer, Markus Murschitz, Matthias Schörghuber, Lukas Reisinger, Thomas Kadiofsky, Christoph Weidinger, Mario Niedermeyer, Benedikt Widy, Marcel Zeilinger, Csaba Beleznai, Tobias Glück, Andreas Kugi, Patrik Zips
Title: ADAPT: An Autonomous Forklift for Construction Site Operation
Abstract:
Efficient material logistics play a critical role in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a promising solution to streamline on-site logistics, reducing reliance on human operators and mitigating labor shortages. This paper presents the development and evaluation of ADAPT (Autonomous Dynamic All-terrain Pallet Transporter), a fully autonomous off-road forklift designed for construction environments. Unlike structured warehouse settings, construction sites pose significant challenges, including dynamic obstacles, unstructured terrain, and varying weather conditions. To address these challenges, our system integrates AI-driven perception techniques with traditional approaches for decision making, planning, and control, enabling reliable operation in complex environments. We validate the system through extensive real-world testing, comparing its continuous performance against an experienced human operator across various weather conditions. Our findings demonstrate that autonomous outdoor forklifts can operate near human-level performance, offering a viable path toward safer and more efficient construction logistics.

Authors:Renzi Wang, Mathijs Schuurmans, Panagiotis Patrinos
Title: Risk-Sensitive Model Predictive Control for Interaction-Aware Planning -- A Sequential Convexification Algorithm
Abstract:
This paper considers risk-sensitive model predictive control for stochastic systems with a decision-dependent distribution. This class of systems is commonly found in human-robot interaction scenarios. We derive computationally tractable convex upper bounds to both the objective function, and to frequently used penalty terms for collision avoidance, allowing us to efficiently solve the generally nonconvex optimal control problem as a sequence of convex problems. Simulations of a robot navigating a corridor demonstrate the effectiveness and the computational advantage of the proposed approach.

Authors:Usman Syed, Bin Hu
Title: Improved Scalable Lipschitz Bounds for Deep Neural Networks
Abstract:
Computing tight Lipschitz bounds for deep neural networks is crucial for analyzing their robustness and stability, but existing approaches either produce relatively conservative estimates or rely on semidefinite programming (SDP) formulations (namely the LipSDP condition) that face scalability issues. Building upon ECLipsE-Fast, the state-of-the-art Lipschitz bound method that avoids SDP formulations, we derive a new family of improved scalable Lipschitz bounds that can be combined to outperform ECLipsE-Fast. Specifically, we leverage more general parameterizations of feasible points of LipSDP to derive various closed-form Lipschitz bounds, avoiding the use of SDP solvers. In addition, we show that our technique encompasses ECLipsE-Fast as a special case and leads to a much larger class of scalable Lipschitz bounds for deep neural networks. Our empirical study shows that our bounds improve ECLipsE-Fast, further advancing the scalability and precision of Lipschitz estimation for large neural networks.

Authors:Atharva Ghotavadekar, František Nekovář, Martin Saska, Jan Faigl
Title: Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets
Abstract:
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting dynamic targets. Agile planning using existing non-linear model predictive control methods is limited by the number of planning steps as it becomes increasingly computationally demanding. That reduces the prediction horizon length, leading to a decrease in solution quality. Besides, the fixed time-step length limits the utilization of the available UAV dynamics in the target neighborhood. In this paper, we propose to address these limitations by introducing variable time steps and coupling them with the prediction horizon length. A simplified point-mass motion primitive is used to leverage the differential flatness of quadrotor dynamics and the generation of feasible trajectories in the flat output space. Based on the presented evaluation results and experimentally validated deployment, the proposed method increases the solution quality by enabling planning for long flight segments but allowing tightly sampled maneuvering.

Authors:Luke Rickard, Alessandro Abate, Kostas Margellos
Title: Continuous-time Data-driven Barrier Certificate Synthesis
Abstract:
We consider the problem of verifying safety for continuous-time dynamical systems. Developing upon recent advancements in data-driven verification, we use only a finite number of sampled trajectories to learn a barrier certificate, namely a function which verifies safety. We train a safety-informed neural network to act as this certificate, with an appropriately designed loss function to encompass the safety conditions. In addition, we provide probabilistic generalisation guarantees from discrete samples of continuous trajectories, to unseen continuous ones. Numerical investigations demonstrate the efficacy of our approach and contrast it with related results in the literature.

Authors:Alvin Combrink, Sabino Francesco Roselli, Martin Fabian
Title: Prioritized Planning for Continuous-time Lifelong Multi-agent Pathfinding
Abstract:
Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents so that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has many variations and has been studied for decades. Two such variations are the continuous-time and the lifelong MAPF problems. In the former, edges have non-unit lengths and volumetric agents can traverse them at any real-valued time. In the latter, agents must attend to a continuous stream of incoming tasks. Much work has been devoted to designing solution methods within these two areas. To our knowledge, however, the combined problem of continuous-time lifelong MAPF has yet to be addressed. This work addresses continuous-time lifelong MAPF with volumetric agents by presenting the fast and sub-optimal Continuous-time Prioritized Lifelong Planner (CPLP). CPLP continuously assigns agents to tasks and computes plans using a combination of two path planners; one based on CCBS and the other based on SIPP. Experimental results with up to 800 agents on graphs with up to 12 000 vertices demonstrate practical performance, where maximum planning times fall within the available time budget. Additionally, CPLP ensures collision-free movement even when failing to meet this budget. Therefore, the robustness of CPLP highlights its potential for real-world applications.

Authors:Spencer Kraisler, Mehran Mesbahi, Behcet Acikmese
Title: Intrinsic Successive Convexification: Trajectory Optimization on Smooth Manifolds
Abstract:
A fundamental issue at the core of trajectory optimization on smooth manifolds is handling the implicit manifold constraint within the dynamics. The conventional approach is to enforce the dynamic model as a constraint. However, we show this approach leads to significantly redundant operations, as well as being heavily dependent on the state space representation. Specifically, we propose an intrinsic successive convexification methodology for optimal control on smooth manifolds. This so-called iSCvx is then applied to a representative example involving attitude trajectory optimization for a spacecraft subject to non-convex constraints.

Authors:Torbjørn Smith, Olav Egeland
Title: Nonparametric adaptive payload tracking for an offshore crane
Abstract:
A nonparametric adaptive crane control system is proposed where the crane payload tracks a desired trajectory with feedback from the payload position. The payload motion is controlled with the position of the crane tip using partial feedback linearization. This is made possible by introducing a novel model structure given in Cartesian coordinates. This Cartesian model structure makes it possible to implement a nonparametric adaptive controller which cancels disturbances by approximating the effects of unknown disturbance forces and structurally unknown dynamics in a reproducing kernel Hilbert space (RKHS). It is shown that the nonparametric adaptive controller leads to uniformly ultimately bounded errors in the presence of unknown forces and unmodeled dynamics. Moreover, it is shown that the Cartesian formulation has certain advantages in payload tracking control also in the non-adaptive case. The performance of the nonparametric adaptive controller is validated in simulation and experiments with good results.

Authors:Ertuğrul Keçeci, Müjde Güzelkaya, Tufan Kumbasar
Title: A State Alignment-Centric Approach to Federated System Identification: The FedAlign Framework
Abstract:
This paper presents FedAlign, a Federated Learning (FL) framework particularly designed for System Identification (SYSID) tasks by aligning state representations. Local workers can learn State-Space Models (SSMs) with equivalent representations but different dynamics. We demonstrate that directly aggregating these local SSMs via FedAvg results in a global model with altered system dynamics. FedAlign overcomes this problem by employing similarity transformation matrices to align state representations of local SSMs, thereby establishing a common parameter basin that retains the dynamics of local SSMs. FedAlign computes similarity transformation matrices via two distinct approaches: FedAlign-A and FedAlign-O. In FedAlign-A, we represent the global SSM in controllable canonical form (CCF). We apply control theory to analytically derive similarity transformation matrices that convert each local SSM into this form. Yet, establishing global SSM in CCF brings additional alignment challenges in multi input - multi output SYSID as CCF representation is not unique, unlike in single input - single output SYSID. In FedAlign-O, we address these alignment challenges by reformulating the local parameter basin alignment problem as an optimization task. We determine the parameter basin of a local worker as the common parameter basin and solve least square problems to obtain similarity transformation matrices needed to align the remaining local SSMs. Through the experiments conducted on synthetic and real-world datasets, we show that FedAlign outperforms FedAvg, converges faster, and provides improved stability of the global SSM thanks to the efficient alignment of local parameter basins.

Authors:Jingzong Zhou, Yuhan Zhu, Xiaobin Zhang, Sunil Agrawal, Konstantinos Karydis
Title: Learning-based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism
Abstract:
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of the system is solved analytically, whereas learning-based methods are deployed to solve the forward kinematics. The methods considered herein include a Koopman operator-based approach as well as a neural network-based approach. The task is to predict the position and orientation of end-effector trajectories. The dataset used to train these methods is based on the analytical solutions derived via inverse kinematics. The methods are tested both in simulation and via physical hardware experiments with the developed robot. Results validate the suitability of deploying learning-based methods for studying parallel mechanism forward kinematics that are generally hard to resolve analytically.

Authors:Andrei Sperilă, Sorin Olaru, Stéphane Drobot
Title: Set-based and Dynamical Feedback-augmented Hands-off Control
Abstract:
A novel set-theoretical approach to hands-off control is proposed, which focuses on spatial arguments for command limitation, rather than temporal ones. By employing dynamical feedback alongside invariant set-based constraints, actuation is employed only to drive the system's state inside a "hands-off region" of its state-space, where the plant may freely evolve in open-loop configuration. A computationally-efficient procedure with strong theoretical guarantees is devised, and its effectiveness is showcased via an intuitive practical example.

Authors:Abida Sultana, Cezary Adamczyk, Mayukh Roy Chowdhury, Adrian Kliks, Aloizio Da Silva
Title: Experimental evaluation of xApp Conflict Mitigation Framework in O-RAN: Insights from Testbed deployment in OTIC
Abstract:
Conflict Mitigation (CM) in Open Radio Access Network (O-RAN) is a topic that is gaining importance as commercial O-RAN deployments become more complex. Although research on CM is already covered in terms of simulated network scenarios, it lacks validation using real-world deployment and Over The Air (OTA) Radio Frequency (RF) transmission. Our objective is to conduct the first assessment of the Conflict Mitigation Framework (CMF) for O-RAN using a real-world testbed and OTA RF transmission. This paper presents results of an experiment using a dedicated testbed built in an O-RAN Open Test and Integration Center (OTIC) to confirm the validity of one of the Conflict Resolution (CR) schemes proposed by existing research. The results show that the implemented conflict detection and resolution mechanisms allow a significant improvement in network operation stability by reducing the variability of the measured Downlink (DL) throughput by 78%.

Authors:Jens Engel, Andrea Castellani, Patricia Wollstadt, Felix Lanfermann, Thomas Schmitt, Sebastian Schmitt, Lydia Fischer, Steffen Limmer, David Luttropp, Florian Jomrich, René Unger, Tobias Rodemann
Title: A Real-World Energy Management Dataset from a Smart Company Building for Optimization and Machine Learning
Abstract:
We present a large real-world dataset obtained from monitoring a smart company facility over the course of six years, from 2018 to 2023. The dataset includes energy consumption data from various facility areas and components, energy production data from a photovoltaic system and a combined heat and power plant, operational data from heating and cooling systems, and weather data from an on-site weather station. The measurement sensors installed throughout the facility are organized in a hierarchical metering structure with multiple sub-metering levels, which is reflected in the dataset. The dataset contains measurement data from 72 energy meters, 9 heat meters and a weather station. Both raw and processed data at different processing levels, including labeled issues, is available. In this paper, we describe the data acquisition and post-processing employed to create the dataset. The dataset enables the application of a wide range of methods in the domain of energy management, including optimization, modeling, and machine learning to optimize building operations and reduce costs and carbon emissions.

Authors:Dylan Hirsch, Sylvia Herbert
Title: Approximate Hamilton-Jacobi Reachability Analysis for a Class of Two-Timescale Systems, with Application to Biological Models
Abstract:
Hamilton-Jacobi reachability (HJR) is an exciting framework used for control of safety-critical systems with nonlinear and possibly uncertain dynamics. However, HJR suffers from the curse of dimensionality, with computation times growing exponentially in the dimension of the system state. Many autonomous and controlled systems involve dynamics that evolve on multiple timescales, and for these systems, singular perturbation methods can be used for model reduction. However, such methods are more challenging to apply in HJR due to the presence of an underlying differential game. In this work, we leverage prior work on singularly perturbed differential games to identify a class of systems which can be readily reduced, and we relate these results to the quantities of interest in HJR. We demonstrate the utility of our results on two examples involving biological systems, where dynamics fitting the identified class are frequently encountered.

Authors:Hassan Zahid Butt, Xingpeng Li
Title: Degradation-Aware Microgrid Optimal Planning: Integrating Dynamic Energy Efficiencies and Second-Life Battery Potential
Abstract:
Traditional microgrid planning often overlooks PV and BESS degradation or relies on complex, downscaled models, leading to unreliable, costly and suboptimal investment decisions. This paper presents a degradation-based investment optimization (DBIO) methodology for long-term microgrid planning. The model optimally sizes and schedules PV, BESS, and controllable distributed energy resources, while considering technical, financial, and degradation characteristics. We first developed a cumulative multi-year optimization model as a benchmark, excluding BESS efficiency fade and capacity degradation that would be captured in the next step, to ensure convergence. Subsequently, a yearly validation model was iteratively solved for each year in the planning horizon, updating energy efficiencies of PV and BESS, along with BESS capacity, based on annual degradation, ensuring the reliability of initial solution. An iterative refinement process further adjusts BESS capacity to eliminate load shedding while minimizing costs. Sensitivity analyses on PV efficiency degradation rates, second-life battery (SLB) capital cost, and grid tariffs further explore their economic implications. Results show that degradation significantly impacts resource allocation, with ignored degradation risking reliability, potential load shedding, and blackout costs, while SLBs provide cost-saving opportunities. The DBIO framework offers a computationally efficient and scalable solution for microgrid planning, with broader applications in grid-scale asset management.

Authors:Michael Schneeberger, Silvia Mastellone, Florian Dörfler
Title: Safety Filter for Limiting the Current of Grid-Forming Matrix Modular Multilevel Converters
Abstract:
Grid-forming (GFM) converters face significant challenges in limiting current during transient grid events while preserving their grid-forming behavior. This paper offers an elegant solution to the problem with a priori guarantees, presenting a safety filter approach based on Control Barrier Functions (CBFs) to enforce current constraints with minimal deviation from the nominal voltage reference. The safety filter is implemented as a Quadratic Program, enabling real-time computation of safe voltage adjustments that ensure smooth transitions and maintain the GFM behavior during nominal operation. To provide formal safety certificate, the CBF is synthesized offline using a Sum-of-Squares optimization framework, ensuring that the converter remains within its allowable operating limits under all conditions. Additionally, a Control Lyapunov Function is incorporated to facilitate a smooth return to the nominal operating region following grid events. The proposed method is modular and can be integrated into many of the GFM control architectures, as demonstrated with two different GFM implementations. High-fidelity simulations conducted with an enhanced matrix modular multilevel converter connected to both high-inertia and low-inertia grid scenarios validate the effectiveness of the safety filter, showing that it successfully limits current during faults, preserves GFM behavior, and ensures a seamless recovery to nominal operation.

Authors:Patrick Schmidt, Pavel Osinenko, Stefan Streif
Title: Some remarks on robustness of sample-and-hold stabilization
Abstract:
This work studies robustness to system disturbance and measurement noise of some popular general practical stabilization techniques, namely, Dini aiming, optimization-based stabilization and inf-convolution stabilization. Common to all these techniques is the explicit usage of a (general nonsmooth) control Lyapunov function, thus allowing to see them as a kind of generalization to the celebrated Sontag's formula. It turns out that certain details of the above described robustness properties have not yet received the attention in literature they deserved. We provide new remarks, formalized in mathematical propositions, on robustness of selected popular stabilization techniques along with an extensive statistical case study on a robot parking problem.

Authors:Panagiotis Typaldos, Andreas A. Malikopoulos
Title: Combining Cooperative Re-Routing with Intersection Coordination for Connected and Automated Vehicles in Urban Networks
Abstract:
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller efficiently distributes traffic flows by utilizing a dynamic re-routing algorithm that leverages real-time density information and the fundamental diagrams of each network edge. This re-routing approach predicts when each edge will reach critical density and proactively adjusts the routing algorithm's weights to prevent congestion before it occurs. The low-level controller coordinates CAVs as they cross signal-free intersections, generating optimal, fuel-efficient trajectories while ensuring safe passage by satisfying all relevant constraints. We formulate the problem as an optimal control problem and derive an analytical solution. Using the SUMO micro-simulation platform, we conduct simulation experiments on a realistic network. The results show that our hierarchical framework significantly enhances network performance compared to a baseline static routing approach. By dynamically re-routing vehicles, our approach successfully reduces total travel time and mitigates congestion before it develops.

Authors:Pierluigi Francesco De Paola, Alessandro Borri, Alessia Paglialonga, Pasquale Palumbo, Fabrizio Dabbene
Title: A Model-based Approach for Glucose Control via Physical Activity
Abstract:
The role played by physical activity in slowing down the progression of type-2 diabetes is well recognized. However, except for general clinical guidelines, quantitative real-time estimates of the recommended amount of physical activity, based on the evolving individual conditions, are {still missing} in the literature. The aim of this work is to provide a control-theoretical formulation of the exercise encoding all the exercise-related features (intensity, duration, period). Specifically, we design a feedback law in terms of recommended physical activity, following a model predictive control approach, based on a widespread compact diabetes progression model, suitably modified to account for the long-term effects of regular exercise. Preliminary simulations show promising results, well aligned with clinical evidence. These findings can be the basis for further validation of the control law on high-dimensional diabetes progression models to ultimately translate the predictions of the controller into meaningful recommendations.

Authors:Lihui Yi, Xiaochun Niu, Ermin Wei
Title: Incentive Analysis for Agent Participation in Federated Learning
Abstract:
Federated learning offers a decentralized approach to machine learning, where multiple agents collaboratively train a model while preserving data privacy. In this paper, we investigate the decision-making and equilibrium behavior in federated learning systems, where agents choose between participating in global training or conducting independent local training. The problem is first modeled as a stage game and then extended to a repeated game to analyze the long-term dynamics of agent participation. For the stage game, we characterize the participation patterns and identify Nash equilibrium, revealing how data heterogeneity influences the equilibrium behavior-specifically, agents with similar data qualities will participate in FL as a group. We also derive the optimal social welfare and show that it coincides with Nash equilibrium under mild assumptions. In the repeated game, we propose a privacy-preserving, computationally efficient myopic strategy. This strategy enables agents to make practical decisions under bounded rationality and converges to a neighborhood of Nash equilibrium of the stage game in finite time. By combining theoretical insights with practical strategy design, this work provides a realistic and effective framework for guiding and analyzing agent behaviors in federated learning systems.

Authors:Yuhang Liu, Jindou Jia, Zihan Yang, Kexin Guo
Title: Accurate Control under Voltage Drop for Rotor Drones
Abstract:
This letter proposes an anti-disturbance control scheme for rotor drones to counteract voltage drop (VD) disturbance caused by voltage drop of the battery, which is a common case for long-time flight or aggressive maneuvers. Firstly, the refined dynamics of rotor drones considering VD disturbance are presented. Based on the dynamics, a voltage drop observer (VDO) is developed to accurately estimate the VD disturbance by decoupling the disturbance and state information of the drone, reducing the conservativeness of conventional disturbance observers. Subsequently, the control scheme integrates the VDO within the translational loop and a fixed-time sliding mode observer (SMO) within the rotational loop, enabling it to address force and torque disturbances caused by voltage drop of the battery. Sufficient real flight experiments are conducted to demonstrate the effectiveness of the proposed control scheme under VD disturbance.

Authors:Jianan Li, Zhikun Wang, Susheng Ding, Shiliang Guo, Shiyu Zhao
Title: Cooperative Bearing-Only Target Pursuit via Multiagent Reinforcement Learning: Design and Experiment
Abstract:
This paper addresses the multi-robot pursuit problem for an unknown target, encompassing both target state estimation and pursuit control. First, in state estimation, we focus on using only bearing information, as it is readily available from vision sensors and effective for small, distant targets. Challenges such as instability due to the nonlinearity of bearing measurements and singularities in the two-angle representation are addressed through a proposed uniform bearing-only information filter. This filter integrates multiple 3D bearing measurements, provides a concise formulation, and enhances stability and resilience to target loss caused by limited field of view (FoV). Second, in target pursuit control within complex environments, where challenges such as heterogeneity and limited FoV arise, conventional methods like differential games or Voronoi partitioning often prove inadequate. To address these limitations, we propose a novel multiagent reinforcement learning (MARL) framework, enabling multiple heterogeneous vehicles to search, localize, and follow a target while effectively handling those challenges. Third, to bridge the sim-to-real gap, we propose two key techniques: incorporating adjustable low-level control gains in training to replicate the dynamics of real-world autonomous ground vehicles (AGVs), and proposing spectral-normalized RL algorithms to enhance policy smoothness and robustness. Finally, we demonstrate the successful zero-shot transfer of the MARL controllers to AGVs, validating the effectiveness and practical feasibility of our approach. The accompanying video is available at https://youtu.be/HO7FJyZiJ3E.

Authors:Jukka-Pekka Humaloja, Nikolaos Bekiaris-Liberis
Title: Observer-Based Output-Feedback Backstepping Stabilization of Continua of Hyperbolic PDEs and Application to Large-Scale $n+m$ Coupled Hyperbolic PDEs
Abstract:
We develop a non-collocated, observer-based output-feedback law for a class of continua of linear hyperbolic PDE systems, which are viewed as the continuum version of $n+m$, general heterodirectional hyperbolic systems as $n\to\infty$. The design relies on the introduction of a novel, continuum PDE backstepping transformation, which enables the construction of a Lyapunov functional for the estimation error system. Stability under the observer-based output-feedback law is established by using the Lyapunov functional construction for the estimation error system and proving well-posedness of the complete closed-loop system, which allows utilization of the separation principle. Motivated by the fact that the continuum-based designs may provide computationally tractable control laws for large-scale, $n+m$ systems, we then utilize the control/observer kernels and the observer constructed for the continuum system to introduce an output-feedback control design for the original $n+m$ system. We establish exponential stability of the resulting closed-loop system, which consists of a mixed $n+m$-continuum PDE system (comprising the plant-observer dynamics), introducing a virtual continuum system with resets, which enables utilization of the continuum approximation property of the solutions of the $n+m$ system by its continuum counterpart (for large $n$). We illustrate the potential computational complexity/flexibility benefits of our approach via a numerical example of stabilization of a large-scale $n+m$ system, for which we employ the continuum observer-based controller, while the continuum-based stabilizing control/observer kernels can be computed in closed form.

Authors:Hyungsoo Kang, Isaac Kaminer, Venanzio Cichella, Naira Hovakimyan
Title: Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies
Abstract:
This article presents a novel time-coordination algorithm based on event-triggered communication to ensure multiple UAVs progress along their desired paths in coordination with one another. In the proposed algorithm, a UAV transmits its progression information to its neighbor UAVs only when a decentralized trigger condition is satisfied. Consequently, it significantly reduces the volume of inter-vehicle communications required to achieve the goal compared with the existing algorithms based on continuous communication. With such intermittent communications, it is shown that a decentralized coordination controller guarantees exponential convergence of the coordination error to a neighborhood of zero. Furthermore, a lower bound on the difference between two consecutive event-triggered times is provided showing that the Zeno behavior is excluded with the proposed algorithm. Lastly, simulation results validate the efficacy of the proposed algorithm.

Authors:Ruiting Wang, Antoine Martinez, Zaid Allybokus, Wente Zeng, Nicolas Obrecht, Scott Moura
Title: Electrifying Heavy-Duty Trucks: Battery-Swapping vs Fast Charging
Abstract:
The advantages and disadvantages of Battery Swapping Stations (BSS) for heavy-duty trucks are poorly understood, relative to Fast Charging Stations (FCS) systems. This study evaluates these two charging mechanisms for electric heavy-duty trucks, aiming to compare the systems' efficiency and identify their optimal design. A model was developed to address the planning and operation of BSS in a charging network, considering in-station batteries as assets for various services. We assess performance metrics including transportation efficiency and battery utilization efficiency. Our evaluation reveals that BSS significantly increased transportation efficiency by reducing vehicle downtime compared to fast charging, but may require more batteries. BSS with medium-sized batteries offers improved transportation efficiency in terms of time and labor. FCS-reliant trucks require larger batteries to compensate for extended charging times. To understand the trade-off between these two metrics, a cost-benefit analysis was performed under different scenarios involving potential shifts in battery prices and labor costs. Additionally, BSS shows potential for significant $\text{CO}_2$ emission reductions and increased profitability through energy arbitrage and grid ancillary services. These findings emphasize the importance of integrating BSS into future electric truck charging networks and adopting carbon-aware operational frameworks.

Authors:Aaron Grapentin, Christian A. Hans, Jörg Raisch
Title: $\mathcal{H}_\infty$ Loop-shaping for Power Tracking Control of Wind Turbines
Abstract:
In this paper, we present an advanced wind turbine control scheme for power maximization as well as for active power control, which is designed using $\mathcal{H}_\infty$ loop-shaping. Our approach involves the synthesis of two separate controllers for two different operating modes. To ensure smooth transitions between these modes, we implement a bumpless transfer strategy that reduces transient effects. A comprehensive case study demonstrates the efficacy of our control scheme, showing significant improvements in power tracking accuracy and a reduction in mechanical wear. Moreover, our control strategy comes with robust stability guarantees.

Authors:Xiyu Gu, Matthias Pezzutto, Luca Schenato, Subhrakanti Dey
Title: Optimal Control Selection over the Edge-Cloud Continuum
Abstract:
The emerging computing continuum paves the way for exploiting multiple computing devices, ranging from the edge to the cloud, to implement the control algorithm. Different computing units over the continuum are characterized by different computational capabilities and communication latencies, thus resulting in different control performances and advocating for an effective trade-off. To this end, in this work, we first introduce a multi-tiered controller and we propose a simple network delay compensator. Then we propose a control selection policy to optimize the control cost taking into account the delay and the disturbances. We theoretically investigate the stability of the switching system resulting from the proposed control selection policy. Accurate simulations show the improvements of the considered setup.

Authors:Zhongqi Deng, Yuan Wang, Jian Huang, Hui Zhang, Yaonan Wang
Title: Coordinated Energy-Trajectory Economic Model Predictive Control for Autonomous Surface Vehicles under Disturbances
Abstract:
The paper proposes a novel Economic Model Predictive Control (EMPC) scheme for Autonomous Surface Vehicles (ASVs) to simultaneously address path following accuracy and energy constraints under environmental disturbances. By formulating lateral deviations as energy-equivalent penalties in the cost function, our method enables explicit trade-offs between tracking precision and energy consumption. Furthermore, a motion-dependent decomposition technique is proposed to estimate terminal energy costs based on vehicle dynamics. Compared with the existing EMPC method, simulations with real-world ocean disturbance data demonstrate the controller's energy consumption with a 0.06 energy increase while reducing cross-track errors by up to 18.61. Field experiments conducted on an ASV equipped with an Intel N100 CPU in natural lake environments validate practical feasibility, achieving 0.22 m average cross-track error at nearly 1 m/s and 10 Hz control frequency. The proposed scheme provides a computationally tractable solution for ASVs operating under resource constraints.

Authors:Kai Ren, Giulio Salizzoni, Mustafa Emre Gürsoy, Maryam Kamgarpour
Title: Chance-constrained Linear Quadratic Gaussian Games for Multi-robot Interaction under Uncertainty
Abstract:
We address safe multi-robot interaction under uncertainty. In particular, we formulate a chance-constrained linear quadratic Gaussian game with coupling constraints and system uncertainties. We find a tractable reformulation of the game and propose a dual ascent algorithm. We prove that the algorithm converges to a feedback generalized Nash equilibrium of the reformulated game, ensuring the satisfaction of the chance constraints. We test our method in driving simulations and real-world robot experiments. Our method ensures safety under uncertainty and generates less conservative trajectories than single-agent model predictive control.

Authors:Penglin Hu, Chunhui Zhao, Quan Pan
Title: A Novel Multi-Objective Reinforcement Learning Algorithm for Pursuit-Evasion Game
Abstract:
In practical application, the pursuit-evasion game (PEG) often involves multiple complex and conflicting objectives. The single-objective reinforcement learning (RL) usually focuses on a single optimization objective, and it is difficult to find the optimal balance among multiple objectives. This paper proposes a three-objective RL algorithm based on fuzzy Q-learning (FQL) to solve the PEG with different optimization objectives. First, the multi-objective FQL algorithm is introduced, which uses the reward function to represent three optimization objectives: evading pursuit, reaching target, and avoiding obstacle. Second, a multi-objective evaluation method and action selection strategy based on three-dimensional hypervolume are designed, which solved the dilemma of exploration-exploitation. By sampling the Pareto front, the update rule of the global strategy is obtained. The proposed algorithm reduces computational load while ensuring exploration ability. Finally, the performance of the algorithm is verified by simulation results.

Authors:Ding Lin, Han Guo, Jianhui Wang
Title: Diffusion Model Based Probabilistic Day-ahead Load Forecasting
Abstract:
Accurate probabilistic load forecasting is crucial for maintaining the safety and stability of power systems. However, the mainstream approach, multi-step prediction, must be improved by cumulative errors and latency issues, which limits its effectiveness in probabilistic day-ahead load forecasting (PDALF). To overcome these challenges, we introduce DALNet, a novel denoising diffusion model designed to generate load curves rather than relying on direct prediction. By shifting the focus to curve generation, DALNet captures the complex distribution of actual load time-series data under specific conditions with greater fidelity. To further enhance DALNet, we propose the temporal multi-scale attention block (TMSAB), a mechanism designed to integrate both positional and temporal information for improved forecasting precision. Furthermore, we utilize kernel density estimation (KDE) to reconstruct the distribution of generated load curves and employ KL divergence to compare them with the actual data distribution. Experimental results demonstrate that DALNet excels in load forecasting accuracy and offers a novel perspective for other predictive tasks within power systems.

Authors:Bruno Pinheiro, Ignacio Ponce, Daniel Dotta, Federico Milano
Title: Teager Energy Operator as a Metric to Evaluate Local Synchronization of Power System Devices
Abstract:
This paper introduces a novel formulation to evaluate the local synchronization of power system devices, namely Synchronization Energy (SE). The formulation is derived based on the complex frequency concept and the Teager Energy Operator applied to the complex power. This formulation offers valuable insights into the relationship between complex frequency of voltage and current of the device and its stationary operating. Based on this relationship we derive the conditions for a novel definition of local synchronization of power system devices. Through various case studies, the paper demonstrates how SE can effectively assess local synchronization under diverse operating conditions.

Authors:Xuyi Lian, Mingyu Luo, Te Lin, Chen Qian, Tiefeng Li
Title: Abdominal Undulation with Compliant Mechanism Improves Flight Performance of Biomimetic Robotic Butterfly
Abstract:
Abdominal Undulation with Compliant Mechanism Improves Flight Performance of Biomimetic Robotic ButterflThis paper presents the design, modeling, and experimental validation of a biomimetic robotic butterfly (BRB) that integrates a compliant mechanism to achieve coupled wing-abdomen motion. Drawing inspiration from the natural f light dynamics of butterflies, a theoretical model is developed to investigate the impact of abdominal undulation on flight performance. To validate the model, motion capture experi ments are conducted on three configurations: a BRB without an abdomen, with a fixed abdomen, and with an undulating abdomen. The results demonstrate that abdominal undulation enhances lift generation, extends flight duration, and stabilizes pitch oscillations, thereby improving overall flight performance. These findings underscore the significance of wing-abdomen interaction in flapping-wing aerial vehicles (FWAVs) and lay the groundwork for future advancements in energy-efficient biomimetic flight designs.

Authors:Debraj Chakraborty, Clemens Dubslaff, Sudeep Kanav, Jan Kretinsky, Christoph Weinhuber
Title: Explaining Control Policies through Predicate Decision Diagrams
Abstract:
Safety-critical controllers of complex systems are hard to construct manually. Automated approaches such as controller synthesis or learning provide a tempting alternative but usually lack explainability. To this end, learning decision trees (DTs) have been prevalently used towards an interpretable model of the generated controllers. However, DTs do not exploit shared decision-making, a key concept exploited in binary decision diagrams (BDDs) to reduce their size and thus improve explainability. In this work, we introduce predicate decision diagrams (PDDs) that extend BDDs with predicates and thus unite the advantages of DTs and BDDs for controller representation. We establish a synthesis pipeline for efficient construction of PDDs from DTs representing controllers, exploiting reduction techniques for BDDs also for PDDs.

Authors:Ramin Esmzad, Farnaz Adib Yaghmaie, Hamidreza Modares
Title: Natural Gradient Descent for Control
Abstract:
This paper bridges optimization and control, and presents a novel closed-loop control framework based on natural gradient descent, offering a trajectory-oriented alternative to traditional cost-function tuning. By leveraging the Fisher Information Matrix, we formulate a preconditioned gradient descent update that explicitly shapes system trajectories. We show that, in sharp contrast to traditional controllers, our approach provides flexibility to shape the system's low-level behavior. To this end, the proposed method parameterizes closed-loop dynamics in terms of stationary covariance and an unknown cost function, providing a geometric interpretation of control adjustments. We establish theoretical stability conditions. The simulation results on a rotary inverted pendulum benchmark highlight the advantages of natural gradient descent in trajectory shaping.

Authors:Wonjong Lee, Joonyeol Sim, Joonkyung Kim, Siwon Jo, Wenhao Luo, Changjoo Nam
Title: Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention
Abstract:
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary "roundabouts" (circular reference paths). Each robot relies only on local, peer-to-peer communication and a controller for base collision avoidance; a roundabout is generated or joined on demand to avert deadlocks. Robots in the roundabout travel in one direction until an escape condition is met, allowing them to return to goal-oriented motion. Unlike classical decentralized methods that lack explicit deadlock resolution, our roundabout maneuver ensures system-wide forward progress while preserving safety constraints. Extensive simulations and physical robot experiments show that our method consistently outperforms or matches the success and arrival rates of other decentralized control approaches, particularly in cluttered or high-density scenarios, all with minimal centralized coordination.

Authors:O. Goktug Poyrazoglu, Rahul Moorthy, Yukang Cao, William Chastek, Volkan Isler
Title: An Unsupervised C-Uniform Trajectory Sampler with Applications to Model Predictive Path Integral Control
Abstract:
Sampling-based model predictive controllers generate trajectories by sampling control inputs from a fixed, simple distribution such as the normal or uniform distributions. This sampling method yields trajectory samples that are tightly clustered around a mean trajectory. This clustering behavior in turn, limits the exploration capability of the controller and reduces the likelihood of finding feasible solutions in complex environments. Recent work has attempted to address this problem by either reshaping the resulting trajectory distribution or increasing the sample entropy to enhance diversity and promote exploration. In our recent work, we introduced the concept of C-Uniform trajectory generation [1] which allows the computation of control input probabilities to generate trajectories that sample the configuration space uniformly. In this work, we first address the main limitation of this method: lack of scalability due to computational complexity. We introduce Neural C-Uniform, an unsupervised C-Uniform trajectory sampler that mitigates scalability issues by computing control input probabilities without relying on a discretized configuration space. Experiments show that Neural C-Uniform achieves a similar uniformity ratio to the original C-Uniform approach and generates trajectories over a longer time horizon while preserving uniformity. Next, we present CU-MPPI, which integrates Neural C-Uniform sampling into existing MPPI variants. We analyze the performance of CU-MPPI in simulation and real-world experiments. Our results indicate that in settings where the optimal solution has high curvature, CU-MPPI leads to drastic improvements in performance.

Authors:Willem Lambrichts, Jules Mace, Drazen Dujic, Mario Paolone
Title: Grid-Aware Islanding and Resynchronisation of AC/DC Microgrids
Abstract:
This paper proposes an optimal, grid-aware control framework for the islanding, island-operation and resynchronisation of hybrid AC/DC microgrids. The optimal control framework is based on a formally derived linearized load-flow model for multiterminal hybrid AC/DC networks. The load flow model integrates the AC grid, DC grid, and interfacing converters (IC) into a unified representation. This work extends an existing load flow model to include the ICs' grid-forming operation. In traditional islanding control frameworks, the grid-forming converter is typically interfaced with an energy storage system that can provide bidirectional power to maintain the power balance. The proposed framework, however, allows the ICs to operate as the grid-forming unit while being connected to a DC grid rather than a single resource. This configuration allows for a wider operating range and, thus, a more flexible control. Furthermore, the optimal grid-aware control framework can steer the system to ensure a feasible operation without any grid constraint violations before, during, and after the islanding manoeuvre. The framework also guarantees smooth transitions, i.e., without any significant transient behaviour, when transitioning between grid-connected and islanding operations. The optimal control framework is experimentally validated on a 27-bus hybrid AC/DC network consisting of 3 ICs that interface the AC and DC networks. The hybrid grid hosts various controllable and stochastic resources.

Authors:Xiaofeng Lin, Enduo Zhao, Saúl Alexis Heredia Pérez, Kanako Harada
Title: Object State Estimation Through Robotic Active Interaction for Biological Autonomous Drilling
Abstract:
Estimating the state of biological specimens is challenging due to limited observation through microscopic vision. For instance, during mouse skull drilling, the appearance alters little when thinning bone tissue because of its semi-transparent property and the high-magnification microscopic vision. To obtain the object's state, we introduce an object state estimation method for biological specimens through active interaction based on the deflection. The method is integrated to enhance the autonomous drilling system developed in our previous work. The method and integrated system were evaluated through 12 autonomous eggshell drilling experiment trials. The results show that the system achieved a 91.7% successful ratio and 75% detachable ratio, showcasing its potential applicability in more complex surgical procedures such as mouse skull craniotomy. This research paves the way for further development of autonomous robotic systems capable of estimating the object's state through active interaction.

Authors:Enduo Zhao, Xiaofeng Lin, Yifan Wang, Kanako Harada
Title: Autonomous Robotic Bone Micro-Milling System with Automatic Calibration and 3D Surface Fitting
Abstract:
Automating bone micro-milling using a robotic system presents challenges due to the uncertainties in both the external and internal features of bone tissue. For example, during mouse cranial window creation, a circular path with a radius of 2 to 4 mm needs to be milled on the mouse skull using a microdrill. The uneven surface and non-uniform thickness of the mouse skull make it difficult to fully automate this process, requiring the system to possess advanced perceptual and adaptive capabilities. In this study, we address this challenge by integrating a Microscopic Stereo Camera System (MSCS) into the robotic bone micro-milling system and proposing a novel pre-measurement pipeline for the target surface. Starting from uncalibrated cameras, the pipeline enables automatic calibration and 3D surface fitting through a convolutional neural network (CNN)-based keypoint detection. Combined with the existing feedback-based system, we develop the world's first autonomous robotic bone micro-milling system capable of rapidly, in real-time, and accurately perceiving and adapting to surface unevenness and non-uniform thickness, thereby enabling an end-to-end autonomous cranial window creation workflow without human assistance. Validation experiments on euthanized mice demonstrate that the improved system achieves a success rate of 85.7% and an average milling time of 2.1 minutes, showing not only significant performance improvements over the previous system but also exceptional accuracy, speed, and stability compared to human operators.

Authors:Jérémy Dumoulin, Dawit Gebremeskel, Kanchwodia Gashaw, Ingeborg Graabak, Noémie Jeannin, Alejandro Pena-Bello, Christophe Ballif, Nicolas Wyrsch
Title: A modeling framework to support the electrification of private transport in African cities: a case study of Addis Ababa
Abstract:
The electrification of road transport, as the predominant mode of transportation in Africa, represents a great opportunity to reduce greenhouse gas emissions and dependence on costly fuel imports. However, it introduces major challenges for local energy infrastructures, including the deployment of charging stations and the impact on often fragile electricity grids. Despite its importance, research on electric mobility planning in Africa remains limited, while existing planning tools rely on detailed local mobility data that is often unavailable, especially for privately owned passenger vehicles. In this study, we introduce a novel framework designed to support private vehicle electrification in data-scarce regions and apply it to Addis Ababa, simulating the mobility patterns and charging needs of 100,000 electric vehicles. Our analysis indicate that these vehicles generate a daily charging demand of approximately 350 MWh and emphasize the significant influence of the charging location on the spatial and temporal distribution of this demand. Notably, charging at public places can help smooth the charging demand throughout the day, mitigating peak charging loads on the electricity grid. We also estimate charging station requirements, finding that workplace charging requires approximately one charging point per three electric vehicles, while public charging requires only one per thirty. Finally, we demonstrate that photovoltaic energy can cover a substantial share of the charging needs, emphasizing the potential for renewable energy integration. This study lays the groundwork for electric mobility planning in Addis Ababa while offering a transferable framework for other African cities.

Authors:Chuan Hu, Sicheng Ge, Yingkui Shi, Weinan Gao, Wenfeng Guo, Xi Zhang
Title: Composite Nonlinear Trajectory Tracking Control of Co-Driving Vehicles Using Self-Triggered Adaptive Dynamic Programming
Abstract:
This article presents a composite nonlinear feedback (CNF) control method using self-triggered (ST) adaptive dynamic programming (ADP) algorithm in a human-machine shared steering framework. For the overall system dynamics, a two-degrees-of-freedom (2-DOF) vehicle model is established and a two-point preview driver model is adopted. A dynamic authority allocation strategy based on cooperation level is proposed to combine the steering input of the human driver and the automatic controller. To make further improvements in the controller design, three main contributions are put forward. Firstly, the CNF controller is designed for trajectory tracking control with refined transient performance. Besides, the self-triggered rule is applied such that the system will update in discrete times to save computing resources and increase efficiency. Moreover, by introducing the data-based ADP algorithm, the optimal control problem can be solved through iteration using system input and output information, reducing the need for accurate knowledge of system dynamics. The effectiveness of the proposed control method is validated through Carsim-Simulink co-simulations in diverse driving scenarios.

Authors:Xiangliu Tu, Chiranjib Saha, Harpreet S. Dhillon
Title: Determinantal Learning for Subset Selection in Wireless Networks
Abstract:
Subset selection is central to many wireless communication problems, including link scheduling, power allocation, and spectrum management. However, these problems are often NP-complete, because of which heuristic algorithms applied to solve these problems struggle with scalability in large-scale settings. To address this, we propose a determinantal point process-based learning (DPPL) framework for efficiently solving general subset selection problems in massive networks. The key idea is to model the optimal subset as a realization of a determinantal point process (DPP), which balances the trade-off between quality (signal strength) and similarity (mutual interference) by enforcing negative correlation in the selection of {\em similar} links (those that create significant mutual interference). However, conventional methods for constructing similarity matrices in DPP impose decomposability and symmetry constraints that often do not hold in practice. To overcome this, we introduce a new method based on the Gershgorin Circle Theorem for constructing valid similarity matrices. The effectiveness of the proposed approach is demonstrated by applying it to two canonical wireless network settings: an ad hoc network in 2D and a cellular network serving drones in 3D. Simulation results show that DPPL selects near-optimal subsets that maximize network sum-rate while significantly reducing computational complexity compared to traditional optimization methods, demonstrating its scalability for large-scale networks.

Authors:Riku Kobayashi, Yoshihiro Kawahara, Takuya Sasatani
Title: Passive Reactance Compensation for Shape-Reconfigurable Wireless Power Transfer Surfaces
Abstract:
The powering range of wireless power transfer (WPT) systems is typically confined to areas close to the transmitter. Shape-reconfigurable two-dimensional (2-D) relay resonator arrays have been developed to extend this range, offering greater deployment flexibility. However, these arrays encounter challenges due to cross-coupling among adjacent resonators, which detune system impedance and create power dead zones. This issue often necessitates active components such as receiver position tracking, increasing system overhead. This study introduces a passive reactance compensation mechanism that counteracts detuning effects, enabling the simultaneous activation of all resonators at a fixed operating frequency, regardless of the array's shape, thus providing a consistent charging area. The key innovation involves mechanically appending reactance elements to neutralize detuning caused by inductive coupling, facilitating hassle-free resonator reconfiguration without requiring prior knowledge. Our experiments demonstrate the elimination of dead zones with multiple configurations, boosting the minimum power transfer efficiency from 3.0% to 56.8%.

Authors:Kaoru Teranishi, Takashi Tanaka
Title: Client-Aided Secure Two-Party Computation of Dynamic Controllers
Abstract:
In this paper, we propose a secure two-party computation protocol for dynamic controllers using a secret sharing scheme. The proposed protocol realizes outsourcing of controller computation to two servers, while controller parameters, states, inputs, and outputs are kept secret against the servers. Unlike previous encrypted controls in a single-server setting, the proposed method can operate a dynamic controller for an infinite time horizon without controller state decryption or input re-encryption. We show that the control performance achievable by the proposed protocol can be made arbitrarily close to that attained by the unencrypted controller. Furthermore, system-theoretic and cryptographic modifications of the protocol are presented to improve the communication complexity. The feasibility of the protocol is demonstrated through numerical examples of PID and observer-based controls.

Authors:Ahmed Khalil, Yoonjae Lee, Efstathios Bakolas
Title: Distributed and Localized Covariance Control of Coupled Systems: A System Level Approach
Abstract:
This work is concerned with the finite-horizon optimal covariance steering of networked systems governed by discrete-time stochastic linear dynamics. In contrast with existing work that has only considered systems with dynamically decoupled agents, we consider a dynamically coupled system composed of interconnected subsystems subject to local communication constraints. In particular, we propose a distributed algorithm to compute the localized optimal feedback control policy for each individual subsystem, which depends only on the local state histories of its neighboring subsystems. Utilizing the system-level synthesis (SLS) framework, we first recast the localized covariance steering problem as a convex SLS problem with locality constraints. Subsequently, exploiting its partially separable structure, we decompose the latter problem into smaller subproblems, introducing a transformation to deal with nonseparable instances. Finally, we employ a variation of the consensus alternating direction method of multipliers (ADMM) to distribute computation across subsystems on account of their local information and communication constraints. We demonstrate the effectiveness of our proposed algorithm on a power system with 36 interconnected subsystems.

Authors:Shanting Wang, Panagiotis Typaldos, Andreas A. Malikopoulos
Title: CorrA: Leveraging Large Language Models for Dynamic Obstacle Avoidance of Autonomous Vehicles
Abstract:
In this paper, we present Corridor-Agent (CorrA), a framework that integrates large language models (LLMs) with model predictive control (MPC) to address the challenges of dynamic obstacle avoidance in autonomous vehicles. Our approach leverages LLM reasoning ability to generate appropriate parameters for sigmoid-based boundary functions that define safe corridors around obstacles, effectively reducing the state-space of the controlled vehicle. The proposed framework adjusts these boundaries dynamically based on real-time vehicle data that guarantees collision-free trajectories while also ensuring both computational efficiency and trajectory optimality. The problem is formulated as an optimal control problem and solved with differential dynamic programming (DDP) for constrained optimization, and the proposed approach is embedded within an MPC framework. Extensive simulation and real-world experiments demonstrate that the proposed framework achieves superior performance in maintaining safety and efficiency in complex, dynamic environments compared to a baseline MPC approach.

Authors:Patricia Mayer, Florian Joseph Baader, David Yang Shu, Ludger Leenders, Christian Zibunas, Stefano Moret, André Bardow
Title: Transition pathways to electrified chemical production within sector-coupled national energy systems
Abstract:
The chemical industry's transition to net-zero greenhouse gas (GHG) emissions is particularly challenging due to the carbon inherently contained in chemical products, eventually released to the environment. Fossil feedstock-based production can be replaced by electrified chemical production, combining carbon capture and utilization (CCU) with electrolysis-based hydrogen. However, electrified chemical production requires vast amounts of clean electricity, leading to competition in our sector-coupled energy systems. In this work, we investigate the pathway of the chemical industry towards electrified production within the context of a sector-coupled national energy system's transition to net-zero emissions. Our results show that the sectors for electricity, low-temperature heat, and mobility transition before the chemical industry due to the required build-up of renewables, and to the higher emissions abatement of heat pumps and battery electric vehicles. To achieve the net-zero target, the energy system relies on clean energy imports to cover 41\% of its electricity needs, largely driven by the high energy requirements of a fully electrified chemical industry. Nonetheless, a partially electrified industry combined with dispatchable production alternatives provides flexibility to the energy system by enabling electrified production when renewable electricity is available. Hence, a partially electrified, diversified chemical industry can support the integration of intermittent renewables, serving as a valuable component in net-zero energy systems.

Authors:Yi Yang, Xiao Li, Xuchen Wang, Mei Liu, Junwei Yin, Weibing Li, Richard M. Voyles, Xin Ma
Title: A strictly predefined-time convergent and anti-noise fractional-order zeroing neural network for solving time-variant quadratic programming in kinematic robot control
Abstract:
This paper proposes a strictly predefined-time convergent and anti-noise fractional-order zeroing neural network (SPTC-AN-FOZNN) model, meticulously designed for addressing time-variant quadratic programming (TVQP) problems. This model marks the first variable-gain ZNN to collectively manifest strictly predefined-time convergence and noise resilience, specifically tailored for kinematic motion control of robots. The SPTC-AN-FOZNN advances traditional ZNNs by incorporating a conformable fractional derivative in accordance with the Leibniz rule, a compliance not commonly achieved by other fractional derivative definitions. It also features a novel activation function designed to ensure favorable convergence independent of the model's order. When compared to five recently published recurrent neural networks (RNNs), the SPTC-AN-FOZNN, configured with $0<α\leq 1$, exhibits superior positional accuracy and robustness against additive noises for TVQP applications. Extensive empirical evaluations, including simulations with two types of robotic manipulators and experiments with a Flexiv Rizon robot, have validated the SPTC-AN-FOZNN's effectiveness in precise tracking and computational efficiency, establishing its utility for robust kinematic control.

Authors:Aleksandar Avdalovic, Joseph Khoury, Ahmad Taha, Elias Bou-Harb
Title: Enhancing Network Security Management in Water Systems using FM-based Attack Attribution
Abstract:
Water systems are vital components of modern infrastructure, yet they are increasingly susceptible to sophisticated cyber attacks with potentially dire consequences on public health and safety. While state-of-the-art machine learning techniques effectively detect anomalies, contemporary model-agnostic attack attribution methods using LIME, SHAP, and LEMNA are deemed impractical for large-scale, interdependent water systems. This is due to the intricate interconnectivity and dynamic interactions that define these complex environments. Such methods primarily emphasize individual feature importance while falling short of addressing the crucial sensor-actuator interactions in water systems, which limits their effectiveness in identifying root cause attacks. To this end, we propose a novel model-agnostic Factorization Machines (FM)-based approach that capitalizes on water system sensor-actuator interactions to provide granular explanations and attributions for cyber attacks. For instance, an anomaly in an actuator pump activity can be attributed to a top root cause attack candidates, a list of water pressure sensors, which is derived from the underlying linear and quadratic effects captured by our approach. We validate our method using two real-world water system specific datasets, SWaT and WADI, demonstrating its superior performance over traditional attribution methods. In multi-feature cyber attack scenarios involving intricate sensor-actuator interactions, our FM-based attack attribution method effectively ranks attack root causes, achieving approximately 20% average improvement over SHAP and LEMNA.

Authors:Thomas Waite, Yuang Geng, Trevor Turnquist, Ivan Ruchkin, Radoslav Ivanov
Title: State-Dependent Conformal Perception Bounds for Neuro-Symbolic Verification of Autonomous Systems
Abstract:
It remains a challenge to provide safety guarantees for autonomous systems with neural perception and control. A typical approach obtains symbolic bounds on perception error (e.g., using conformal prediction) and performs verification under these bounds. However, these bounds can lead to drastic conservatism in the resulting end-to-end safety guarantee. This paper proposes an approach to synthesize symbolic perception error bounds that serve as an optimal interface between perception performance and control verification. The key idea is to consider our error bounds to be heteroskedastic with respect to the system's state -- not time like in previous approaches. These bounds can be obtained with two gradient-free optimization algorithms. We demonstrate that our bounds lead to tighter safety guarantees than the state-of-the-art in a case study on a mountain car.

Authors:Azuka Chiejina, Subhramoy Mohanti, Vijay K. Shah
Title: ACCORD: Application Context-aware Cross-layer Optimization and Resource Design for 5G/NextG Machine-centric Applications
Abstract:
Recent advancements in AI and edge computing have accelerated the development of machine-centric applications (MCAs), such as smart surveillance systems. In these applications, video cameras and sensors offload inference tasks like license plate recognition and vehicle tracking to remote servers due to local computing and energy constraints. However, legacy network solutions, designed primarily for human-centric applications, struggle to reliably support these MCAs, which demand heterogeneous and fluctuating QoS (due to diverse application inference tasks), further challenged by dynamic wireless network conditions and limited spectrum resources. To tackle these challenges, we propose an Application Context-aware Cross-layer Optimization and Resource Design (ACCORD) framework. This innovative framework anticipates the evolving demands of MCAs in real time, quickly adapting to provide customized QoS and optimal performance, even for the most dynamic and unpredictable MCAs. This also leads to improved network resource management and spectrum utilization. ACCORD operates as a closed feedback-loop system between the application client and network and consists of two key components: (1) Building Application Context: It focuses on understanding the specific context of MCA requirements. Contextual factors include device capabilities, user behavior (e.g., mobility speed), and network channel conditions. (2) Cross-layer Network Parameter Configuration: Utilizing a DRL approach, this component leverages the contextual information to optimize network configuration parameters across various layers, including PHY, MAC, and RLC, as well as the application layer, to meet the desired QoS requirement in real-time. Extensive evaluation with the 3GPP-compliant MATLAB 5G toolbox demonstrates the practicality and effectiveness of our proposed ACCORD framework.

Authors:Zhenhui Xu, Jiayu Chen, Bing-Chang Wang, Yuhu Wu, Tielong Shen
Title: Robust Mean Field Social Control: A Unified Reinforcement Learning Framework
Abstract:
This paper studies linear quadratic Gaussian robust mean field social control problems in the presence of multiplicative noise. We aim to compute asymptotic decentralized strategies without requiring full prior knowledge of agents' dynamics. The primary challenges lie in solving an indefinite stochastic algebraic Riccati equation for feedback gains, and an indefinite algebraic Riccati equation for feedforward gains. To overcome these challenges, we first propose a unified dual-loop iterative framework that handles both indefinite Riccati-type equations, and provide rigorous convergence proofs for both the outer-loop and inner-loop iterations. Secondly, considering the potential biases arising in the iterative processes due to estimation and modeling errors, we verify the robustness of the proposed algorithm using the small-disturbance input-to-state stability technique. Convergence to a neighborhood of the optimal solution is thus ensured, even in the existence of disturbances. Finally, to relax the limitation of requiring precise knowledge of agents' dynamics, we employ the integral reinforcement learning technique to develop a data-driven method within the dual-loop iterative framework. A numerical example is provided to demonstrate the effectiveness of the proposed algorithm.

Authors:Zhenhui Xu, Jiayu Chen, Bing-Chang Wang, Tielong Shen
Title: Data-Driven Mean Field Equilibrium Computation in Large-Population LQG Games
Abstract:
This paper presents a novel data-driven approach for approximating the $\varepsilon$-Nash equilibrium in continuous-time linear quadratic Gaussian (LQG) games, where multiple agents interact with each other through their dynamics and infinite horizon discounted costs. The core of our method involves solving two algebraic Riccati equations (AREs) and an ordinary differential equation (ODE) using state and input samples collected from agents, eliminating the need for a priori knowledge of their dynamical models. The standard ARE is addressed through an integral reinforcement learning (IRL) technique, while the nonsymmetric ARE and the ODE are resolved by identifying the drift coefficients of the agents' dynamics under general conditions. Moreover, by imposing specific conditions on models, we extend the IRL-based approach to approximately solve the nonsymmetric ARE. Numerical examples are given to demonstrate the effectiveness of the proposed algorithms.

Authors:Ziqiao Wang, Serhat Demirtas, Fabio Zuliani, Jamie Paik
Title: Surface-Based Manipulation
Abstract:
Intelligence lies not only in the brain but in the body. The shape of our bodies can influence how we think and interact with the physical world. In robotics research, interacting with the physical world is crucial as it allows robots to manipulate objects in various real-life scenarios. Conventional robotic manipulation strategies mainly rely on finger-shaped end effectors. However, achieving stable grasps on fragile, deformable, irregularly shaped, or slippery objects is challenging due to difficulties in establishing stable force or geometric constraints. Here, we present surface-based manipulation strategies that diverge from classical grasping approaches, using with flat surfaces as minimalist end-effectors. By changing the position and orientation of these surfaces, objects can be translated, rotated and even flipped across the surface using closed-loop control strategies. Since this method does not rely on stable grasp, it can adapt to objects of various shapes, sizes, and stiffness levels, even enabling the manipulation the shape of deformable objects. Our results provide a new perspective for solving complex manipulation problems.

Authors:Yuhao Jiang, Serge El Asmar, Ziqiao Wang, Serhat Demirtas, Jamie Paik
Title: CPG-Based Manipulation with Multi-Module Origami Robot Surface
Abstract:
Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those with varying stiffness, as traditional gripping techniques and strategies frequently prove inadequate. In this letter, we introduce a novel surface-based multi-module robotic manipulation framework that utilizes a Central Pattern Generator (CPG)-based motion generator, combined with a simulation-based optimization method to determine the optimal manipulation parameters for a multi-module origami robotic surface (Ori-Pixel). This approach allows for the manipulation of objects ranging from centimeters to meters in size, with varying stiffness and shape. The optimized CPG parameters are tested through both dynamic simulations and a series of prototype experiments involving a wide range of objects differing in size, weight, shape, and material, demonstrating robust manipulation capabilities.

Authors:Yuhong Wang, Xinyao Wang, Chen Shen, Jianquan Liao, Qianni Cao, Yufei Teng, Huabo Shi, Gang Chen
Title: Damping Tuning Considering Random Disturbances Adopting Distributionally Robust Optimization
Abstract:
In scenarios where high penetration of renewable energy sources (RES) is connected to the grid over long distances, the output of RES exhibits significant fluctuations, making it difficult to accurately characterize. The intermittency and uncertainty of these fluctuations pose challenges to the stability of the power system. This paper proposes a distributionally robust damping optimization control framework (DRDOC) to address the uncertainty in the true distribution of random disturbances caused by RES. First, the installation location of damping controllers and key control parameters are determined through Sobol sensitivity indices and participation factors. Next, a nonlinear relationship between damping and random disturbances is established with Polynomial Chaos Expansion (PCE). The uncertainty in the distribution of disturbances is captured by ambiguity sets. The DRDOC is formulated as a convex optimization problem, which is further simplified for efficient computation. Finally, the optimal control parameters are derived through convex optimization techniques. Simulation results demonstrate the effectiveness and distribution robustness of the proposed DRDOC.

Authors:Ali Forootani, Raffaele Iervolino, Massimo Tipaldi, Mohammad Khosravi
Title: Off-Policy Temporal Difference Learning for Perturbed Markov Decision Processes: Theoretical Insights and Extensive Simulations
Abstract:
Dynamic Programming suffers from the curse of dimensionality due to large state and action spaces, a challenge further compounded by uncertainties in the environment. To mitigate these issue, we explore an off-policy based Temporal Difference Approximate Dynamic Programming approach that preserves contraction mapping when projecting the problem into a subspace of selected features, accounting for the probability distribution of the perturbed transition probability matrix. We further demonstrate how this Approximate Dynamic Programming approach can be implemented as a particular variant of the Temporal Difference learning algorithm, adapted for handling perturbations. To validate our theoretical findings, we provide a numerical example using a Markov Decision Process corresponding to a resource allocation problem.

Authors:Yu Zhou, Jesús Bautista, Weijia Yao, Héctor García de Marina
Title: Inverse Kinematics on Guiding Vector Fields for Robot Path Following
Abstract:
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in autonomous mobile robots. The desired path is defined by its implicit equation, i.e., by a collection of points belonging to one or more zero-level sets. These level sets serve as a reference to construct an error signal that drives the guiding vector field toward the desired path, enabling the robot to converge and travel along the path by following such a vector field. We start with the formal exposition on how inverse kinematics can be applied to guiding vector fields for single-integrator robots in an m-dimensional Euclidean space. Then, we leverage inverse kinematics to ensure that the level-set error signal behaves as a linear system, facilitating control over the robot's transient motion toward the desired path and allowing for the injection of feed-forward signals to induce precise motion behavior along the path. We then propose solutions to the theoretical and practical challenges of applying this technique to unicycles with constant speeds to follow 2D paths with precise transient control. We finish by validating the predicted theoretical results through real flights with fixed-wing drones.

Authors:Sourav Sinha, Mazen Farhood
Title: Data-Driven Discrepancy Modeling in Higher-Dimensional State Space via Coprime Factorization
Abstract:
This work provides a data-driven framework that combines coprime factorization with a lifting linearization technique to model the discrepancy between a nonlinear system and its nominal linear approximation using a linear time-invariant (LTI) state-space model in a higher-dimensional state space. In the proposed framework, the nonlinear system is represented in terms of the left coprime factors of the nominal linear system, along with perturbations modeled as stable, norm-bounded LTI systems in a higher-dimensional state space using a deep learning approach. Our method builds on a recently proposed parametrization for norm-bounded systems, enabling the simultaneous minimization of the H-infinity norm of the learned perturbations. We also provide a coprime factorization-based approach as an alternative to direct methods for learning lifted LTI approximations of nonlinear systems. In this approach, the LTI approximations are obtained by learning their left coprime factors, which remain stable even when the original system is unstable. The effectiveness of the proposed discrepancy modeling approach is demonstrated through multiple examples.

Authors:Tiancheng Li, Yan Song, Guchong Li, Hao Li
Title: From Target Tracking to Targeting Track -- Part II: Regularized Polynomial Trajectory Optimization
Abstract:
Target tracking entails the estimation of the evolution of the target state over time, namely the target trajectory. Different from the classical state space model, our series of studies, including this paper, model the collection of the target state as a stochastic process (SP) that is further decomposed into a deterministic part which represents the trend of the trajectory and a residual SP representing the residual fitting error. Subsequently, the tracking problem is formulated as a learning problem regarding the trajectory SP for which a key part is to estimate a trajectory FoT (T-FoT) best fitting the measurements in time series. For this purpose, we consider the polynomial T-FoT and address the regularized polynomial T-FoT optimization employing two distinct regularization strategies seeking trade-off between the accuracy and simplicity. One limits the order of the polynomial and then the best choice is determined by grid searching in a narrow, bounded range while the other adopts $\ell_0$ norm regularization for which the hybrid Newton solver is employed. Simulation results obtained in both single and multiple maneuvering target scenarios demonstrate the effectiveness of our approaches.

Authors:Jun Jiang, Yuanliang Li, Luyang Hou, Mohsen Ghafouri, Peng Zhang, Jun Yan, Yuhong Liu
Title: Deep Reinforcement Learning-Based Bidding Strategies for Prosumers Trading in Double Auction-Based Transactive Energy Market
Abstract:
With the large number of prosumers deploying distributed energy resources (DERs), integrating these prosumers into a transactive energy market (TEM) is a trend for the future smart grid. A community-based double auction market is considered a promising TEM that can encourage prosumers to participate and maximize social welfare. However, the traditional TEM is challenging to model explicitly due to the random bidding behavior of prosumers and uncertainties caused by the energy operation of DERs. Furthermore, although reinforcement learning algorithms provide a model-free solution to optimize prosumers' bidding strategies, their use in TEM is still challenging due to their scalability, stability, and privacy protection limitations. To address the above challenges, in this study, we design a double auction-based TEM with multiple DERs-equipped prosumers to transparently and efficiently manage energy transactions. We also propose a deep reinforcement learning (DRL) model with distributed learning and execution to ensure the scalability and privacy of the market environment. Additionally, the design of two bidding actions (i.e., bidding price and quantity) optimizes the bidding strategies for prosumers. Simulation results show that (1) the designed TEM and DRL model are robust; (2) the proposed DRL model effectively balances the energy payment and comfort satisfaction for prosumers and outperforms the state-of-the-art methods in optimizing the bidding strategies.

Authors:Fan Jiang, Xingpeng Li, Pascal Van Hentenryck
Title: A Deep Neural Network-based Frequency Predictor for Frequency-Constrained Optimal Power Flow
Abstract:
Rate of change of frequency (RoCoF) and frequency nadir should be considered in real-time frequency-constrained optimal power flow (FCOPF) to ensure frequency stability of the modern power systems. Since calculating the frequency response is complex, deep neural network (DNN) could be adopted to capture the nonlinearities and estimate those two metrics accurately. Therefore, in this paper, a DNN-based frequency predictor is developed with the training data obtained from time-domain simulations using PSCAD/EMTDC. Subsequently, it is reformulated using a set of mixed-integer linear programming formulations and then embedded into the FCOPF framework as constraints to ensure grid frequency stability, creating the proposed DNN-FCOPF model. Two benchmark models, a traditional OPF without any frequency constraints and a linear system-wide RoCoF-constrained FCOPF, are also implemented to gauge the proposed DNN-FCOPF. Finally, the solutions obtained with these three models are compared and evaluated with time-domain simulations using PSCAD under various load profiles, demonstrating the effectiveness of the proposed DNN-FCOPF.

Authors:Damsara Jayarathne, Santiago Paternain, Sandipan Mishra
Title: Autonomous helicopter aerial refueling: controller design and performance guarantees
Abstract:
In this paper, we present a control design methodology, stability criteria, and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is particularly difficult due to the aerodynamic interaction between the wake of the tanker, the contact-sensitive nature of the maneuver, and the uncertainty in drogue motion. Since the probe tip is located significantly away from the helicopter's center-of-gravity, its position (and velocity) is strongly sensitive to the helicopter's attitude (and angular rates). In addition, the fact that the helicopter is operating at high speeds to match the velocity of the tanker forces it to maintain a particular orientation, making the docking maneuver especially challenging. In this paper, we propose a novel outer-loop position controller that incorporates the probe position and velocity into the feedback loop. The position and velocity of the probe tip depend both on the position (velocity) and on the attitude (angular rates) of the aircraft. We derive analytical guarantees for docking performance in terms of the uncertainty of the drogue motion and the angular acceleration of the helicopter, using the ultimate boundedness property of the closed-loop error dynamics. Simulations are performed on a high-fidelity UH60 helicopter model with a high-fidelity drogue motion under wind effects to validate the proposed approach for realistic refueling scenarios. These high-fidelity simulations reveal that the proposed control methodology yields an improvement of 36% in the 2-norm docking error compared to the existing standard controller.

Authors:Jayanth Bhargav, Shreyas Sundaram, Mahsa Ghasemi
Title: Robust Information Selection for Hypothesis Testing with Misclassification Penalties
Abstract:
We study the problem of robust information selection for a Bayesian hypothesis testing / classification task, where the goal is to identify the true state of the world from a finite set of hypotheses based on observations from the selected information sources. We introduce a novel misclassification penalty framework, which enables non-uniform treatment of different misclassification events. Extending the classical subset selection framework, we study the problem of selecting a subset of sources that minimize the maximum penalty of misclassification under a limited budget, despite deletions or failures of a subset of the selected sources. We characterize the curvature properties of the objective function and propose an efficient greedy algorithm with performance guarantees. Next, we highlight certain limitations of optimizing for the maximum penalty metric and propose a submodular surrogate metric to guide the selection of the information set. We propose a greedy algorithm with near-optimality guarantees for optimizing the surrogate metric. Finally, we empirically demonstrate the performance of our proposed algorithms in several instances of the information set selection problem.

Authors:Yifan Xue, Nadia Figueroa
Title: No Minima, No Collisions: Combining Modulation and Control Barrier Function Strategies for Feasible Dynamical Collision Avoidance
Abstract:
As prominent real-time safety-critical reactive control techniques, Control Barrier Function Quadratic Programs (CBF-QPs) work for control affine systems in general but result in local minima in the generated trajectories and consequently cannot ensure convergence to the goals. Contrarily, Modulation of Dynamical Systems (Mod-DSs), including normal, reference, and on-manifold Mod-DS, achieve obstacle avoidance with few and even no local minima but have trouble optimally minimizing the difference between the constrained and the unconstrained controller outputs, and its applications are limited to fully-actuated systems. We dive into the theoretical foundations of CBF-QP and Mod-DS, proving that despite their distinct origins, normal Mod-DS is a special case of CBF-QP, and reference Mod-DS's solutions are mathematically connected to that of the CBF-QP through one equation. Building on top of the unveiled theoretical connections between CBF-QP and Mod-DS, reference Mod-based CBF-QP and on-manifold Mod-based CBF-QP controllers are proposed to combine the strength of CBF-QP and Mod-DS approaches and realize local-minimum-free reactive obstacle avoidance for control affine systems in general. We validate our methods in both simulated hospital environments and real-world experiments using Ridgeback for fully-actuated systems and Fetch robots for underactuated systems. Mod-based CBF-QPs outperform CBF-QPs as well as the optimally constrained-enforcing Mod-DS approaches we proposed in all experiments.

Authors:Yingquan Li, Jiajie Xu, Narek Khachatrian, Mohamed-Slim Alouini
Title: Implementation of an IEEE 802.11ax-Based Maritime Mesh Network in the Red Sea
Abstract:
In this article, we explore the limitations of satellite phones in meeting the communication needs of fishermen operating in the Red Sea. We propose AX-MMN, a maritime mesh network based on the IEEE 802.11ax standard, to address these shortcomings of satellite phones and outline AX-MMN's system architecture. To validate the performance of AX-MMN, we conduct extensive real-world experiments, demonstrating its potential to enhance maritime connectivity significantly. We also discuss the broader benefits of AX-MMN, particularly for fishermen in underdeveloped East African countries bordering the Red Sea, emphasizing its capacity to improve their communication capabilities and overall quality of life.

Authors:Naci Saldi, Serdar Yuksel
Title: Kernel Mean Embedding Topology: Weak and Strong Forms for Stochastic Kernels and Implications for Model Learning
Abstract:
We introduce a novel topology, called Kernel Mean Embedding Topology, for stochastic kernels, in a weak and strong form. This topology, defined on the spaces of Bochner integrable functions from a signal space to a space of probability measures endowed with a Hilbert space structure, allows for a versatile formulation. This construction allows one to obtain both a strong and weak formulation. (i) For its weak formulation, we highlight the utility on relaxed policy spaces, and investigate connections with the Young narrow topology and Borkar (or $w^*$)-topology, and establish equivalence properties. We report that, while both the $w^*$-topology and kernel mean embedding topology are relatively compact, they are not closed. Conversely, while the Young narrow topology is closed, it lacks relative compactness. (ii) We show that the strong form provides an appropriate formulation for placing topologies on spaces of models characterized by stochastic kernels with explicit robustness and learning theoretic implications on optimal stochastic control under discounted or average cost criteria. (iii) We show that this topology possesses several properties making it ideal to study optimality, approximations, robustness and continuity properties. In particular, the kernel mean embedding topology has a Hilbert space structure, which is particularly useful for approximating stochastic kernels through simulation data.

Authors:Vince Kurtz, Joel W. Burdick
Title: Generative Predictive Control: Flow Matching Policies for Dynamic and Difficult-to-Demonstrate Tasks
Abstract:
Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key limitations: they require expert demonstrations, which can be difficult to obtain, and they are limited to relatively slow, quasi-static tasks. In this paper, we leverage a tight connection between sampling-based predictive control and generative modeling to address each of these issues. In particular, we introduce generative predictive control, a supervised learning framework for tasks with fast dynamics that are easy to simulate but difficult to demonstrate. We then show how trained flow-matching policies can be warm-started at inference time, maintaining temporal consistency and enabling high-frequency feedback. We believe that generative predictive control offers a complementary approach to existing behavior cloning methods, and hope that it paves the way toward generalist policies that extend beyond quasi-static demonstration-oriented tasks.

Authors:Yasser Nabil, Hesham ElSawy, Hossam S. Hassanein
Title: System-level Analysis of Dual-Mode Networked Sensing: ISAC Integration & Coordination Gains
Abstract:
This paper characterizes integration and coordination gains in dense millimeter-wave ISAC networks through a dual-mode framework that combines monostatic and multistatic sensing. A comprehensive system-level analysis is conducted, accounting for base station (BS) density, power allocation, antenna misalignment, radar cross-section (RCS) fluctuations, clutter, bistatic geometry, channel fading, and self-interference cancellation (SIC) efficiency. Using stochastic geometry, coverage probabilities and ergodic rates for sensing and communication are derived, revealing tradeoffs among BS density, beamwidth, and power allocation. It is shown that the communication performance sustained reliable operation despite the overlaid sensing functionality. In contrast, the results reveal the foundational role of spatial sensing diversity, driven by the dual-mode operation, to compensate for the weak sensing reflections and vulnerability to imperfect SIC along with interference and clutter. To this end, we identify a system transition from monostatic to multistatic-dominant sensing operation as a function of the SIC efficiency. In the latter case, using six multistatic BSs instead of a single bistatic receiver improved sensing coverage probability by over 100%, highlighting the coordination gain. Moreover, comparisons with pure communication networks confirm substantial integration gain. Specifically, dual-mode networked sensing with four cooperative BSs can double throughput, while multistatic sensing alone improves throughput by over 50%.

Authors:Andrei Sperilă, Alessio Iovine, Sorin Olaru, Patrick Panciatici
Title: Network-Realised Model Predictive Control Part II: Distributed Constraint Management
Abstract:
A two-layer control architecture is proposed, which promotes scalable implementations for model predictive controllers. The top layer acts as both reference governor for the bottom layer, and as a feedback controller for the regulated network. By employing set-based methods, global theoretical guarantees are obtained by enforcing local constraints upon the network's variables and upon those of the first layer's implementation. The proposed technique offers recursive feasibility guarantees as one of its central features, and the expressions of the resulting predictive strategies bear a striking resemblance to classical formulations from model predictive control literature, allowing for flexible and easily customizable implementations.

Authors:Andrei Sperilă, Alessio Iovine, Sorin Olaru, Patrick Panciatici
Title: Network-Realized Model Predictive Control Part I: NRF-Enabled Closed-loop Decomposition
Abstract:
A two-layer control architecture is proposed, which promotes scalable implementations for model predictive controllers. The top layer acts as both reference governor for the bottom layer, and as a feedback controller for the regulated network. By employing set-based methods, global theoretical guarantees are obtained by enforcing local constraints upon the variables of the network and of the first layer's implementation. The proposed technique offers recursive feasibility guarantees as one of its central features, and the expressions of the resulting predictive strategies bear a striking resemblance to classical formulations from model predictive control literature, allowing for flexible and easily customizable implementations.

Authors:Cristhian Roman-Vicharra, Yiran Chen, Jiang Hu
Title: PPAC Driven Multi-die and Multi-technology Floorplanning
Abstract:
In heterogeneous integration, where different dies may utilize distinct technologies, floorplanning across multiple dies inherently requires simultaneous technology selection. This work presents the first systematic study of multi-die and multi-technology floorplanning. Unlike many conventional approaches, which are primarily driven by area and wirelength, this study additionally considers performance, power, and cost, highlighting the impact of technology selection. A simulated annealing method and a reinforcement learning techniques are developed. Experimental results show that the proposed techniques significantly outperform a naive baseline approach.

Authors:Shiyue Zhao, Junzhi Zhang, Rui Zhou, Neda Masoud, Jianxiong Li, Helai Huang, Shijie Zhao
Title: Safety-Critical Human-Machine Shared Driving for Vehicle Collision Avoidance based on Hamilton-Jacobi reachability
Abstract:
Road safety continues to be a pressing global issue, with vehicle collisions imposing significant human, societal, and economic burdens. Human-machine shared collision avoidance in critical collision scenarios aims to aid drivers' accident avoidance through intervening only when necessary. Existing methods count on replanning collision-free trajectories and imposing human-machine tracking, which usually interrupts the driver's intent and increases the risk of conflict. This paper introduces a Reachability-Aware Reinforcement Learning (RL) framework for shared control, guided by Hamilton-Jacobi (HJ) reachability analysis. Machine intervention is activated only when the vehicle approaches the Collision Avoidance Reachable Set (CARS), which represents states where collision is unavoidable. First, we precompute the reachability distributions and the CARS by solving the Bellman equation using offline data. To reduce human-machine conflicts, we develop a driver model for sudden obstacles and propose an authority allocation strategy considering key collision avoidance features. Finally, we train a RL agent to reduce human-machine conflicts while enforcing the hard constraint of avoiding entry into the CARS. The proposed method was tested on a real vehicle platform. Results show that the controller intervenes effectively near CARS to prevent collisions while maintaining improved original driving task performance. Robustness analysis further supports its flexibility across different driver attributes.

Authors:Petru Neague, Quinten Stokkink, Naman Goel, Johan Pouwelse
Title: Semantica: Decentralized Search using a LLM-Guided Semantic Tree Overlay
Abstract:
Centralized search engines are key for the Internet, but lead to undesirable concentration of power. Decentralized alternatives fail to offer equal document retrieval accuracy and speed. Nevertheless, Semantic Overlay Networks can come close to the performance of centralized solutions when the semantics of documents are properly captured. This work uses embeddings from Large Language Models to capture semantics and fulfill the promise of Semantic Overlay Networks. Our proposed algorithm, called Semantica, constructs a prefix tree (trie) utilizing document embeddings calculated by a language model. Users connect to each other based on the embeddings of their documents, ensuring that semantically similar users are directly linked. Thereby, this construction makes it more likely for user searches to be answered by the users that they are directly connected to, or by the users they are close to in the network connection graph. The implementation of our algorithm also accommodates the semantic diversity of individual users by spawning "clone" user identifiers in the tree. Our experiments use emulation with a real-world workload to show Semantica's ability to identify and connect to similar users quickly. Semantica finds up to ten times more semantically similar users than current state-of-the-art approaches. At the same time, Semantica can retrieve more than two times the number of relevant documents given the same network load. We also make our code publicly available to facilitate further research in the area.

Authors:Xinyuan Jiang, Constantino M. Lagoa, Yan Li
Title: Power System Electromagnetic Transient Stability: an Analysis Based on Convergent Hamiltonian
Abstract:
Transient stability is crucial to the reliable operation of power systems. Existing theories rely on the simplified electromechanical models, substituting the detailed electromagnetic dynamics of inductor and capacitor with their impedance representations. However, this simplification is inadequate for the growing penetration of fast-switching power electronic devices. Attempts to extend the existing theories to include electromagnetic dynamics lead to overly conservative stability conditions. To tackle this problem more directly, we study the condition under which the power source and dissipation in the electromagnetic dynamics tend to balance each other asymptotically. This is equivalent to the convergence of the Hamiltonian (total stored energy) and can be shown to imply transient stability. Using contraction analysis, we prove that this property holds for a large class of time-varying port-Hamiltonian systems with (i) constant damping matrix and (ii) strictly convex Hamiltonian. Then through port-Hamiltonian modeling of the electromagnetic dynamics, we obtain that the synchronized steady state of the power system is globally stable if it exists. This result provides new insights into the reliable operation of power systems. The proposed theory is illustrated in the simulation results of a two-machine system.

Authors:S. Ali Hosseini, S. Hassan HosseinNia
Title: Frequency Domain Stability and Convergence Analysis for General Reset Control Systems Architecture
Abstract:
A key factor that generates significant interest in reset control systems, especially within industrial contexts, is their potential to be designed using a frequency-domain loop-shaping procedure. On the other hand, formulating and assessing stability analysis for these nonlinear elements often depends on access to parametric models and numerically solving linear matrix inequalities. These specific factors could present challenges to the successful implementation of reset control within industrial settings. Moreover, one of the most effective structures for implementing reset elements is to use them in parallel with a linear element. Therefore, this article presents the development of the frequency domain-based $H_β$ stability method from a series to a more general structure of reset control systems. Additionally, it investigates the behavior of different reset elements in terms of the feasibility of stability in the presence of time delay. To illustrate the research findings, two examples are provided, including one from an industrial application.

Authors:Samuel O. Folorunsho, Maggi Ni, William R. Norris
Title: Control Barrier Function-Based Quadratic Programming for SafeOperation of Tethered UAVs
Abstract:
Consider an unmanned aerial vehicle (UAV) physically connected to the ground station with a tether operating in a space, tasked with performing precise maneuvers while constrained by the physical limitation of its tether, which prevents it from flying beyond a maximum allowable length. Violating this tether constraint could lead to system failure or operational hazards, making it essential to enforce safety constraints dynamically while ensuring the drone can track desired trajectories accurately. This paper presents a Control Barrier Function Quadratic Programming Framework (CBF-QP) for ensuring the safe and efficient operation of tethered unmanned aerial vehicles (TUAVs). The framework leverages nominal backstepping control to achieve trajectory tracking, augmented with control barrier functions to ensure compliance with the tether constraint. In this proposed method, the tether constraint is directly embedded in the control design and therefore guarantees the TUAV remains within a predefined operational region defined by the maximum tether length while achieving precise trajectory tracking. The effectiveness of the proposed framework is validated through simulations involving set-point tracking, dynamic trajectory following, and disturbances such as incorrect user inputs. The results demonstrate that the TUAV respects the tether constraint ||x(t)||
Authors:Mostafa Goodarzi, Qifeng Li
Title: Real-time Optimization for Wind-to-H2 Driven Critical Infrastructures Based on Active Constraints Identification and Integer Variables Prediction
Abstract:
This paper proposes a concept of wind-to-hydrogen-driven critical infrastructure (W2H-CI) as an engineering solution for decarbonizing the power generation sector where it utilizes wind power to produce hydrogen through electrolysis and combines it with the carbon captured from fossil fuel power plants. First, a convex mathematical model of W2H-CI is developed. Then, an optimization model for optimal operation of W2H-CI, which is a large-scale mixed-integer convex program (MICP), is proposed. Moreover, we propose to solve this problem in real-time in order to hedge against the uncertainty of wind power. For this purpose, a novel solution method based on active constraints identification and integer variable prediction is introduced. This method can solve MICP problems very fast since it uses historical optimization data to predict the values of binary variables and a limited number of constraints which most likely contain all active constraints. We validate the effectiveness of the proposed fast solution method using two W2H-CI case studies.

Authors:Yuichi Honjo, Cedric Caremel, Yoshihiro Kawahara, Takuya Sasatani
Title: Suppressing Leakage Magnetic Field in Wireless Power Transfer using Halbach Array-Based Resonators
Abstract:
Wireless power transfer has the potential to seamlessly power electronic systems, such as electric vehicles, industrial robots, and mobile devices. However, the leakage magnetic field is a critical bottleneck that limits the transferable power level, and heavy ferromagnetic shields are needed for transferring large amounts of power. In this paper, we propose a ferrite-less coil design that generates an asymmetric magnetic field pattern focused on one side of the resonator, which effectively reduces the leakage magnetic field. The key to enabling the asymmetric field pattern is a coil winding strategy inspired by the Halbach array, a permanent magnet arrangement, which is then tailored for wireless power using an evolutionary strategy algorithm. Numerical analyses and simulations demonstrated that the proposed coil structure delivers the same amount of power as spiral coils, while achieving an 86.6% reduction in magnetic field intensity at a plane located 75 mm away from the resonator pair and a power efficiency of 96.0%. We verified our approach by measuring the power efficiency and magnetic field intensity of a test wireless power system operating at 6.78 MHz. These findings indicate that our approach can efficiently deliver over 50 times more power without increasing magnetic field exposure, making it a promising solution for high-power wireless power transfer applications.

Authors:Takuya Sasatani, Alanson P. Sample, Yoshihiro Kawahara
Title: Room-scale magnetoquasistatic wireless power transfer using a cavity-based multimode resonator
Abstract:
Magnetoquasistatic wireless power transfer can be used to charge and power electronic devices such as smartphones and small home appliances. However, existing coil-based transmitters, which are composed of wire conductors, have a limited range. Here we show that multimode quasistatic cavity resonance can provide room-scale wireless power transfer. The approach uses multidirectional, widely distributed currents on conductive surfaces that are placed around the target volume. It generates multiple, mutually unique, three-dimensional magnetic field patterns, where each pattern is attributed to different eigenmodes of a single room-scale resonator. Using these modes together, a power delivery efficiency exceeding 37.1% can be achieved throughout a 3 m * 3 m * 2 m test room. With this approach, power exceeding 50 W could potentially be delivered to mobile receivers in accordance with safety guidelines.

Authors:Danial Khatamsaz, Joseph Wagner, Brent Vela, Raymundo Arroyave, Douglas L. Allaire
Title: Towards Autonomous Experimentation: Bayesian Optimization over Problem Formulation Space for Accelerated Alloy Development
Abstract:
Accelerated discovery in materials science demands autonomous systems capable of dynamically formulating and solving design problems. In this work, we introduce a novel framework that leverages Bayesian optimization over a problem formulation space to identify optimal design formulations in line with decision-maker preferences. By mapping various design scenarios to a multi attribute utility function, our approach enables the system to balance conflicting objectives such as ductility, yield strength, density, and solidification range without requiring an exact problem definition at the outset. We demonstrate the efficacy of our method through an in silico case study on a Mo-Nb-Ti-V-W alloy system targeted for gas turbine engine blade applications. The framework converges on a sweet spot that satisfies critical performance thresholds, illustrating that integrating problem formulation discovery into the autonomous design loop can significantly streamline the experimental process. Future work will incorporate human feedback to further enhance the adaptability of the system in real-world experimental settings.

Authors:Luke Rickard, Alessandro Abate, Kostas Margellos
Title: Data-Driven Certificate Synthesis
Abstract:
We investigate the problem of verifying different properties of discrete time dynamical systems, namely, reachability, safety and reach-while-avoid. To achieve this, we adopt a data driven perspective and, using past system trajectories as data, we aim at learning a specific function termed certificate for each property we wish to verify. We seek to minimize a loss function, designed to encompass conditions on the certificate to be learned that encode the satisfaction of the associated property. Besides learning a certificate, we quantify probabilistically its generalization properties, namely, how likely it is for a certificate to be valid (and hence for the associated property to be satisfied) when it comes to a new system trajectory not included in the training data set. We view this problem under the realm of probably approximately correct (PAC) learning under the notion of compression, and use recent advancements of the so-called scenario approach to obtain scalable generalization bounds on the learned certificates. To achieve this, we design a novel algorithm that minimizes the loss function and hence constructs a certificate, and at the same time determines a quantity termed compression, which is instrumental in obtaining meaningful probabilistic guarantees. This process is novel per se and provides a constructive mechanism for compression set calculation, thus opening the road for its use to more general non-convex optimization problems. We verify the efficacy of our methodology on several numerical case studies, and compare it (both theoretically and numerically) with closely related results on data-driven property verification.

Authors:Maneesha Wickramasuriya, Beomyeol Yu, Taeyoung Lee, Murray Snyder
Title: Vision-in-the-loop Simulation for Deep Monocular Pose Estimation of UAV in Ocean Environment
Abstract:
This paper proposes a vision-in-the-loop simulation environment for deep monocular pose estimation of a UAV operating in an ocean environment. Recently, a deep neural network with a transformer architecture has been successfully trained to estimate the pose of a UAV relative to the flight deck of a research vessel, overcoming several limitations of GPS-based approaches. However, validating the deep pose estimation scheme in an actual ocean environment poses significant challenges due to the limited availability of research vessels and the associated operational costs. To address these issues, we present a photo-realistic 3D virtual environment leveraging recent advancements in Gaussian splatting, a novel technique that represents 3D scenes by modeling image pixels as Gaussian distributions in 3D space, creating a lightweight and high-quality visual model from multiple viewpoints. This approach enables the creation of a virtual environment integrating multiple real-world images collected in situ. The resulting simulation enables the indoor testing of flight maneuvers while verifying all aspects of flight software, hardware, and the deep monocular pose estimation scheme. This approach provides a cost-effective solution for testing and validating the autonomous flight of shipboard UAVs, specifically focusing on vision-based control and estimation algorithms.

Authors:Simone Martini, Margareta Stefanovic, Kimon P. Valavanis
Title: Low Dimensional Koopman Generalized Eigenfunctions Representation: An Approach to Address Koopman High-Dimensionality Problem
Abstract:
This Paper introduces a methodology to achieve a lower dimensional Koopman quasi linear representation of nonlinear dynamics using Koopman generalized eigenfunctions. The methodology is presented for the analytically derived Koopman formulation of rigid body dynamics but can be generalized to any data-driven or analytically derived generalized eigenfunction set. The presented approach aim at achieving a representation for which the number of Koopman observables matches the number of input leading to an exact linearization solution instead of resorting to the least square approximation method. The methodology is tested by designing a linear quadratic (LQ) flight controller of a quadrotor unmanned aerial vehicle (UAV). Hardware in the loop simulations validate the applicability of this approach to real-time implementation in presence of noise and sensor delays.

Authors:Yuri Shimane, Stefano Di Cairano, Koki Ho, Avishai Weiss
Title: Output-Feedback Full-State Targeting Model Predictive Control for Station-Keeping on Near-Rectilinear Halo Orbits
Abstract:
We develop a model predictive control (MPC) policy for station-keeping (SK) on a Near-Rectilinear Halo Orbit (NRHO). The proposed policy achieves full-state tracking of a reference NRHO via a two-maneuver control horizon placed one revolution apart. Our method abides by the typical mission requirement that at most one maneuver is used for SK during each NRHO revolution. Simultaneously, the policy has sufficient controllability for full-state tracking, making it immune to phase deviation issues in the along-track direction of the reference NRHO, a common drawback of existing SK methods with a single maneuver per revolution. We report numerical simulations with a navigation filter to demonstrate the MPC's performance with output feedback. Our approach successfully maintains the spacecraft's motion in the vicinity of the reference in both space and phase, with tighter tracking than state-of-the-art SK methods and comparable delta-V performance.

Authors:Sreejeet Maity, Aritra Mitra
Title: Adversarially-Robust TD Learning with Markovian Data: Finite-Time Rates and Fundamental Limits
Abstract:
One of the most basic problems in reinforcement learning (RL) is policy evaluation: estimating the long-term return, i.e., value function, corresponding to a given fixed policy. The celebrated Temporal Difference (TD) learning algorithm addresses this problem, and recent work has investigated finite-time convergence guarantees for this algorithm and variants thereof. However, these guarantees hinge on the reward observations being always generated from a well-behaved (e.g., sub-Gaussian) true reward distribution. Motivated by harsh, real-world environments where such an idealistic assumption may no longer hold, we revisit the policy evaluation problem from the perspective of adversarial robustness. In particular, we consider a Huber-contaminated reward model where an adversary can arbitrarily corrupt each reward sample with a small probability $ε$. Under this observation model, we first show that the adversary can cause the vanilla TD algorithm to converge to any arbitrary value function. We then develop a novel algorithm called Robust-TD and prove that its finite-time guarantees match that of vanilla TD with linear function approximation up to a small $O(ε)$ term that captures the effect of corruption. We complement this result with a minimax lower bound, revealing that such an additive corruption-induced term is unavoidable. To our knowledge, these results are the first of their kind in the context of adversarial robustness of stochastic approximation schemes driven by Markov noise. The key new technical tool that enables our results is an analysis of the Median-of-Means estimator with corrupted, time-correlated data that might be of independent interest to the literature on robust statistics.

Authors:Akshay Thirugnanam, Koushil Sreenath
Title: Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control
Abstract:
In this paper, we discuss incentive design for hierarchical model predictive control (MPC) systems viewed as Stackelberg games. We consider a hierarchical MPC formulation where, given a lower-level convex MPC (LoMPC), the upper-level system solves a bilevel MPC (BiMPC) subject to the constraint that the lower-level system inputs are optimal for the LoMPC. Such hierarchical problems are challenging due to optimality constraints in the BiMPC formulation. We analyze an incentive Stackelberg game variation of the problem, where the BiMPC provides additional incentives for the LoMPC cost function, which grants the BiMPC influence over the LoMPC inputs. We show that for such problems, the BiMPC can be reformulated as a simpler optimization problem, and the optimal incentives can be iteratively computed without knowing the LoMPC cost function. We extend our formulation for the case of multiple LoMPCs and propose an algorithm that finds bounded suboptimal solutions for the BiMPC. We demonstrate our algorithm for a dynamic price control example, where an independent system operator (ISO) sets the electricity prices for electric vehicle (EV) charging with the goal of minimizing a social cost and satisfying electricity generation constraints. Notably, our method scales well to large EV population sizes.

Authors:Serhat Sönmez, Luca Montecchio, Simone Martini, Matthew J. Rutherford, Alessandro Rizzo, Margareta Stefanovic, Kimon P. Valavanis
Title: Reinforcement Learning Based Prediction of PID Controller Gains for Quadrotor UAVs
Abstract:
A reinforcement learning (RL) based methodology is proposed and implemented for online fine-tuning of PID controller gains, thus, improving quadrotor effective and accurate trajectory tracking. The RL agent is first trained offline on a quadrotor PID attitude controller and then validated through simulations and experimental flights. RL exploits a Deep Deterministic Policy Gradient (DDPG) algorithm, which is an off-policy actor-critic method. Training and simulation studies are performed using Matlab/Simulink and the UAV Toolbox Support Package for PX4 Autopilots. Performance evaluation and comparison studies are performed between the hand-tuned and RL-based tuned approaches. The results show that the controller parameters based on RL are adjusted during flights, achieving the smallest attitude errors, thus significantly improving attitude tracking performance compared to the hand-tuned approach.

Authors:Amir Modares, Bahare Kiumarsi, Hamidreza Modares
Title: Integration of Prior Knowledge into Direct Learning for Safe Control of Linear Systems
Abstract:
This paper integrates prior knowledge into direct learning of safe controllers for linear uncertain systems under disturbances. To this end, we characterize the set of all closed-loop systems that can be explained by available prior knowledge of the system model and the disturbances. We leverage matrix zonotopes for data-based characterization of closed-loop systems and show that the explainability of closed-loop systems by prior knowledge can be formalized by adding an equality conformity constraint to the matrix zonotope. We then leverage the resulting constraint matrix zonotope and design safe controllers that conform with both data and prior knowledge. This is achieved by ensuring the inclusion of a constrained zonotope of all possible next states in a λ-scaled level set of the safe set. We consider both polytope and zonotope safe sets and provide set inclusion conditions using linear programming.

Authors:Anchita Dey, Shubhendu Bhasin
Title: Adaptive Output Feedback MPC with Guaranteed Stability and Robustness
Abstract:
This work proposes an adaptive output feedback model predictive control (MPC) framework for uncertain systems subject to external disturbances. In the absence of exact knowledge about the plant parameters and complete state measurements, the MPC optimization problem is reformulated in terms of their estimates derived from a suitably designed robust adaptive observer. The MPC routine returns a homothetic tube for the state estimate trajectory. Sets that characterize the state estimation errors are then added to the homothetic tube sections, resulting in a larger tube containing the true state trajectory. The two-tier tube architecture provides robustness to uncertainties due to imperfect parameter knowledge, external disturbances, and incomplete state information. Additionally, recursive feasibility and robust exponential stability are guaranteed and validated using a numerical example.

Authors:Xin Qin, Ioannis Lestas
Title: Frequency Control and Power Sharing in Combined Heat and Power Networks
Abstract:
We consider the problem of using district heating systems as ancillary services for primary frequency control in power networks. We propose a novel power sharing scheme for heating systems based on the average temperature, which enables an optimal power allocation among the diverse heat sources without having a prior knowledge of the disturbances. We then discuss two approaches for heating systems to contribute to frequency regulation in power networks. We show that both approaches ensure stability in the combined heat and power network and facilitate optimal power allocation among the different energy sources.

Authors:Milos Katanic, Yi Guo, John Lygeros, Gabriela Hug
Title: Optimal PMU Placement for Kalman Filtering of DAE Power System Models
Abstract:
Optimal sensor placement is essential for minimizing costs and ensuring accurate state estimation in power systems. This paper introduces a novel method for optimal sensor placement for dynamic state estimation of power systems modeled by differential-algebraic equations. The method identifies optimal sensor locations by minimizing the steady-state covariance matrix of the Kalman filter, thus minimizing the error of joint differential and algebraic state estimation. The problem is reformulated as a mixed-integer semidefinite program and effectively solved using off-the-shelf numerical solvers. Numerical results demonstrate the merits of the proposed approach by benchmarking its performance in phasor measurement unit placement in comparison to greedy algorithms.

Authors:Vincent de Heij, M. Umar B. Niazi, Karl H. Johansson, Saeed Ahmed
Title: Distributed Prescribed-Time Observer for Nonlinear Systems in Block-Triangular Form
Abstract:
This paper proposes a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each observer estimates the system state despite the limited observability of local sensor measurements. The proposed design guarantees that distributed state estimation errors converge to zero at a user-specified convergence time, irrespective of observers' initial conditions. To achieve this prescribed-time convergence, distributed observers implement time-varying local output injection gains that monotonically increase and approach infinity at the prescribed time. The theoretical convergence is rigorously proven and validated through numerical simulations, where some implementation issues due to increasing gains have also been clarified.

Authors:Ziwen Zhuang, Hang Zhao
Title: Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions
Abstract:
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in chairs, get up from the ground, or roll on the floor. Contacting the environment using body parts other than feet and hands brings significant challenges in both model-predictive control and reinforcement learning-based methods. An unpredictable contact sequence makes it almost impossible for model-predictive control to plan ahead in real time. The success of the zero-shot sim-to-real reinforcement learning method for humanoids heavily depends on the acceleration of GPU-based rigid-body physical simulator and simplification of the collision detection. Lacking extreme torso movement of the humanoid research makes all other components non-trivial to design, such as termination conditions, motion commands and reward designs. To address these potential challenges, we propose a general humanoid motion framework that takes discrete motion commands and controls the robot's motor action in real time. Using a GPU-accelerated rigid-body simulator, we train a humanoid whole-body control policy that follows the high-level motion command in the real world in real time, even with stochastic contacts and extremely large robot base rotation and not-so-feasible motion command. More details at https://project-instinct.github.io

Authors:Sihao Sun, Xuerui Wang, Dario Sanalitro, Antonio Franchi, Marco Tognon, Javier Alonso-Mora
Title: Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load
Abstract:
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising solution. However, existing control algorithms for multi-lifting systems only enable low-speed and low-acceleration operations due to the complex dynamic coupling between quadrotors and the load, limiting their use in time-critical missions such as search and rescue. In this work, we present a solution to significantly enhance the agility of cable-suspended multi-lifting systems. Unlike traditional cascaded solutions, we introduce a trajectory-based framework that solves the whole-body kinodynamic motion planning problem online, accounting for the dynamic coupling effects and constraints between the quadrotors and the load. The planned trajectory is provided to the quadrotors as a reference in a receding-horizon fashion and is tracked by an onboard controller that observes and compensates for the cable tension. Real-world experiments demonstrate that our framework can achieve at least eight times greater acceleration than state-of-the-art methods to follow agile trajectories. Our method can even perform complex maneuvers such as flying through narrow passages at high speed. Additionally, it exhibits high robustness against load uncertainties and does not require adding any sensors to the load, demonstrating strong practicality.

Authors:MHD Anas Alsakkal, Runze Wang, Piotr Dudek, Jayawan Wijekoon
Title: A General-Purpose Neuromorphic Sensor based on Spiketrum Algorithm: Hardware Details and Real-life Applications
Abstract:
Spiking Neural Networks (SNNs) offer a biologically inspired computational paradigm, enabling energy-efficient data processing through spike-based information transmission. Despite notable advancements in hardware for SNNs, spike encoding has largely remained software-dependent, limiting efficiency. This paper addresses the need for adaptable and resource-efficient spike encoding hardware by presenting an area-optimized hardware implementation of the Spiketrum algorithm, which encodes time-varying analogue signals into spatiotemporal spike patterns. Unlike earlier performance-optimized designs, which prioritize speed, our approach focuses on reducing hardware footprint, achieving a 52% reduction in Block RAMs (BRAMs), 31% fewer Digital Signal Processing (DSP) slices, and a 6% decrease in Look-Up Tables (LUTs). The proposed implementation has been verified on an FPGA and successfully integrated into an IC using TSMC180 technology. Experimental results demonstrate the system's effectiveness in real-world applications, including sound and ECG classification. This work highlights the trade-offs between performance and resource efficiency, offering a flexible, scalable solution for neuromorphic systems in power-sensitive applications like cochlear implants and neural devices.

Authors:Nico Westerbeck, Joost van Dijk, Jan Viebahn, Christian Merz, Dirk Witthaut
Title: Accelerated DC loadflow solver for topology optimization
Abstract:
We present a massively parallel solver that accelerates DC loadflow computations for power grid topology optimization tasks. Our approach leverages low-rank updates of the Power Transfer Distribution Factors (PTDFs) to represent substation splits, line outages, and reconfigurations without ever refactorizing the system. Furthermore, we implement the core routines on Graphics Processing Units (GPUs), thereby exploiting their high-throughput architecture for linear algebra. A two-level decomposition separates changes in branch topology from changes in nodal injections, enabling additional speed-ups by an in-the-loop brute force search over injection variations at minimal additional cost. We demonstrate billion-loadflow-per-second performance on power grids of varying sizes in workload settings which are typical for gradient-free topology optimization such as Reinforcement Learning or Quality Diversity methods. While adopting the DC approximation sacrifices some accuracy and prohibits the computation of voltage magnitudes, we show that this sacrifice unlocks new scales of computational feasibility, offering a powerful tool for large-scale grid planning and operational topology optimization.

Authors:Ege C. Altunkaya, Ibrahim Ozkol
Title: Nuisance-free Automatic Ground Collision Avoidance System Design: Merging Exponential-CBF and Adaptive Sliding Manifolds
Abstract:
The significance of the automatic ground collision avoidance system (Auto-GCAS) has been proven by considering the fatal crashes that have occurred over decades. Even though extensive efforts have been put forth to address the ground collision avoidance in the literature, the notion of being nuisance-free has not been sufficiently addressed. At this point, in this study, the Auto-GCAS design is formulated by merging exponential control barrier functions with sliding manifolds to manipulate the barrier function dynamics. The adaptive properties of the sliding manifolds are tailored to the key and governing flight parameters, ensuring that the nuisance-free requirement is satisfied. Furthermore, to ensure all safety requirements are met, a flight envelope protection algorithm is designed using control barrier functions to assess the commands generated by the Auto-GCAS. Eventually, the performance of the proposed methodology is demonstrated, focusing on authority-sharing, collision avoidance capability, and nuisance-free operation through various scenarios and Monte Carlo simulations.

Authors:Ran Zhang, Caihua Wan, Yingqian Xu, Xiaohan Li, Raik Hoffmann, Meike Hindenberg, Shiqiang Liu, Dehao Kong, Shilong Xiong, Shikun He, Alptekin Vardar, Qiang Dai, Junlu Gong, Yihui Sun, Zejie Zheng, Thomas Kämpfe, Guoqiang Yu, Xiufeng Han
Title: Engineering-Oriented Design of Drift-Resilient MTJ Random Number Generator via Hybrid Control Strategies
Abstract:
Magnetic Tunnel Junctions (MTJs) have shown great promise as hardware sources for true random number generation (TRNG) due to their intrinsic stochastic switching behavior. However, practical deployment remains challenged by drift in switching probability caused by thermal fluctuations, device aging, and environmental instability. This work presents an engineering-oriented, drift-resilient MTJ-based TRNG architecture, enabled by a hybrid control strategy that combines self-stabilizing feedback with pulse width modulation. A key component is the Downcalibration-2 scheme, which updates the control parameter every two steps using only integer-resolution timing, ensuring excellent statistical quality without requiring bit discarding, pre-characterization, or external calibration. Extensive experimental measurements and numerical simulations demonstrate that this approach maintains stable randomness under dynamic temperature drift, using only simple digital logic. The proposed architecture offers high throughput, robustness, and scalability, making it well-suited for secure hardware applications, embedded systems, and edge computing environments.

Authors:Goli Vaisi, James Ferlez, Yasser Shoukry
Title: Extracting Forward Invariant Sets from Neural Network-Based Control Barrier Functions
Abstract:
Training Neural Networks (NNs) to serve as Barrier Functions (BFs) is a popular way to improve the safety of autonomous dynamical systems. Despite significant practical success, these methods are not generally guaranteed to produce true BFs in a provable sense, which undermines their intended use as safety certificates. In this paper, we consider the problem of formally certifying a learned NN as a BF with respect to state avoidance for an autonomous system: viz. computing a region of the state space on which the candidate NN is provably a BF. In particular, we propose a sound algorithm that efficiently produces such a certificate set for a shallow NN. Our algorithm combines two novel approaches: it first uses NN reachability tools to identify a subset of states for which the output of the NN does not increase along system trajectories; then, it uses a novel enumeration algorithm for hyperplane arrangements to find the intersection of the NN's zero-sub-level set with the first set of states. In this way, our algorithm soundly finds a subset of states on which the NN is certified as a BF. We further demonstrate the effectiveness of our algorithm at certifying for real-world NNs as BFs in two case studies. We complemented these with scalability experiments that demonstrate the efficiency of our algorithm.

Authors:Konstantinos Platanitis, Miguel Arana-Catania, Saurabh Upadhyay, Leonard Felicetti
Title: A causal learning approach to in-orbit inertial parameter estimation for multi-payload deployers
Abstract:
This paper discusses an approach to inertial parameter estimation for the case of cargo carrying spacecraft that is based on causal learning, i.e. learning from the responses of the spacecraft, under actuation. Different spacecraft configurations (inertial parameter sets) are simulated under different actuation profiles, in order to produce an optimised time-series clustering classifier that can be used to distinguish between them. The actuation is comprised of finite sequences of constant inputs that are applied in order, based on typical actuators available. By learning from the system's responses across multiple input sequences, and then applying measures of time-series similarity and F1-score, an optimal actuation sequence can be chosen either for one specific system configuration or for the overall set of possible configurations. This allows for both estimation of the inertial parameter set without any prior knowledge of state, as well as validation of transitions between different configurations after a deployment event. The optimisation of the actuation sequence is handled by a reinforcement learning model that uses the proximal policy optimisation (PPO) algorithm, by repeatedly trying different sequences and evaluating the impact on classifier performance according to a multi-objective metric.

Authors:Aditya Parameshwaran, Yue Wang
Title: Scalable and Interpretable Verification of Image-based Neural Network Controllers for Autonomous Vehicles
Abstract:
Existing formal verification methods for image-based neural network controllers in autonomous vehicles often struggle with high-dimensional inputs, computational inefficiency, and a lack of explainability. These challenges make it difficult to ensure safety and reliability, as processing high-dimensional image data is computationally intensive and neural networks are typically treated as black boxes. To address these issues, we propose SEVIN (Scalable and Explainable Verification of Image-Based Neural Network Controllers), a framework that leverages a Variational Autoencoders (VAE) to encode high-dimensional images into a lower-dimensional, explainable latent space. By annotating latent variables with corresponding control actions, we generate convex polytopes that serve as structured input spaces for verification, significantly reducing computational complexity and enhancing scalability. Integrating the VAE's decoder with the neural network controller allows for formal and robustness verification using these explainable polytopes. Our approach also incorporates robustness verification under real-world perturbations by augmenting the dataset and retraining the VAE to capture environmental variations. Experimental results demonstrate that SEVIN achieves efficient and scalable verification while providing explainable insights into controller behavior, bridging the gap between formal verification techniques and practical applications in safety-critical systems.

Authors:Aditya Parameshwaran, Yue Wang
Title: Temporal Logic Guided Safe Navigation for Autonomous Vehicles
Abstract:
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such complex cyber-physical systems. In this paper, we propose a hybrid approach that combines the strengths of formal verification languages like Linear Temporal Logic (LTL) and Signal Temporal Logic (STL) to generate safe trajectories and optimal control inputs for autonomous vehicle navigation. We implement a symbolic path planning approach using LTL to generate a formally safe reference trajectory. A mixed integer linear programming (MILP) solver is then used on this reference trajectory to solve for the control inputs while satisfying the state, control and safety constraints described by STL. We test our proposed solution on two environments and compare the results with popular path planning algorithms. In contrast to conventional path planning algorithms, our formally safe solution excels in handling complex specification scenarios while ensuring both safety and comparable computation times.

Authors:Jiawei Wang, Qinglai Guo, Hongbin Sun
Title: Risk and Vulnerability Assessment of Energy-Transportation Infrastructure Systems to Extreme Weather
Abstract:
The interaction between extreme weather events and interdependent critical infrastructure systems involves complex spatiotemporal dynamics. Multi-type emergency decisions within energy-transportation infrastructures significantly influence system performance throughout the extreme weather process. A comprehensive assessment of these factors faces challenges in model complexity and heterogeneity between energy and transportation systems. This paper proposes an assessment framework that accommodates multiple types of emergency decisions. It integrates the heterogeneous energy and transportation infrastructures in the form of a network flow model to simulate and quantify the impact of extreme weather events on the energy-transportation infrastructure system. Based on this framework, a targeted method for identifying system vulnerabilities is further introduced, utilizing a neural network surrogate that achieves privacy protection and evaluation acceleration while maintaining consideration of system interdependencies. Numerical experiments demonstrate that the proposed framework and method can reveal the risk levels faced by urban infrastructure systems, identify weak points that should be prioritized for reinforcement, and strike a balance between accuracy and evaluation speed.

Authors:Ruijia Liu, Ancheng Hou, Xiao Yu, Xiang Yin
Title: Zero-Shot Trajectory Planning for Signal Temporal Logic Tasks
Abstract:
Signal Temporal Logic (STL) is a powerful specification language for describing complex temporal behaviors of continuous signals, making it well-suited for high-level robotic task descriptions. However, generating executable plans for STL tasks is challenging, as it requires consideration of the coupling between the task specification and the system dynamics. Existing approaches either follow a model-based setting that explicitly requires knowledge of the system dynamics or adopt a task-oriented data-driven approach to learn plans for specific tasks. In this work, we investigate the problem of generating executable STL plans for systems whose dynamics are unknown a priori. We propose a new planning framework that uses only task-agnostic data during the offline training stage, enabling zero-shot generalization to new STL tasks. Our framework is hierarchical, involving: (i) decomposing the STL task into a set of progress and time constraints, (ii) searching for time-aware waypoints guided by task-agnostic data, and (iii) generating trajectories using a pre-trained safe diffusion model. Simulation results demonstrate the effectiveness of our method indeed in achieving zero-shot generalization to various STL tasks.

Authors:Amy Heather, Thomas Monks, Alison Harper, Navonil Mustafee, Andrew Mayne
Title: On the reproducibility of discrete-event simulation studies in health research: an empirical study using open models
Abstract:
Reproducibility of computational research is critical for ensuring transparency, reliability and reusability. Challenges with computational reproducibility have been documented in several fields, but healthcare discrete-event simulation (DES) models have not been thoroughly examined in this context. This study assessed the computational reproducibility of eight published healthcare DES models (Python or R), selected to represent diverse contexts, complexities, and years of publication. Repositories and articles were also assessed against guidelines and reporting standards, offering insights into their relationship with reproducibility success. Reproducing results required up to 28 hours of troubleshooting per model, with 50% fully reproduced and 50% partially reproduced (12.5% to 94.1% of reported outcomes). Key barriers included the absence of open licences, discrepancies between reported and coded parameters, and missing code to produce model outputs, run scenarios, and generate tables and figures. Addressing these issues would often require relatively little effort from authors: adding an open licence and sharing all materials used to produce the article. Actionable recommendations are proposed to enhance reproducibility practices for simulation modellers and reviewers.

Authors:Hossein Nejatbakhsh Esfahani, Kai Liu, Javad Mohammadpour Velni
Title: Distributed Model Predictive Control Design for Multi-agent Systems via Bayesian Optimization
Abstract:
This paper introduces a new approach that leverages Multi-agent Bayesian Optimization (MABO) to design Distributed Model Predictive Control (DMPC) schemes for multi-agent systems. The primary objective is to learn optimal DMPC schemes even when local model predictive controllers rely on imperfect local models. The proposed method invokes a dual decomposition-based distributed optimization framework, incorporating an Alternating Direction Method of Multipliers (ADMM)-based MABO algorithm to enable coordinated learning of parameterized DMPC schemes. This enhances the closed-loop performance of local controllers, despite discrepancies between their models and the actual multi-agent system dynamics. In addition to the newly proposed algorithms, this work also provides rigorous proofs establishing the optimality and convergence of the underlying learning method. Finally, numerical examples are given to demonstrate the efficacy of the proposed MABO-based learning approach.

Authors:Niclas Tietze, Kai Wulff, Johann Reger
Title: Trajectory tracking model-following control using Lyapunov redesign with output time-derivatives to compensate unmatched uncertainties
Abstract:
We study trajectory tracking for flat nonlinear systems with unmatched uncertainties using the model-following control (MFC) architecture. We apply state feedback linearisation control for the process and propose a simplified implementation of the model control loop which results in a simple model in Brunovsky-form that represents the nominal feedback linearised dynamics of the nonlinear process. To compensate possibly unmatched model uncertainties, we employ Lyapunov redesign with numeric derivatives of the output. It turns out that for a special initialisation of the model, the MFC reduces to a single-loop control design. We illustrate our results by a numerical example.

Authors:Pierluigi Francesco De Paola, Jared Miller, Alessandro Borri, Alessia Paglialonga, Fabrizio Dabbene
Title: A control system framework for counterfactuals: an optimization based approach
Abstract:
Counterfactuals are a concept inherited from the field of logic and in general attain to the existence of causal relations between sentences or events. In particular, this concept has been introduced also in the context of interpretability in artificial intelligence, where counterfactuals refer to the minimum change to the feature values that changes the prediction of a classification model. The artificial intelligence framework of counterfactuals is mostly focused on machine learning approaches, typically neglecting the physics of the variables that determine a change in class. However, a theoretical formulation of counterfactuals in a control system framework - i.e., able to account for the mechanisms underlying a change in class - is lacking. To fill this gap, in this work we propose an original control system, physics-informed, theoretical foundation for counterfactuals, by means of the formulation of an optimal control problem. We apply the proposed methodology to a general glucose-insulin regulation model and results appear promising and pave the way to the possible integration with artificial intelligence techniques, with the aim of feeding machine learning models with the physics knowledge acquired through the system framework.

Authors:Julian Willkomm, Kai Wulff, Johann Reger
Title: Set-point control and local stability for flat nonlinear systems using model-following control
Abstract:
We consider the set-point control problem for nonlinear systems with flat output that are subject to perturbations. The nonlinear dynamics as well as the perturbations are locally Lipschitz. We apply the model-following control (MFC) approach which consists of a model control loop (MCL) for a feedforward generation and a process control loop (PCL) that compensates the perturbations using high-gain feedback. We analyse the resulting closed-loop system and discuss its relation to a standard flatness-based high-gain approach. In particular we analyse the estimated region of attraction provided by a quadratic Lyapunov function. A case study illustrates the approach and quantifies the region of attraction obtained for each control approach. Using the initial condition of the model control loop as tuning parameter for the MFC design, provides that a significantly larger region of attraction can be guaranteed compared to a conventional single-loop high-gain design.

Authors:Pierluigi Francesco De Paola, Alessandro Borri, Fabrizio Dabbene, Pasquale Palumbo, Alessia Paglialonga
Title: Closed-loop robust control of long-term diabetes progression via physical activity management
Abstract:
Large clinical evidence acknowledges the crucial role played by physical activity in delaying the progression of type-2 diabetes. However, the literature lacks control approaches that leverage exercise for type-2 diabetes control and more in general lacks a quantitative assessment of medical guidelines on the recommended amount of physical activity to be performed, mainly due to the absence of mathematical models that suitably estimate its benefits on diabetes progression. In this work, in order to provide a control-theoretical formulation of the exercise, we design a feedback law in terms of recommended physical activity, following a model predictive control approach, based on a widespread compact diabetes progression model, suitably modified to properly account for the long-term effect of the exercise. Moreover we illustrate how the proposed approach proves to show reliable robustness properties with respect to initial conditions and parameter perturbations, which may be used to reflect inter-patient variability. Results are encouraging in view of the validation of the control law on comprehensive high-dimensional models of diabetes progression, with the aim of translating the prediction of the controller into reasonable recommendations and to quantitatively support medical decision-making.

Authors:Julio C. Sanchez, Rafael Vazquez, James D. Biggs, Franco Bernelli-Zazzera
Title: Orbit-Attitude Predictive Control in the Vicinity of Asteroids with In Situ Gravity Estimation
Abstract:
This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are provided by star trackers and gyroscopes. The asteroid gravity field inhomogeneities are assumed to be unknown a priori. The state and gravity model parameters are estimated simultaneously using an unscented Kalman filter. The proposed gravity model identification enables the application of a learning-based predictive control methodology. The predictive control allows for a high degree of accuracy because the predicted model is progressively identified in situ. Consequently, the tracking errors decrease over time as the model accuracy increases. Finally, a constellation mission concept is analyzed in order to speed up the model identification process. Numerical results are shown and discussed.

Authors:Yongwei Zhang, Shuli Lv, Kairong Liu, Quanyi Liang, Quan Quan, Zhikun She
Title: Navigating Robot Swarm Through a Virtual Tube with Flow-Adaptive Distribution Control
Abstract:
With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions with obstacles, the concept of virtual tubes has been introduced to define safe and navigable regions. However, current control methods in virtual tubes face the congestion issues, particularly in narrow ones with low throughput. To address these challenges, we first propose a novel control method that combines a modified artificial potential field (APF) for swarm navigation and density feedback control for distribution regulation. Then we generate a global velocity field that not only ensures collision-free navigation but also achieves locally input-to-state stability (LISS) for density tracking. Finally, numerical simulations and realistic applications validate the effectiveness and advantages of the proposed method in navigating robot swarms through narrow virtual tubes.

Authors:Jiazheng Chen, Wanchun Liu
Title: Goal-oriented Transmission Scheduling: Structure-guided DRL with a Unified Dual On-policy and Off-policy Approach
Abstract:
Goal-oriented communications prioritize application-driven objectives over data accuracy, enabling intelligent next-generation wireless systems. Efficient scheduling in multi-device, multi-channel systems poses significant challenges due to high-dimensional state and action spaces. We address these challenges by deriving key structural properties of the optimal solution to the goal-oriented scheduling problem, incorporating Age of Information (AoI) and channel states. Specifically, we establish the monotonicity of the optimal state value function (a measure of long-term system performance) w.r.t. channel states and prove its asymptotic convexity w.r.t. AoI states. Additionally, we derive the monotonicity of the optimal policy w.r.t. channel states, advancing the theoretical framework for optimal scheduling. Leveraging these insights, we propose the structure-guided unified dual on-off policy DRL (SUDO-DRL), a hybrid algorithm that combines the stability of on-policy training with the sample efficiency of off-policy methods. Through a novel structural property evaluation framework, SUDO-DRL enables effective and scalable training, addressing the complexities of large-scale systems. Numerical results show SUDO-DRL improves system performance by up to 45% and reduces convergence time by 40% compared to state-of-the-art methods. It also effectively handles scheduling in much larger systems, where off-policy DRL fails and on-policy benchmarks exhibit significant performance loss, demonstrating its scalability and efficacy in goal-oriented communications.

Authors:Fateme Salehi, Aamir Mahmood, Sinem Coleri, Mikael Gidlund
Title: Ultra-High Reliability by Predictive Interference Management Using Extreme Value Theory
Abstract:
Ultra-reliable low-latency communications (URLLC) require innovative approaches to modeling channel and interference dynamics, extending beyond traditional average estimates to encompass entire statistical distributions, including rare and extreme events that challenge achieving ultra-reliability performance regions. In this paper, we propose a risk-sensitive approach based on extreme value theory (EVT) to predict the signal-to-interference-plus-noise ratio (SINR) for efficient resource allocation in URLLC systems. We employ EVT to estimate the statistics of rare and extreme interference values, and kernel density estimation (KDE) to model the distribution of non-extreme events. Using a mixture model, we develop an interference prediction algorithm based on quantile prediction, introducing a confidence level parameter to balance reliability and resource usage. While accounting for the risk sensitivity of interference estimates, the prediction outcome is then used for appropriate resource allocation of a URLLC transmission under link outage constraints. Simulation results demonstrate that the proposed method outperforms the state-of-the-art first-order discrete-time Markov chain (DTMC) approach by reducing outage rates up to 100-fold, achieving target outage probabilities as low as \(10^{-7}\). Simultaneously, it minimizes radio resource usage \(\simnot15 \%\) compared to DTMC, while remaining only \(\simnot20 \%\) above the optimal case with perfect interference knowledge, resulting in significantly higher prediction accuracy. Additionally, the method is sample-efficient, able to predict interference effectively with minimal training data.

Authors:David Stenger, Dominik Scheurenberg, Heike Vallery, Sebastian Trimpe
Title: Early Stopping Bayesian Optimization for Controller Tuning
Abstract:
Manual tuning of performance-critical controller parameters can be tedious and sub-optimal. Bayesian Optimization (BO) is an increasingly popular practical alternative to automatically optimize controller parameters from few experiments. Standard BO practice is to evaluate the closed-loop performance of parameters proposed during optimization on an episode with a fixed length. However, fixed-length episodes can be wasteful. For example, continuing an episode where already the start shows undesirable behavior such as strong oscillations seems pointless. Therefore, we propose a BO method that stops an episode early if suboptimality becomes apparent before an episode is completed. Such early stopping results in partial observations of the controller's performance, which cannot directly be included in standard BO. We propose three heuristics to facilitate partially observed episodes in BO. Through five numerical and one hardware experiment, we demonstrate that early stopping BO can substantially reduce the time needed for optimization.

Authors:Tobias Thoma, Paul Kotyczka
Title: Optimal Trajectory Control of Geometrically Exact Strings with Space-Time Finite Elements
Abstract:
In this contribution, we present a variational space-time formulation which generates an optimal feed-forward controller for geometrically exact strings. More concretely, the optimization problem is solved with an indirect approach, and the space-time finite element method translates the problem to a set of algebraic equations. Thereby, only the positional field and the corresponding adjoint variable field are approximated by continuous shape functions, which makes the discretization of a velocity field unnecessary. In addition, the variational formulation can be solved using commercial or open source finite element packages. The entire approach can also be interpreted as a multiple-shooting method for solving the optimality conditions based on the semi-discrete problem. The performance of our approach is demonstrated by a numerical test.

Authors:Julio C. Sanchez, Christophe Louembet, Francisco Gavilan, Rafael Vazquez
Title: Event-Based Impulsive Control for Spacecraft Rendezvous Hovering Phases
Abstract:
This work presents an event-triggered controller for spacecraft rendezvous hovering phases. The goal is to maintain the chaser within a bounded region with respect to the target. The main assumption is that the chaser vehicle has impulsive thrusters. These are assumed to be orientable at any direction and are constrained by dead-zone and saturation bounds. The event-based controller relies on trigger rules deciding when a suitable control law is applied. The local control law consists on a single impulse; therefore the trigger rules design is based on the instantaneous reachability to the admissible set. The final outcome is a very efficient algorithm from both computational burden and footprint perspectives. Because the proposed methodology is based on a single impulse control, the controller invariance is local and assessed through impulsive systems theory. Finally, numerical results are shown and discussed.

Authors:Julio C. Sanchez, Francisco Gavilan, Rafael Vazquez
Title: Chance-constrained Model Predictive Control for Near Rectilinear Halo Orbit spacecraft rendezvous
Abstract:
This work presents a robust Model Predictive Controller (MPC) to solve the problem of spacecraft rendezvous in the context of the restricted three-body problem (R3BP) as will be required to dock with space stations in cislunar space. The employed methodology is both valid for chemical and electric thrusters. By exploiting the state transition matrix and using a chance-constrained approach, the robust MPC assures constraints satisfaction under the presence of disturbances in a probabilistic sense. The perturbations parameters are computed on-line using a disturbance estimator. The robust controller is tested for a rendezvous scenario with a target placed in an Earth-Moon Near-Rectilinear Halo Orbit. Numerical results are shown and discussed.

Authors:Julio C. Sanchez, Francisco Gavilan, Rafael Vazquez, Christophe Louembet
Title: A flatness-based predictive controller for six-degrees of freedom spacecraft rendezvous
Abstract:
This work presents a closed-loop guidance algorithm for six-degrees of freedom spacecraft rendezvous with a passive target flying in an eccentric orbit. The main assumption is that the chaser vehicle has an attitude control system, based on reaction wheels, providing the necessary torque to change its orientation whereas the number of thrusters is arbitrary. The goal is to design fuel optimal maneuvers while satisfying operational constraints and rejecting disturbances. The proposed method is as follows; first, the coupled translational and angular dynamics are transformed to equivalent algebraic relations using the relative translational states transition matrix and the attitude flatness property. Then, a direct transcription method, based on B-splines parameterization and discretization of time continuous constraints, is developed to obtain a tractable static program. Finally, a Model Predictive Controller, based on linearization around the previously computed solution, is considered to handle disturbances. Numerical results are shown and discussed.

Authors:Shaojie Zhang, Ozgur B. Akan
Title: Ion Transmitter for Molecular Communication
Abstract:
Molecular communication (MC) is an emerging paradigm that takes inspiration from biological processes, enabling communication at the nanoscale and facilitating the development of the Internet of Bio-Nano Things (IoBNT). Traditional models of MC often rely on idealized assumptions that overlook practical challenges related to noise and signal behavior. This paper proposes and evaluates the first physical MC ion transmitter (ITX) using an ion exchange membrane. The circuit network model is used to simulate ion transport and analyze both transient and steady-state behavior. This analysis includes the effects of noise sources such as thermal and shot noise on signal integrity and SNR. The main contributions of this paper are to demonstrate how a practical MC ITX can produce a realistic waveform and to highlight future research challenges associated with a physical membrane-based ITX.

Authors:Cassia Nunes Almeida, Arun Narayanan, Hafiz Majid Hussain, Pedro H. J. Nardelli
Title: Pricing Mechanisms versus Non-Pricing Mechanisms for Demand Side Management in Microgrids
Abstract:
In this paper, we compare pricing and non-pricing mechanisms for implementing demand-side management (DSM) mechanisms in a neighborhood in Helsinki, Finland. We compare load steering based on peak load-reduction using the profile steering method, and load steering based on market price signals, in terms of peak loads, losses, and device profiles. We found that there are significant differences between the two methods; the peak-load reduction control strategies contribute to reducing peak power and improving power flow stability, while strategies primarily based on prices result in higher peaks and increased grid losses. Our results highlight the need to potentially move away from market-price-based DSM to DSM incentivization and control strategies that are based on peak load reductions and other system requirements.

Authors:Ruilin Yu, Cheng Wang, Yuxin Zhang, Fuming Zhao
Title: Decomposition and Quantification of SOTIF Requirements for Perception Systems of Autonomous Vehicles
Abstract:
Ensuring the safety of autonomous vehicles (AVs) is paramount before they can be introduced to the market. More specifically, securing the Safety of the Intended Functionality (SOTIF) poses a notable challenge; while ISO 21448 outlines numerous activities to refine the performance of AVs, it offers minimal quantitative guidance. This paper endeavors to decompose the acceptance criterion into quantitative perception requirements, aiming to furnish developers with requirements that are not only understandable but also actionable. This paper introduces a risk decomposition methodology to derive SOTIF requirements for perception. More explicitly, for subsystemlevel safety requirements, we define a collision severity model to establish requirements for state uncertainty and present a Bayesian model to discern requirements for existence uncertainty. For component-level safety requirements, we proposed a decomposition method based on the Shapley value. Our findings indicate that these methods can effectively decompose the system-level safety requirements into quantitative perception requirements, potentially facilitating the safety verification of various AV components.

Authors:Elis Stefansson, Karl H. Johansson
Title: Efficient Planning in Large-scale Systems Using Hierarchical Finite State Machines
Abstract:
We consider optimal planning in a large-scale system formalised as a hierarchical finite state machine (HFSM). A planning algorithm is proposed computing an optimal plan between any two states in the HFSM, consisting of two steps: A pre-processing step that computes optimal exit costs of the machines in the HFSM, with time complexity scaling with the number of machines; and a query step that efficiently computes an optimal plan by removing irrelevant subtrees of the HFSM using the optimal exit costs. The algorithm is reconfigurable in the sense that changes in the HFSM are handled with ease, where the pre-processing step recomputes only the optimal exit costs affected by the change. The algorithm can also exploit compact representations that groups together identical machines in the HFSM, where the algorithm only needs to compute the optimal exit costs for one of the identical machines within each group, thereby avoid unnecessary recomputations. We validate the algorithm on large systems with millions of states and a robotic application. It is shown that our approach outperforms Dijkstra's algorithm, Bidirectional Dijkstra and Contraction Hierarchies.

Authors:Patrick Schmidt, Pavel Osinenko, Stefan Streif
Title: Some remarks on practical stabilization via CLF-based control under measurement noise
Abstract:
Practical stabilization of input-affine systems in the presence of measurement errors and input constraints is considered in this brief note. Assuming that a Lyapunov function and a stabilizing control exist for an input-affine system, the required measurement accuracy at each point of the state space is computed. This is done via the Lyapunov function-based decay condition, which describes along with the input constraints a set of admissible controls. Afterwards, the measurement time points are computed based on the system dynamics. It is shown that between these self-triggered measurement time points, the system evolves and converges into the so-called target ball, i.e. a vicinity of the origin, where it remains. Furthermore, it is shown that the approach ensures the existence of a control law, which is admissible for all possible states and it introduces a connection between measurement time points, measurement accuracy, target ball, and decay. The results of the approach are shown in three examples.

Authors:Shuvangkar Chandra Das, Lokesh Saravana, Le Minh Vu, Manh Bui, Tuyen Vu, Jianhua Zhang, Thomas Ortmeyer
Title: A Survey on IBR Penetrated Power System Stability Analysis Using Frequency Scanning
Abstract:
The rapid rise in inverter-based renewable resources has heightened concerns over subsynchronous resonance and oscillations, thereby challenging grid stability. This paper reviews approaches to identify and mitigate these issues, focusing on frequency scanning methods for stability assessment. It categorizes white-, black-, and gray-box modeling techniques, compares positive-sequence, dq-frame, and alpha-beta domain scanning, and examines perturbation shapes like step, ramp, and chirp. A comparative study highlights their strengths, limitations, and suitability for specific scenarios. By summarizing past events and surveying available tools, this work guides operators and researchers toward more effective, reliable stability analysis methods in grids with high renewable penetration.

Authors:Peng Wang, Xi Zhang, Luis Badesa
Title: Analyzing the Role of the DSO in Electricity Trading of VPPs via a Stackelberg Game Model
Abstract:
The increasing penetration of distributed energy resources has sparked interests in participating in power markets. Here, we consider two settings where Virtual Power Plants (VPPs) with some flexible resources participate in the electricity trading, either directly in the wholesale electricity market, or interfaced by the Distribution System Operator (DSO) who is the transaction organizer. In order to study the role of DSO as a stakeholder, a Stackelberg game is represented via a bi-level model: the DSO maximizes profits at the upper level, while the VPPs minimize operating costs at the lower level. To solve this problem, the Karush-Kuhn-Tucker conditions of lower level is deduced to achieve a single-level problem. The results show that the role of the DSO as an intermediary agent leads to a decrease in operating costs of the VPPs by organizing lower-level trading, while making a profit for itself. However, this result comes with interests loss of the wholesale market, implying that stakeholders in the market need to abide by regulatory constraints.

Authors:Shahab Ataei, Dipankar Maity, Debdipta Goswami
Title: Koopman Meets Limited Bandwidth: Effect of Quantization on Data-Driven Linear Prediction and Control of Nonlinear Systems
Abstract:
Koopman-based lifted linear identification have been widely used for data-driven prediction and model predictive control (MPC) of nonlinear systems. It has found applications in flow-control, soft robotics, and unmanned aerial vehicles (UAV). For autonomous systems, this system identification method works by embedding the nonlinear system in a higher-dimensional linear space and computing a finite-dimensional approximation of the corresponding Koopman operator with the Extended Dynamic Mode Decomposition (EDMD) algorithm. EDMD is a data-driven algorithm that estimates an approximate linear system by lifting the state data-snapshots via nonlinear dictionary functions. For control systems, EDMD is further modified to utilize both state and control data-snapshots to estimate a lifted linear predictor with control input. This article investigates how the estimation process is affected when the data is quantized. Specifically, we examine the fundamental connection between estimates of the linear predictor matrices obtained from unquantized data and those from quantized data via modified EDMD. Furthermore, using the law of large numbers, we demonstrate that, under a large data regime, the quantized estimate can be considered a regularized version of the unquantized estimate. We also explore the relationship between the two estimates in the finite data regime. We further analyze the effect of nonlinear lifting functions on this regularization due to quantization. The theory is validated through repeated numerical experiments conducted on several control systems. The effect of quantization on the MPC performance is also demonstrated.

Authors:Jihoon Suh, Michael Hibbard, Kaoru Teranishi, Takashi Tanaka, Moriba Jah, Maruthi Akella
Title: Encrypted Computation of Collision Probability for Secure Satellite Conjunction Analysis
Abstract:
The computation of collision probability ($\mathcal{P}_c$) is crucial for space environmentalism and sustainability by providing decision-making knowledge that can prevent collisions between anthropogenic space objects. However, the accuracy and precision of $\mathcal{P}_c$ computations is often compromised by limitations in computational resources and data availability. While significant improvements have been made in the computational aspects, the rising concerns regarding the privacy of collaborative data sharing can be a major limiting factor in the future conjunction analysis and risk assessment, especially as the space environment grows increasingly privatized, competitive, and fraught with conflicting strategic interests. This paper argues that the importance of privacy measures in space situational awareness (SSA) is underappreciated, and regulatory and compliance measures currently in place are not sufficient by themselves, presenting a significant gap. To address this gap, we introduce a novel encrypted architecture that leverages advanced cryptographic techniques, including homomorphic encryption (HE) and multi-party computation (MPC), to safeguard the privacy of entities computing space sustainability metrics, inter alia, $\mathcal{P}_c$. Our proposed protocol, Encrypted $\mathcal{P}_c$, integrates the Monte Carlo estimation algorithm with cryptographic solutions, enabling secure collision probability computation without exposing sensitive or proprietary information. This research advances secure conjunction analysis by developing a secure MPC protocol for $\mathcal{P}_c$ computation and highlights the need for innovative protocols to ensure a more secure and cooperative SSA landscape.

Authors:Atonu Ghosh, Sharath Chandan, Sudip Misra
Title: Implementing LoRa MIMO System for Internet of Things
Abstract:
Bandwidth constraints limit LoRa implementations. Contemporary IoT applications require higher throughput than that provided by LoRa. This work introduces a LoRa Multiple Input Multiple Output (MIMO) system and a spatial multiplexing algorithm to address LoRa's bandwidth limitation. The transceivers in the proposed approach modulate the signals on distinct frequencies of the same LoRa band. A Frequency Division Multiplexing (FDM) method is used at the transmitters to provide a wider MIMO channel. Unlike conventional Orthogonal Frequency Division Multiplexing (OFDM) techniques, this work exploits the orthogonality of the LoRa signals facilitated by its proprietary Chirp Spread Spectrum (CSS) modulation to perform an OFDM in the proposed LoRa MIMO system. By varying the Spreading Factor (SF) and bandwidth of LoRa signals, orthogonal signals can transmit on the same frequency irrespective of the FDM. Even though the channel correlation is minimal for different spreading factors and bandwidths, different Carrier Frequencies (CF) ensure the signals do not overlap and provide additional degrees of freedom. This work assesses the proposed model's performance and conducts an extensive analysis to provide an overview of resources consumed by the proposed system. Finally, this work provides the detailed results of a thorough evaluation of the model on test hardware.

Authors:Yanru Guo, Ruiwei Jiang, Siqian Shen
Title: Optimization with Multi-sourced Reference Information and Unknown Trust: A Distributionally Robust Approach
Abstract:
In problems that involve input parameter information gathered from multiple data sources with varying reliability, incorporating users' trust about different sources in decision-optimization models can potentially improve solution performance and reliability. In this work, we propose a novel multi-reference distributionally robust optimization (MR-DRO) framework, where the model inputs are uncertain and their probability distributions can be statistically inferred from multiple data sources. Via nonparametric data fusion, we construct a Wasserstein ambiguity set to minimize the worst-case expected value of a stochastic objective function, accounting for both uncertainty and unknown reliability of information sources. We reformulate the MR-DRO model as a linear program given linear objective and constraints in the original problem. We also incorporate a dynamic trust update mechanism that adjusts the trust for each source based on its performance over time. In addition, we introduce the concept of probability dominance to identify sources with dominant trust. Via solving instances of resource allocation and portfolio optimization, we demonstrate the effectiveness of the trust-informed MR-DRO approach compared to traditional optimization frameworks relying on a single data source. Our results highlight the significance of integrating (dynamic) user trust in decision making under uncertainty, particularly when given diverse and potentially conflicting input data.

Authors:Xianbang Chen, Yikui Liu, Neng Fan, Lei Wu
Title: DRL-Based Medium-Term Planning of Renewable-Integrated Self-Scheduling Cascaded Hydropower to Guide Wholesale Market Participation
Abstract:
For self-scheduling cascaded hydropower (S-CHP) facilities, medium-term planning is a critical step that coordinates water availability over the medium-term horizon, providing water usage guidance for their short-term operations in wholesale market participation. Typically, medium-term planning strategies (e.g., reservoir storage targets at the end of each short-term period) are determined by either optimization methods or rules of thumb. However, with the integration of variable renewable energy sources (VRESs), optimization-based methods suffer from deviations between the anticipated and actual reservoir storage, while rules of thumb could be financially conservative, thereby compromising short-term operating profitability in wholesale market participation. This paper presents a deep reinforcement learning (DRL)-based framework to derive medium-term planning policies for VRES-integrated S-CHPs (VS-CHPs), which can leverage contextual information underneath individual short-term periods and train planning policies by their induced short-term operating profits in wholesale market participation. The proposed DRL-based framework offers two practical merits. First, its planning strategies consider both seasonal requirements of reservoir storage and needs for short-term operating profits. Second, it adopts a multi-parametric programming-based strategy to accelerate the expensive training process associated with multi-step short-term operations. Finally, the DRL-based framework is evaluated on a real-world VS-CHP, demonstrating its advantages over current practice.

Authors:Mazen Elsaadany, Mads R. Almassalkhi, Simon H. Tindemans
Title: Linear Aggregate Model for Realizable Dispatch of Homogeneous Energy Storage
Abstract:
To optimize the dispatch of batteries, a model is required that can predict the state of energy (SOE) trajectory for a chosen open-loop power schedule to ensure admissibility (i.e., that schedule can be realized). However, battery dispatch optimization is inherently challenging when batteries cannot simultaneously charge and discharge, which begets a non-convex complementarity constraint. In this paper, we develop a novel composition of energy storage elements that can charge or discharge independently and provide a sufficient linear energy storage model of the composite battery. This permits convex optimization of the composite battery dispatch while ensuring the admissibility of the resulting (aggregated) power schedule and its disaggregation to the individual elements.

Authors:Hendrik Alsmeier, Lukas Theiner, Anton Savchenko, Ali Mesbah, Rolf Findeisen
Title: Imitation Learning of MPC with Neural Networks: Error Guarantees and Sparsification
Abstract:
This paper presents a framework for bounding the approximation error in imitation model predictive controllers utilizing neural networks. Leveraging the Lipschitz properties of these neural networks, we derive a bound that guides dataset design to ensure the approximation error remains at chosen limits. We discuss how this method can be used to design a stable neural network controller with performance guarantees employing existing robust model predictive control approaches for data generation. Additionally, we introduce a training adjustment, which is based on the sensitivities of the optimization problem and reduces dataset density requirements based on the derived bounds. We verify that the proposed augmentation results in improvements to the network's predictive capabilities and a reduction of the Lipschitz constant. Moreover, on a simulated inverted pendulum problem, we show that the approach results in a closer match of the closed-loop behavior between the imitation and the original model predictive controller.

Authors:Yoshiyuki Yajima, Hemant Prasad, Daisuke Ikefuji, Takemasa Suzuki, Shin Tominaga, Hitoshi Sakurai, Manabu Otani
Title: A Novel Approach to Real-Time Short-Term Traffic Prediction based on Distributed Fiber-Optic Sensing and Data Assimilation with a Stochastic Cell-Automata Model
Abstract:
This paper demonstrates real-time short-term traffic flow prediction through distributed fiber-optic sensing (DFOS) and data assimilation with a stochastic cell-automata-based traffic model. Traffic congestion on expressways is a severe issue. To alleviate its negative impacts, it is necessary to optimize traffic flow prior to becoming serious congestion. For this purpose, real-time short-term traffic flow prediction is promising. However, conventional traffic monitoring apparatus used in prediction methods faces a technical issue due to the sparsity in traffic flow data. To overcome the issue for realizing real-time traffic prediction, this paper employs DFOS, which enables to obtain spatially continuous and real-time traffic flow data along the road without dead zones. Using mean velocities derived from DFOS data as a feature extraction, this paper proposes a real-time data assimilation method for the short-term prediction. As the theoretical model, the stochastic Nishinari-Fukui-Schadschneider model is adopted. Future traffic flow is simulated with the optimal values of model parameters estimated from observed mean velocities and the initial condition estimated as the latest microscopic traffic state. This concept is validated using two congestion scenarios obtained in Japanese expressways. The results show that the mean absolute error of the predicted mean velocities is 10-15 km/h in the prediction horizon of 30 minutes. Furthermore, the prediction error in congestion length and travel time decreases by 40-84% depending on congestion scenarios when compared with conventional methods with traffic counters. This paper concludes that real-time data assimilation using DFOS enables an accurate short-term traffic prediction.

Authors:Pavel Rytir, Ales Wodecki, Martin Malachov, Pavel Baxant, Premysl Vorac, Miloslava Chladova, Jakub Marecek
Title: Power System Steady-State Estimation Revisited
Abstract:
In power system steady-state estimation (PSSE), one needs to consider (1) the need for robust statistics, (2) the nonconvex transmission constraints, (3) the fast-varying nature of the inputs, and the corresponding need to track optimal trajectories as closely as possible. In combination, these challenges have not been considered, yet. In this paper, we address all three challenges. The need for robustness (1) is addressed by using an approach based on the so-called Huber model. The non-convexity (2) of the problem, which results in first order methods failing to find global minima, is dealt with by applying global methods. One of these methods is based on a mixed integer quadratic formulation, which provides results of several orders of magnitude better than conventional gradient descent. Lastly, the trajectory tracking (3) is discussed by showing under which conditions the trajectory tracking of the SDP relaxations has meaning.

Authors:Mazen Elsaadany, Muhammad Hamza Ali, Amritanshu Pandey, Mads R. Almassalkhi
Title: AC-aware Optimization Framework for Under-Frequency Load Shedding
Abstract:
Under-frequency load shedding (UFLS) prevents system collapse during large disturbances. Increased penetration of distributed energy resources (DERs) and reduced system inertia makes it challenging to design a static UFLS scheme, which relies on preset frequency thresholds and load shed fractions to meet design criteria across all possible operating conditions. Due to non-linearity and traceability issues, previous adaptive UFLS schemes use simplified tractable frequency models that overlook AC network effects such as voltage-dependent load/generation. This paper leverages model order reduction techniques to obtain a higher fidelity low-order model of system frequency dynamics that captures AC network effects while incorporating turbine governor action and their associated limits. The model is then used in a new AC-aware predictive optimization framework to adapt UFLS setpoints periodically based on current operating conditions while minimizing load shed. Validated on a 1,648-bus system with PSS/E simulations, the proposed method meets design criteria under various operating conditions and disturbance scenarios. Furthermore, the framework outperforms conventional static UFLS schemes and adaptive UFLS schemes based on simplified dynamic models.

Authors:Weilun Wang, Zhentong Shao, Yikui Liu, Brent Eldridge, Abhishek Somani, Jesse T. Holzer, Lei Wu
Title: Multi-Transmission Node DER Aggregation: Chance-Constrained Unit Commitment with Bounded Hetero-Dimensional Mixture Model for Uncertain Distribution Factors
Abstract:
To facilitate the integration of distributed energy resources (DERs) into the wholesale market while maintaining the tractability of associated market operation tools such as unit commitment (UC), existing DER aggregation (DERA) studies usually consider that each DERA is presented on a single node of the transmission network. Nevertheless, the increasing scale and geographical distribution of DERs spur the emergence of DERAs covering multiple transmission nodes, posing new challenges in modeling such multi-transmission-node DERAs (M-DERAs). Indeed, assessing the aggregated impact of an M-DERA on power flows is a non-trivial task, because the sensitivities of each transmission line to DERs at different transmission nodes are not identical. Inspired by the distribution factor (DF) based shift factor (SF) aggregation strategy in industry practice, this paper proposes a novel DF-based chance-constrained UC (CCUC) model to determine system optimal operation plans with M-DERAs. DFs, treated as uncertain parameters to describe possible responses of DERs against aggregated dispatch instructions from regional transmission organizations, are modeled via a bounded hetero-dimensional mixture model (BHMM) by leveraging historical DF records distributed on multiple hyperplanes in a bounded space. With this, power flow limits are modeled as chance constraints in CCUC, which is reformulated into a scenarios-based stochastic form and solved by Benders decomposition. The proposed method is tested on an IEEE 24-bus system to illustrate its effectiveness in managing M-DERA integration while ensuring operational economics and mitigating the overloading of transmission lines.

Authors:Azra Begzadić, Nikhil Uday Shinde, Sander Tonkens, Dylan Hirsch, Kaleb Ugalde, Michael C. Yip, Jorge Cortés, Sylvia Herbert
Title: Back to Base: Towards Hands-Off Learning via Safe Resets with Reach-Avoid Safety Filters
Abstract:
Designing controllers that accomplish tasks while guaranteeing safety constraints remains a significant challenge. We often want an agent to perform well in a nominal task, such as environment exploration, while ensuring it can avoid unsafe states and return to a desired target by a specific time. In particular we are motivated by the setting of safe, efficient, hands-off training for reinforcement learning in the real world. By enabling a robot to safely and autonomously reset to a desired region (e.g., charging stations) without human intervention, we can enhance efficiency and facilitate training. Safety filters, such as those based on control barrier functions, decouple safety from nominal control objectives and rigorously guarantee safety. Despite their success, constructing these functions for general nonlinear systems with control constraints and system uncertainties remains an open problem. This paper introduces a safety filter obtained from the value function associated with the reach-avoid problem. The proposed safety filter minimally modifies the nominal controller while avoiding unsafe regions and guiding the system back to the desired target set. By preserving policy performance while allowing safe resetting, we enable efficient hands-off reinforcement learning and advance the feasibility of safe training for real world robots. We demonstrate our approach using a modified version of soft actor-critic to safely train a swing-up task on a modified cartpole stabilization problem.

Authors:Atonu Ghosh, Sudip Misra
Title: LoRaConnect: Unlocking HTTP Potential on LoRa Backbones for Remote Areas and Ad-Hoc Networks
Abstract:
Minimal infrastructure requirements make LoRa suitable for service delivery in remote areas. Additionally, web applications have become a de-facto standard for modern service delivery. However, Long Range (LoRa) fails to enable HTTP access due to its limited bandwidth, payload size limitations, and high collisions in multi-user setups. We propose LoRaConnect to enable HTTP access over LoRa. The LoRaWeb hardware tethers a WiFi hotspot to which client devices connect and access HTTP resources over LoRa backhaul. It implements caching and synchronization mechanisms to address LoRa's aforementioned limitations. It also implements a message-slicing method in the application layer to overcome LoRa's payload limitations. We evaluate the proposed system using actual hardware in three experimental setups to assess the baseline performance, ideal scenario, and practical application scenario with Frequency Hopping Spread Spectrum (FHSS). Additionally, it implements a ping operation to demonstrate Internet capability and extensible nature. LoRaWeb achieves an average throughput of 1.18 KB/S approximately, with an access delay of only 1.3 S approximately for a 1.5KB webpage in the baseline setup. Moreover, it achieves an access delay of approximately 6.7 S for a 10KB webpage in the ideal case and an average end-to-end delay of only 612 ms approximately in the FHSS-based setup. Comparison with benchmark suggests multi-fold improvement.

Authors:Emre Yildirim, Tansel Yucelen, Arman Sargolzaei
Title: Orchestrated Couplings: A Time-Varying Edge Weight Framework for Efficient Event-Triggered Multiagent Networks
Abstract:
In this paper, we focus on reducing node-to-node information exchange in distributed control of multiagent networks while improving the overall network performance. Specifically, we consider a multiagent network that is composed of leader and follower nodes over a time-varying, connected, and undirected graph. In contrast to existing works on the event-triggered distributed control literature, we propose a time-varying edge weight event-triggered control framework. In this framework, each node dynamically adjusts its edge weights by increasing them during the transient (active) phase and decreasing them during the steady-state (idle) phase of the multiagent network. This not only reduces the number of events in the network but also improves the performance (i.e., convergence speed and control effort) of the overall multiagent network. System-theoretically, we first prove the closed-loop stability of the proposed event-triggered distributed control framework, where we then show that this framework does not exhibit a Zeno behavior. Finally, illustrative numerical examples are provided to demonstrate the efficacy of this framework.

Authors:Sahel Vahedi Noori, Maryam Babazadeh
Title: A Data-Ensemble-Based Approach for Sample-Efficient LQ Control of Linear Time-Varying Systems
Abstract:
This paper presents a sample-efficient, data-driven control framework for finite-horizon linear quadratic (LQ) control of linear time-varying (LTV) systems. In contrast to the time-invariant case, the time-varying LQ problem involves a differential Riccati equation (DRE) with time-dependent parameters and terminal boundary constraints. We formulate the LQ problem as a nonconvex optimization problem and conduct a rigorous analysis of its dual structure. By exploiting the inherent convexity of the dual problem and analyzing the KKT conditions, we derive an explicit relationship between the optimal dual solution and the parameters of the associated Q-function in time-varying case. This theoretical insight supports the development of a novel, sample-efficient, non-iterative semidefinite programming (SDP) algorithm that directly computes the optimal sequence of feedback gains from an ensemble of input-state data sequences without model identification. The resulting convex, data-dependent framework provides global optimality guarantees for completely unknown LTV systems. As a special case, the method also applies to finite-horizon LQ control of linear time-invariant (LTI) systems. In this setting, a single input-state trajectory suffices to identify the optimal LQ feedback policy, improving significantly over existing Q-learning approaches for finite horizon LTI systems that typically require data from multiple episodes. The approach provides a new optimization-based perspective on Q-learning in time-varying settings and contributes to the broader understanding of data-driven control in non-stationary environments. Simulation results show that, compared to recent methods, the proposed approach achieves superior optimality and sample efficiency on LTV systems, and indicates potential for stabilizing and optimal control of nonlinear systems.

Authors:Max Grobbel, Tristan Schneider, Sören Hohmann
Title: Towards Universal Shared Control in Teleoperation Without Haptic Feedback
Abstract:
Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories while actively suppressing liquid slosh in a glass. The controller maintains 13 ms average planning latency, confirming real-time performance and motivating the augmentation of this teleoperation approach to further objectives.

Authors:Kesav Kaza, Ramachandran Anantharaman, Rahul Meshram
Title: Hierarchical Decentralized Stochastic Control for Cyber-Physical Systems
Abstract:
This paper introduces a two-timescale hierarchical decentralized control architecture for Cyber-Physical Systems (CPS). The system consists of a global controller (GC), and N local controllers (LCs). The GC operates at a slower timescale, imposing budget constraints on the actions of LCs, which function at a faster timescale. Applications can be found in energy grid planning, wildfire management, and other decentralized resource allocation problems. We propose and analyze two optimization frameworks for this setting: COpt and FOpt. In COpt, both GC and LCs together optimize infinite-horizon discounted rewards, while in FOpt the LCs optimize finite-horizon episodic rewards, and the GC optimizes infinite-horizon rewards. Although both frameworks share identical reward functions, their differing horizons can lead to different optimal policies. In particular, FOpt grants greater autonomy to LCs by allowing their policies to be determined only by local objectives, unlike COpt. To our knowledge, these frameworks have not been studied in the literature. We establish the formulations, prove the existence of optimal policies, and prove the convergence of their value iteration algorithms. We further show that COpt always achieves a higher value function than FOpt and derive explicit bounds on their difference. Finally, we establish a set of sufficient structural conditions under which the two frameworks become equivalent.

Authors:Shengyuan Huang, Xiaoguang Yang, Zhigang Cao, Wenjun Mei
Title: Linear-Quadratic Discrete-Time Dynamic Games with Unknown Dynamics
Abstract:
Considering linear-quadratic discrete-time games with unknown input/output/state (i/o/s) dynamics and state, we provide necessary and sufficient conditions for the existence and uniqueness of feedback Nash equilibria (FNE) in the finite-horizon game, based entirely on offline input/output data. We prove that the finite-horizon unknown-dynamics game and its corresponding known-dynamics game have the same FNEs, and provide detailed relationships between their respective FNE matrices. To simplify the computation of FNEs, we provide an invertibility condition and a corresponding algorithm that computes one FNE by solving a finite number of linear equation systems using offline data. For the infinite-horizon unknown-dynamics game, limited offline data restricts players to computing optimal strategies only over a finite horizon. We prove that the finite-horizon strategy ``watching $T$ steps into the future and moving one step now,'' which is commonly used in classical optimal control, exhibits convergence in both the FNE matrices and the total costs in the infinite-horizon unknown-dynamics game, and further provide an analysis of the convergence rate of the total cost. The corresponding algorithm for the infinite-horizon game is proposed and its efficacy is demonstrated through a non-scalar numerical example.

Authors:Ruixiao Yang, Gulai Shen, Ahmed S. Alahmed, Chuchu Fan
Title: Joint Scheduling of DER under Demand Charges: Structure and Approximation
Abstract:
We study the joint scheduling of behind-the-meter distributed energy resources (DERs), including flexible loads, renewable generation, and battery energy storage systems, under net energy metering frameworks with demand charges. The problem is formulated as a stochastic dynamic program aimed at maximizing expected operational surplus while accounting for renewable generation uncertainty. We analytically characterize the structure of the optimal control policy and show that it admits a threshold-based form. However, due to the strong temporal coupling of the storage and demand charge constraints, the number of conditional branches in the policy scales combinatorially with the scheduling horizon, as it requires a look-ahead over future states. To overcome the high computational complexity in the general formulation, an efficient approximation algorithm is proposed, which searches for the peak demand under a mildly relaxed problem. We show that the algorithm scales linearly with the scheduling horizon. Extensive simulations using two open-source datasets validate the proposed algorithm and compare its performance against different DER control strategies, including a reinforcement learning-based one. Under varying storage and tariff parameters, the results show that the proposed algorithm outperforms various benchmarks in achieving a relatively small solution gap compared to the theoretical upper bound.

Authors:Jens Püttschneider, Simon Heilig, Asja Fischer, Timm Faulwasser
Title: Towards an Optimal Control Perspective of ResNet Training
Abstract:
We propose a training formulation for ResNets reflecting an optimal control problem that is applicable for standard architectures and general loss functions. We suggest bridging both worlds via penalizing intermediate outputs of hidden states corresponding to stage cost terms in optimal control. For standard ResNets, we obtain intermediate outputs by propagating the state through the subsequent skip connections and the output layer. We demonstrate that our training dynamic biases the weights of the unnecessary deeper residual layers to vanish. This indicates the potential for a theory-grounded layer pruning strategy.

Authors:Max Rose, Hannes Gernandt, Timm Faulwasser, Johannes Schiffer
Title: Exact Time-Varying Turnpikes for Dynamic Operation of District Heating Networks
Abstract:
District heating networks (DHNs) are crucial for decarbonizing the heating sector. Yet, their efficient and reliable operation requires the coordination of multiple heat producers and the consideration of future demands. Predictive and optimization-based control is commonly used to address this task, but existing results for DHNs do not account for time-varying problem aspects. Since the turnpike phenomenon can serve as a basis for model predictive control design and analysis, this paper examines its role in DHN optimization by analyzing the underlying optimal control problem with time-varying prices and demands. That is, we derive conditions for the existence of a unique time-varying singular arc, which constitutes the time varying turnpike, and we provide its closed-form expression. Additionally, we present converse turnpike results showing a exact time-varying case implies strict dissipativity of the optimal control problem. A numerical example illustrates our findings.

Authors:Alexander D. Kalian, Jaewook Lee, Stefan P. Johannesson, Lennart Otte, Christer Hogstrand, Miao Guo
Title: Fine-Tuning and Prompt Engineering of LLMs, for the Creation of Multi-Agent AI for Addressing Sustainable Protein Production Challenges
Abstract:
The global demand for sustainable protein sources has accelerated the need for intelligent tools that can rapidly process and synthesise domain-specific scientific knowledge. In this study, we present a proof-of-concept multi-agent Artificial Intelligence (AI) framework designed to support sustainable protein production research, with an initial focus on microbial protein sources. Our Retrieval-Augmented Generation (RAG)-oriented system consists of two GPT-based LLM agents: (1) a literature search agent that retrieves relevant scientific literature on microbial protein production for a specified microbial strain, and (2) an information extraction agent that processes the retrieved content to extract relevant biological and chemical information. Two parallel methodologies, fine-tuning and prompt engineering, were explored for agent optimisation. Both methods demonstrated effectiveness at improving the performance of the information extraction agent in terms of transformer-based cosine similarity scores between obtained and ideal outputs. Mean cosine similarity scores were increased by up to 25%, while universally reaching mean scores of $\geq 0.89$ against ideal output text. Fine-tuning overall improved the mean scores to a greater extent (consistently of $\geq 0.94$) compared to prompt engineering, although lower statistical uncertainties were observed with the latter approach. A user interface was developed and published for enabling the use of the multi-agent AI system, alongside preliminary exploration of additional chemical safety-based search capabilities

Authors:Praneeth Somisetty, Robert Griffin, Victor M. Baez, Miguel F. Arevalo-Castiblanco, Aaron T. Becker, Jason M. O'Kane
Title: Estimating Spatially-Dependent GPS Errors Using a Swarm of Robots
Abstract:
External factors, including urban canyons and adversarial interference, can lead to Global Positioning System (GPS) inaccuracies that vary as a function of the position in the environment. This study addresses the challenge of estimating a static, spatially-varying error function using a team of robots. We introduce a State Bias Estimation Algorithm (SBE) whose purpose is to estimate the GPS biases. The central idea is to use sensed estimates of the range and bearing to the other robots in the team to estimate changes in bias across the environment. A set of drones moves in a 2D environment, each sampling data from GPS, range, and bearing sensors. The biases calculated by the SBE at estimated positions are used to train a Gaussian Process Regression (GPR) model. We use a Sparse Gaussian process-based Informative Path Planning (IPP) algorithm that identifies high-value regions of the environment for data collection. The swarm plans paths that maximize information gain in each iteration, further refining their understanding of the environment's positional bias landscape. We evaluated SBE and IPP in simulation and compared the IPP methodology to an open-loop strategy.

Authors:Yulin Liu, Zhaojun Ruan, Libao Shi
Title: Resilience assessment framework for cyber-physical distribution power system based on coordinated cyber-physical attacks under dynamic game
Abstract:
Owing to the advanced communication networks and intelligent electronic devices, the cyber-physical distribution systems (CPDSs) possess the capability to perform flexible economic dispatch and achieve rapid self-healing from extreme events. Meanwhile, the deep integration of cyber and physical systems makes CPDS vulnerable to coordinated cyber-physical attacks. In this paper, a resilience assessment framework for the CPDS under coordinated cyber-physical attacks is proposed to investigate the impact of the coordinated attacks on load loss and service restoration in CPDS. First, a three-stage defender-attacker-defender dynamic game model considering fake base station (FBS) and physical attacks for CPDS is established, aiming at seeking the optimal defense resource deployment strategy to enhance the resilience of the CPDS. The physical attack is launched to cause faults on the power lines, and the FBS attack is employed to interrupt the service of wireless cellular network to hinder the self-healing process of the CPDS. The lognormal shadowing model and search theory are applied to quantitatively describe the process of the coordinated cyber-physical attacks. Further, the constructed three-stage dynamic game model is equivalently recast as a tri-level max-min-max optimization model, which is solved using column-and-constraint generation combined with enumeration method. Finally, the effectiveness of the proposed resilience assessment framework and solution strategy is demonstrated by conducting simulation analysis on the modified IEEE 33-node CPDS and a real-world 47-node CPDS in China.

Authors:Shengyuan Huang, Xiaoguang Yang, Yifen Mu, Wenjun Mei
Title: Finite-Horizon Strategy in Infinite-Horizon Linear-Quadratic Discrete-Time Dynamic Games
Abstract:
This paper explores a finite-horizon strategy, ``watching $T$ steps into the future and moving one step now,'' in an $N$-person infinite-horizon discrete-time linear-quadratic dynamic game. The game involves linear input/output/state dynamics and quadratic cost functions with heterogeneous discount factors. For the finite-horizon version, which forms the basis of the infinite-horizon game, we analyze the structure of the coupled generalized discrete Riccati difference equations related to the feedback Nash equilibrium (FNE) and derive a sufficient condition for the uniqueness of the finite-horizon FNE. Under this condition, the FNE can be efficiently computed via the proposed algorithm. In the infinite-horizon game, assume all players adopt this finite-horizon strategy. If the iterations of the coupled equations related to the FNE converge, and the invertibility and stability conditions hold, we prove the convergence of each player's total cost under the finite-horizon strategy, even when players use individual prediction horizons. Furthermore, we provide an explicit upper bound on the cost difference between the finite-horizon strategy and the infinite-horizon FNE associated with the limiting matrices, expressed via the distance between their feedback strategy matrices. This bound vanishes as $T$ tends to infinity, implying convergence to the infinite-horizon FNE cost. A non-scalar numerical example illustrates the convergence behavior.

Authors:Ashok Samrat R, Swati Singh, Shashi Ranjan Kumar
Title: Time-Constrained Interception of Seeker-Equipped Interceptors with Bounded Input
Abstract:
This paper presents a nonlinear guidance scheme designed to achieve precise interception of stationary targets at a pre-specified impact time. The proposed strategy essentially accounts for the constraints imposed by the interceptor's seeker field-of-view (FOV) and actuator limitations, which, if ignored, can degrade guidance performance. To address these challenges, the guidance law incorporates known actuator bounds directly into its design, thereby improving overall interceptor effectiveness. The proposed method utilizes an input-affine magnitude saturation model to effectively enforce these constraints. By appending this input saturation model to the interceptor's kinematic equations, a guidance law is derived that ensures interception at the desired impact time while accounting for the physical constraints of the sensor and actuator. The efficacy of the proposed strategies is demonstrated through comprehensive numerical simulations across various scenarios and is compared against an existing guidance strategy.

Authors:Youcefa Brahim Elkhalil, Nima Tashakor, Davood Keshavarzi, Ehsan Asadi, Stefan Goetz
Title: Enhanced Fault Ride-Through Grid Forming with Transient Synchronisation Stability and Current Saturation
Abstract:
During grid faults, grid-forming converters are typically suggested to switch from a voltage-source to a current-source mode to limit the current and protect the electronics. This transition has the potential for the converter to transiently lose synchronization due to such current saturation. Therefore, this paper proposes an alternative current saturation algorithm to improve transient synchronization stability during mode switching. The algorithm is designed for grid-forming converters to meet low-voltage ride-through (LVRT) requirements and grid-fault standards in addition to transient synchronization stability. Moreover, it limits the converter output current during grid faults with a new control parameter. The presented method introduces converter output virtual fluxes to calculate the current references in the d- and q-axes for the current saturation algorithm to enhance LVRT performance and grid stability. The method exploits the correlation between the converter's virtual fluxes and currents to modify the current saturation levels through real-time converter virtual flux estimation. The adaptive saturation levels ensure precise control and high dynamics during grid faults and facilitate optimal power injection or absorption to support the grid. The proposed current-saturation algorithm is analytically evaluated. Further, hardware-in-the-loop (HIL) experiments validate the effectiveness of the proposed algorithm.

Authors:Sarra Bouchkati, Ramil Sabirov, Steffen Kortmann, Andreas Ulbig
Title: Partially Observable Residual Reinforcement Learning for PV-Inverter-Based Voltage Control in Distribution Grids
Abstract:
This paper introduces an efficient Residual Reinforcement Learning (RRL) framework for voltage control in active distribution grids. Voltage control remains a critical challenge in distribution grids, where conventional Reinforcement Learning (RL) methods often suffer from slow training convergence and inefficient exploration. To overcome these challenges, the proposed RRL approach learns a residual policy on top of a modified Sequential Droop Control (SDC) mechanism, ensuring faster convergence. Additionally, the framework introduces a Local Shared Linear (LSL) architecture for the Q-network and a Transformer-Encoder actor network, which collectively enhance overall performance. Unlike several existing approaches, the proposed method relies solely on inverters' measurements without requiring full state information of the power grid, rendering it more practical for real-world deployment. Simulation results validate the effectiveness of the RRL framework in achieving rapid convergence, minimizing active power curtailment, and ensuring reliable voltage regulation.

Authors:Carsten Reiners, Minh Trinh, Lukas Gründel, Sven Tauchmann, David Bitterolf, Oliver Petrovic, Christian Brecher
Title: Zero-Shot Parameter Learning of Robot Dynamics Using Bayesian Statistics and Prior Knowledge
Abstract:
Inertial parameter identification of industrial robots is an established process, but standard methods using Least Squares or Machine Learning do not consider prior information about the robot and require extensive measurements. Inspired by Bayesian statistics, this paper presents an identification method with improved generalization that incorporates prior knowledge and is able to learn with only a few or without additional measurements (Zero-Shot Learning). Furthermore, our method is able to correctly learn not only the inertial but also the mechanical and base parameters of the MABI Max 100 robot while ensuring physical feasibility and specifying the confidence intervals of the results. We also provide different types of priors for serial robots with 6 degrees of freedom, where datasheets or CAD models are not available.

Authors:Yanxin Fu, Junbao Zhou, Yu Hu, Wenxiao Zhao
Title: Online Algorithms for Recovery of Low-Rank Parameter Matrix in Non-stationary Stochastic Systems
Abstract:
This paper presents a two-stage online algorithm for recovery of low-rank parameter matrix in non-stationary stochastic systems. The first stage applies the recursive least squares (RLS) estimator combined with its singular value decomposition to estimate the unknown parameter matrix within the system, leveraging RLS for adaptability and SVD to reveal low-rank structure. The second stage introduces a weighted nuclear norm regularization criterion function, where adaptive weights derived from the first-stage enhance low-rank constraints. The regularization criterion admits an explicit and online computable solution, enabling efficient online updates when new data arrive without reprocessing historical data. Under the non-stationary and the non-persistent excitation conditions on the systems, the algorithm provably achieves: (i) the true rank of the unknown parameter matrix can be identified with a finite number of observations, (ii) the values of the matrix components can be consistently estimated as the number of observations increases, and (iii) the asymptotical normality of the algorithm is established as well. Such properties are termed oracle properties in the literature. Numerical simulations validate performance of the algorithm in estimation accuracy.

Authors:Vansh Sharma, Venkat Raman
Title: Steering Conceptual Bias via Transformer Latent-Subspace Activation
Abstract:
This work examines whether activating latent subspaces in language models (LLMs) can steer scientific code generation toward a specific programming language. Five causal LLMs were first evaluated on scientific coding prompts to quantify their baseline bias among four programming languages. A static neuron-attribution method, perturbing the highest activated MLP weight for a C++ or CPP token, proved brittle and exhibited limited generalization across prompt styles and model scales. To address these limitations, a gradient-refined adaptive activation steering framework (G-ACT) was developed: per-prompt activation differences are clustered into a small set of steering directions, and lightweight per-layer probes are trained and refined online to select the appropriate steering vector. In LLaMA-3.2 3B, this approach reliably biases generation towards the CPP language by increasing the average probe classification accuracy by 15% and the early layers (0-6) improving the probe classification accuracy by 61.5% compared to the standard ACT framework. For LLaMA-3.3 70B, where attention-head signals become more diffuse, targeted injections at key layers still improve language selection. Although per-layer probing introduces a modest inference overhead, it remains practical by steering only a subset of layers and enables reproducible model behavior. These results demonstrate a scalable, interpretable and efficient mechanism for concept-level control for practical agentic systems.

Authors:Krishna Praveen V. S. Kondapi, Chandrasekhar Sriram, Geethu Joseph, Chandra R. Murthy
Title: Discrete-Time Linear Dynamical System Control Using Sparse Inputs With Time-Varying Support
Abstract:
In networked control systems, communication resource constraints often necessitate the use of \emph{sparse} control input vectors. A prototypical problem is how to ensure controllability of a linear dynamical system when only a limited number of actuators (inputs) can be active at each time step. In this work, we first present an algorithm for determining the \emph{sparse actuator schedule}, i.e., the sequence of supports of the input vectors that ensures controllability. Next, we extend the algorithm to minimize the average control energy by simultaneously minimizing the trace of the controllability Gramian, under the sparsity constraints. We derive theoretical guarantees for both algorithms: the first algorithm ensures controllability with a minimal number of control inputs at a given sparsity level; for the second algorithm, we derive an upper bound on the average control energy under the resulting actuator schedule. Finally, we develop a novel sparse controller based on Kalman filtering and sparse signal recovery that drives the system to a desired state in the presence of process and measurement noise. We also derive an upper bound on the steady-state MSE attained by the algorithm. We corroborate our theoretical results using numerical simulations and illustrate that sparse control achieves a control performance comparable to the fully actuated systems.

Authors:Renjie Ma, Zhijian Hu, Rongni Yang, Ligang Wu
Title: Aperiodic-sampled neural network controllers with closed-loop stability verifications (extended version)
Abstract:
In this paper, we synthesize two aperiodic-sampled deep neural network (DNN) control schemes, based on the closed-loop tracking stability guarantees. By means of the integral quadratic constraint coping with the input-output behaviour of system uncertainties/nonlinearities and the convex relaxations of nonlinear DNN activations leveraging their local sector-bounded attributes, we establish conditions to design the event- and self-triggered logics and to compute the ellipsoidal inner approximations of region of attraction, respectively. Finally, we perform a numerical example of an inverted pendulum to illustrate the effectiveness of the proposed aperiodic-sampled DNN control schemes.

Authors:Adrian Caspari, Thomas Bierweiler, Sarah Fadda, Daniel Labisch, Maarten Nauta, Franzisko Wagner, Merle Warmbold, Constantinos C. Pantelides
Title: Dynamic Hybrid Modeling: Incremental Identification and Model Predictive Control
Abstract:
Mathematical models are crucial for optimizing and controlling chemical processes, yet they often face significant limitations in terms of computational time, algorithm complexity, and development costs. Hybrid models, which combine mechanistic models with data-driven models (i.e. models derived via the application of machine learning to experimental data), have emerged as a promising solution to these challenges. However, the identification of dynamic hybrid models remains difficult due to the need to integrate data-driven models within mechanistic model structures. We present an incremental identification approach for dynamic hybrid models that decouples the mechanistic and data-driven components to overcome computational and conceptual difficulties. Our methodology comprises four key steps: (1) regularized dynamic parameter estimation to determine optimal time profiles for flux variables, (2) correlation analysis to evaluate relationships between variables, (3) data-driven model identification using advanced machine learning techniques, and (4) hybrid model integration to combine the mechanistic and data-driven components. This approach facilitates early evaluation of model structure suitability, accelerates the development of hybrid models, and allows for independent identification of data-driven components. Three case studies are presented to illustrate the robustness, reliability, and efficiency of our incremental approach in handling complex systems and scenarios with limited data.

Authors:Shenglu Wang, Kairui Feng, Mengqi Xue, Yue Song
Title: Inverse Chance Constrained Optimal Power Flow
Abstract:
The chance constrained optimal power flow (CC-OPF) essentially finds the low-cost generation dispatch scheme ensuring operational constraints are met with a specified probability, termed the security level. While the security level is a crucial input parameter, how it shapes the CC-OPF feasibility boundary has not been revealed. Changing the security level from a parameter to a decision variable, this letter proposes the inverse CC-OPF that seeks the highest feasible security level supported by the system. To efficiently solve this problem, we design a Newton-Raphson-like iteration algorithm leveraging the duality-based sensitivity analysis of an associated surrogate problem. Numerical experiments validate the proposed approach, revealing complex feasibility boundaries for security levels that underscore the importance of coordinating security levels across multiple chance constraints.

Authors:Balázs Csanád Csáji, Bálint Horváth
Title: Derandomizing Simultaneous Confidence Regions for Band-Limited Functions by Improved Norm Bounds and Majority-Voting Schemes
Abstract:
Band-limited functions are fundamental objects that are widely used in systems theory and signal processing. In this paper we refine a recent nonparametric, nonasymptotic method for constructing simultaneous confidence regions for band-limited functions from noisy input-output measurements, by working in a Paley-Wiener reproducing kernel Hilbert space. Kernel norm bounds are tightened using a uniformly-randomized Hoeffding's inequality for small samples and an empirical Bernstein bound for larger ones. We derive an approximate threshold, based on the sample size and how informative the inputs are, that governs which bound to deploy. Finally, we apply majority voting to aggregate confidence sets from random subsamples, boosting both stability and region size. We prove that even per-input aggregated intervals retain their simultaneous coverage guarantee. These refinements are also validated through numerical experiments.

Authors:P Sangeerth, Pushpak Jagtap
Title: Quantification of Sim2Real Gap via Neural Simulation Gap Function
Abstract:
In this paper, we introduce the notion of neural simulation gap functions, which formally quantifies the gap between the mathematical model and the model in the high-fidelity simulator, which closely resembles reality. Many times, a controller designed for a mathematical model does not work in reality because of the unmodelled gap between the two systems. With the help of this simulation gap function, one can use existing model-based tools to design controllers for the mathematical system and formally guarantee a decent transition from the simulation to the real world. Although in this work, we have quantified this gap using a neural network, which is trained using a finite number of data points, we give formal guarantees on the simulation gap function for the entire state space including the unseen data points. We collect data from high-fidelity simulators leveraging recent advancements in Real-to-Sim transfer to ensure close alignment with reality. We demonstrate our results through two case studies - a Mecanum bot and a Pendulum.

Authors:Orcun Karaca, Ioannis Tsoumas, Mario Schweizer, Ognjen Stanojev, Lennart Harnefors
Title: Robust black start of an offshore wind farm with DRU based HVDC link using power synchronization control
Abstract:
This paper introduces a universal power synchronization controller for grid-side control of the wind turbine conversion systems in an offshore wind farm with a diode rectifier in the offshore substation of the HVDC link. The controller incorporates voltage-power droop controllers in the outer loop to enable the operation of this setup. To effectively handle the impact of large delays during black start and power ramp phases, virtual active and reactive power quantities are defined. These quantities are computed based on the current references prior to any modifications that might be needed to meet converter current and voltage limits or source constraints. Utilizing them in the outer loop ensures a balanced power sharing and a stable operation whenever the original (unmodified) current references are not realized. Case studies confirm the robustness of the proposed controller.

Authors:Noël Hallemans, Philipp Dechent, David Howey, Simon Clark, Mona Faraji Niri, James Marco, Patrick S. Grant, Stephen R. Duncan
Title: Opportunities for real-time process control of electrode properties in lithium-ion battery manufacturing
Abstract:
Lithium-ion batteries (LIBs) have an important role in the shift required to achieve a global net-zero carbon target of 2050. Electrode manufacture is amongst the most expensive steps of the LIB manufacturing process and, despite its apparent maturity, optimised manufacturing conditions are arrived at by largely trial and error. Currently, LIB manufacturing plants are controlled to follow the fixed "recipe" obtained by trial and error, which may nonetheless be suboptimal. Moreover, regulating the process as a whole to conform to the set conditions is not widespread. Inspired by control approaches used in other film and sheet processes, we discuss opportunities for implementing real-time process control of electrode-related products, which has the potential to reduce the electrode manufacturing cost, CO2 emissions, usage of resources by increases in process yield, and throughput. We highlight the challenges and significant opportunities of implementing real-time process control in LIB electrode production lines.

Authors:Orcun Karaca, Irina Subotic, Lennart Harnefors, Ioannis Tsoumas
Title: On the input admittance of a universal power synchronization controller with droop controllers
Abstract:
Recent work has proposed a universal framework that integrates the well-established power synchronization control into vector current control. Using this controller for the parallel operation of grid-forming converters, and/or with loads that have strong voltage magnitude sensitivity, requires additional loops manipulating the voltage magnitude, e.g., $QV$ and $PV$ voltage-power droop controllers. This paper derives the input admittance of the resulting overall scheme. Sensitivity analyses based on the passivity index demonstrate the benefits of the proportional components of $QV$ and $PV$ control. A case study is presented where a grid-forming converter is operated in parallel with a generator.

Authors:Vlad Cnejevici, Matthias Ponfick, Raul C. Sîmpetru, Alessandro Del Vecchio
Title: Closed-Loop Control of Electrical Stimulation through Spared Motor Unit Ensembles Restores Foot Movements after Spinal Cord Injury
Abstract:
Restoring movement of a paralyzed foot is a key challenge in helping individuals with neurological conditions such as spinal cord injury (SCI) to improve their quality of life. Neuroprostheses based on functional electrical stimulation (FES) can restore the physiological range of motion by stimulating the affected muscles using surface electrodes. We have previously shown that, despite chronic motor-complete SCI, it is possible to capture paralyzed hand movements in individuals with tetraplegia using spared and modulated motor unit (MU) activity decoded with non-invasive electromyography (EMG) sensors. This study investigated whether a wearable high-density surface EMG system could capture and control paralyzed foot kinematics in closed-loop control with an FES system. We found that all our participants with SCI (2 with chronic SCI and 3 with acute SCI) retained distinct spared EMG activity for at least three ankle movements, which allowed them to reliably control a digital cursor using their spared tibialis anterior and triceps surae MU activity. Movement separability was further reconfirmed by extracting task-modulated MU activity during foot flexion/extension (3-7 modulated MUs/participant). Three participants were further able to modulate and maintain their foot flexion/extension EMG levels with an accuracy of >70%. Lastly, we show that real-time control of a FES system using EMG from the affected limb can restore foot movements in a highly intuitive way, significantly improving the lost or pathological foot range of motion. Our system provides an intuitive approach for closed-loop control of FES that has the potential to assist individuals with SCI in regaining lost motor functions.

Authors:Yuanlong Ji, Xingbang Yang, Ruoqi Zhao, Qihan Ye, Quan Zheng, Yubo Fan
Title: Human Locomotion Implicit Modeling Based Real-Time Gait Phase Estimation
Abstract:
Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during periods of terrain changes. To address this, we develop a gait phase estimation neural network based on implicit modeling of human locomotion, which combines temporal convolution for feature extraction with transformer layers for multi-channel information fusion. A channel-wise masked reconstruction pre-training strategy is proposed, which first treats gait phase state vectors and IMU signals as joint observations of human locomotion, thus enhancing model generalization. Experimental results demonstrate that the proposed method outperforms existing baseline approaches, achieving a gait phase RMSE of $2.729 \pm 1.071%$ and phase rate MAE of $0.037 \pm 0.016%$ under stable terrain conditions with a look-back window of 2 seconds, and a phase RMSE of $3.215 \pm 1.303%$ and rate MAE of $0.050 \pm 0.023%$ under terrain transitions. Hardware validation on a hip exoskeleton further confirms that the algorithm can reliably identify gait cycles and key events, adapting to various continuous motion scenarios. This research paves the way for more intelligent and adaptive exoskeleton systems, enabling safer and more efficient human-robot interaction across diverse real-world environments.

Authors:Luyao Zhang, Chenghuai Lin, Sergio Grammatico
Title: Parallel Branch Model Predictive Control on GPUs
Abstract:
We present a parallel GPU-accelerated solver for branch Model Predictive Control problems. Based on iterative LQR methods, our solver exploits the tree-sparse structure and implements temporal parallelism using the parallel scan algorithm. Consequently, the proposed solver enables parallelism across both the prediction horizon and the scenarios. In addition, we utilize an augmented Lagrangian method to handle general inequality constraints. We compare our solver with state-of-the-art numerical solvers in two automated driving applications. The numerical results demonstrate that, compared to CPU-based solvers, our solver achieves competitive performance for problems with short horizons and small-scale trees, while outperforming other solvers on large-scale problems.

Authors:Peng Xie, Zhen Zhang, Amr Alanwar
Title: Hybrid Polynomial Zonotopes: A Set Representation for Reachability Analysis in Hybrid Nonaffine Systems
Abstract:
Reachability analysis for hybrid nonaffine systems remains computationally challenging, as existing set representations--including constrained, polynomial, and hybrid zonotopes--either lose tightness under high-order nonaffine maps or suffer exponential blow-up after discrete jumps. This paper introduces Hybrid Polynomial Zonotope (HPZ), a novel set representation that combines the mode-dependent generator structure of hybrid zonotopes with the algebraic expressiveness of polynomial zonotopes. HPZs compactly encode non-convex reachable states across modes by attaching polynomial exponents to each hybrid generator, enabling precise capture of high-order state-input couplings without vertex enumeration. We develop a comprehensive library of HPZ operations, including Minkowski sum, linear transformation, and intersection. Theoretical analysis and computational experiments demonstrate that HPZs achieve superior tightness preservation and computational efficiency compared to existing approaches for hybrid system reachability analysis.

Authors:Sushobhan Chatterjee, Sijia Geng
Title: Voltage Stability of Inverter-Based Systems: Impact of Parameters and Irrelevance of Line Dynamics
Abstract:
This paper investigates voltage stability in inverter-based power systems concerning fold and saddle-node bifurcations. An analytical expression is derived for the sensitivity of the stability margin using the normal vector to the bifurcation hypersurface. Such information enables efficient identification of effective control parameters in mitigating voltage instability. Comprehensive analysis reveals that reactive loading setpoint and current controller's feedforward gain are the most influential parameters for enhancing voltage stability in a grid-following (GFL) inverter system, while the voltage controller's feedforward gain plays a dominant role in a grid-forming (GFM) inverter. Notably, both theoretical and numerical results demonstrate that transmission line dynamics have no impact on fold/saddle-node bifurcations in these systems. Results in this paper provide insights for efficient analysis and control in future inverter-dominated power systems through reductions in parameter space and model complexity.

Authors:Francisco M. Arrabal-Campos, Francisco G. Montoya, Jorge Ventura, Santiago Sánchez-Acevedo, Raymundo E. Torres-Olguin, Francisco de León
Title: Experimental Verification of a Time-Domain Load Identification Method for Single-Phase Circuits
Abstract:
This paper presents experimental validation of a time-domain load parameter determination method for single-phase circuits. The verification is performed in a state-of-the-art smart grid laboratory equipped with power hardware and real-time emulators. The proposed method enables the identification of circuit parameters using only instantaneous voltage and current measurements at the point of common coupling. The experimental setup includes a range of test cases covering linear and non-sinusoidal single-phase conditions. Voltage and current waveforms are acquired, preprocessed, and used to calculate the relevant circuit parameters. The experimental results demonstrate a high degree of accuracy and robustness, with minimal percentage errors across all test cases. The identified parameters show excellent agreement with the theoretical expectations, confirming the validity and applicability of the proposed method to identify the load of single-phase systems. This validation highlights the potential of the method for improved monitoring, control, and protection of smart grids, paving the way for future extensions to three-phase systems and real-time implementations.

Authors:Junjin Lv, Chenggang Cui, Shaodi Zhang, Hui Chen, Chunyang Gong, Jiaming Liu
Title: Automated Heuristic Design for Unit Commitment Using Large Language Models
Abstract:
The Unit Commitment (UC) problem is a classic challenge in the optimal scheduling of power systems. Years of research and practice have shown that formulating reasonable unit commitment plans can significantly improve the economic efficiency of power systems' operations. In recent years, with the introduction of technologies such as machine learning and the Lagrangian relaxation method, the solution methods for the UC problem have become increasingly diversified, but still face challenges in terms of accuracy and robustness. This paper proposes a Function Space Search (FunSearch) method based on large language models. This method combines pre-trained large language models and evaluators to creatively generate solutions through the program search and evolution process while ensuring their rationality. In simulation experiments, a case of unit commitment with \(10\) units is used mainly. Compared to the genetic algorithm, the results show that FunSearch performs better in terms of sampling time, evaluation time, and total operating cost of the system, demonstrating its great potential as an effective tool for solving the UC problem.

Authors:Xiaoshuai Ma, Haoxiang Qi, Qingqing Li, Haochen Xu, Xuechao Chen, Junyao Gao, Zhangguo Yu, Qiang Huang
Title: Explosive Output to Enhance Jumping Ability: A Variable Reduction Ratio Design Paradigm for Humanoid Robots Knee Joint
Abstract:
Enhancing the explosive power output of the knee joints is critical for improving the agility and obstacle-crossing capabilities of humanoid robots. However, a mismatch between the knee-to-center-of-mass (CoM) transmission ratio and jumping demands, coupled with motor performance degradation at high speeds, restricts the duration of high-power output and limits jump performance. To address these problems, this paper introduces a novel knee joint design paradigm employing a dynamically decreasing reduction ratio for explosive output during jump. Analysis of motor output characteristics and knee kinematics during jumping inspired a coupling strategy in which the reduction ratio gradually decreases as the joint extends. A high initial ratio rapidly increases torque at jump initiation, while its gradual reduction minimizes motor speed increments and power losses, thereby maintaining sustained high-power output. A compact and efficient linear actuator-driven guide-rod mechanism realizes this coupling strategy, supported by parameter optimization guided by explosive jump control strategies. Experimental validation demonstrated a 63 cm vertical jump on a single-joint platform (a theoretical improvement of 28.1\% over the optimal fixed-ratio joints). Integrated into a humanoid robot, the proposed design enabled a 1.1 m long jump, a 0.5 m vertical jump, and a 0.5 m box jump.

Authors:Zhipeng Fan, Yujie Xu, Mingyu Fu, Han Sun, Weiqiu Zhang, Heng Zhang
Title: Similar Formation Control of Multi-Agent Systems over Directed Acyclic Graphs via Matrix-Weighted Laplacian
Abstract:
This brief proposes a distributed formation control strategy via matrix-weighted Laplacian that can achieve a similar formation in 2-D planar using inter-agent relative displacement measurement. Formation patterns that include translation, rotation, and scaling can be characterized by the null space of the matrix-weighted Laplacian associated with the topological graph. The main contribution of this brief is to extend the similar formation problem of undirected graphs to directed acyclic graphs and provide the necessary algebraic criteria for leader selection. Stability analysis, illustrative examples, and simulation results are provided.

Authors:Yilin Zou, Fanghua Jiang
Title: Vectorized Sparse Second-Order Forward Automatic Differentiation for Optimal Control Direct Methods
Abstract:
Direct collocation methods are widely used numerical techniques for solving optimal control problems. The discretization of continuous-time optimal control problems transforms them into large-scale nonlinear programming problems, which require efficient computation of first- and second-order derivatives. To achieve computational efficiency, these derivatives must be computed in sparse and vectorized form, exploiting the problem's inherent sparsity structure. This paper presents a vectorized sparse second-order forward automatic differentiation framework designed for direct collocation methods in optimal control. The method exploits the problem's sparse structure to efficiently compute derivatives across multiple mesh points. By incorporating both scalar and vector nodes within the expression graph, the approach enables effective parallelization and optimized memory access patterns while maintaining flexibility for complex problems. The methodology is demonstrated through application to a prototype optimal control problem. A complete implementation for multi-phase optimal control problems is available as an open-source package, supporting both theoretical research and practical applications.

Authors:Peng Yang, Xiaoyu Peng, Xi Ru, Hua Geng, Feng Liu
Title: Compositional and Equilibrium-Free Conditions for Power System Stability -- Part I: Theory
Abstract:
Traditional centralized stability analysis struggles with scalability in large complex modern power grids. This two-part paper proposes a compositional and equilibrium-free approach to analyzing power system stability. In Part I, we prove that using equilibrium-free local conditions we can certificate system-wide stability of power systems with heterogeneous nonlinear devices and structure-preserving lossy networks. This is built on a recently developed notion of delta dissipativity, which yields local stability conditions without knowing the system-wide equilibrium. As a consequence, our proposed theory can certificate stability of equilibria set rather than single equilibrium. In Part I, we verify our theory and demonstrate promising implications by the single machine single load benchmark, which helps to better explain the compositional and equilibrium-set-oriented stability analysis. Part II of this paper will provide methods for applying our theory to complex power grids, together with case studies across a wide range of system scales. Our results enable a more scalable and adaptable approach to stability analysis. It also sheds light on how to regulate grid-connected devices to guarantee system-wide stability.

Authors:Zehua Li, Jingjie Wei, Raviraj Adve
Title: Decentralized Uplink Adaptive Compression for Cell-Free MIMO with Limited Fronthaul
Abstract:
We study the problem of uplink compression for cell-free multi-input multi-output networks with limited fronthaul capacity. In compress-forward mode, remote radio heads (RRHs) compress the received signal and forward it to a central unit for joint processing. While previous work has focused on a transform-based approach, which optimizes the transform matrix that reduces signals of high dimension to a static pre-determined lower dimension, we propose a rate-based approach that simultaneously finds both dimension and compression adaptively. Our approach accommodates for changes to network traffic and fronthaul limits. Using mutual information as the objective, we obtain the theoretical network capacity for adaptive compression and decouple the expression to enable decentralization. Furthermore, using channel statistics and user traffic density, we show different approaches to compute an efficient representation of side information that summarizes global channel state information and is shared with RRHs to assist compression. While keeping the information exchange overhead low, our decentralized implementation of adaptive compression shows competitive overall network performance compared to a centralized approach.

Authors:Maria Voreakou, George Kousiouris, Mara Nikolaidou
Title: Towards Sustainable Computing: Exploring Energy Consumption Efficiency of Alternative Configurations and Workloads in an Open Source Messaging System
Abstract:
Energy consumption in current large scale computing infrastructures is becoming a critical issue, especially with the growing demand for centralized systems such as cloud environments. With the advancement of microservice architectures and the Internet of Things, messaging systems have become an integral and mainstream part of modern computing infrastructures, carrying out significant workload in a majority of applications. In this paper, we describe an experimental process to explore energy-based benchmarking for RabbitMQ, one of the main open source messaging frameworks. The involved system is described, as well as required components, and setup scenarios, involving different workloads and configurations among the tests as well as messaging system use cases. Alternative architectures are investigated and compared from an energy consumption point of view, for different message rates and consumer numbers. Differences in architectural selection have been quantified and can lead to up to 31\% reduction in power consumption. The resulting dataset is made publicly available and can thus prove helpful for architectures' comparison, energy-based cost modeling, and beyond.

Authors:Peng Zhang, Baosen Zhang
Title: Optimal Voltage Control Using Online Exponential Barrier Method
Abstract:
This paper address the optimal voltage control problem of distribution systems with high penetration of inverter-based renewable energy resources, under inaccurate model information. We propose the online exponential barrier method that explicitly leverages the online feedback from grids to enhance the robustness to model inaccuracy and incorporates the voltage constraints to maintain the safety requirements. We provide analytical results on the optimal barrier parameter selection and sufficient conditions for the safety guarantee of converged voltages. We also establish theoretical results on the exponential convergence rate with proper step-size. The effectiveness of the proposed framework is validated on a 56-bus radial network, where we significantly improve the robustness against model inaccuracy compared to existing methods.

Authors:Renjie Ma, Ziyao Qu, Zhijian Hu, Dong Zhao, Marios M. Polycarpou
Title: Adaptive event-triggered robust tracking control of soft robots
Abstract:
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at investigating the tracking control problem for soft robots under uncertainty such as unmodeled dynamics and external disturbance. First, we establish a novel switching function and design the compensated tracking error dynamics by virtue of the command filter. Then, based on the backstepping methodology, the virtual controllers and the adaptive logic estimating the supremum of uncertainty impacts are developed for synthesizing an event-triggered control strategy. In addition, the uniformed finite-time stability certification is derived for different scenarios of the switching function. Finally, we perform a case study of a soft robot to illustrate the effectiveness of the proposed control algorithm.

Authors:Khai Doan, Wesley Araujo, Evangelos Kranakis, Ioannis Lambadaris, Yannis Viniotis, Wonjae Shin
Title: Optimal Task Offloading with Firm Deadlines for Mobile Edge Computing Systems
Abstract:
Under a dramatic increase in mobile data traffic, a promising solution for edge computing systems to maintain their local service is the task migration that may be implemented by means of Autonomous mobile agents (AMA). In designing an optimal scheme for task offloading to AMA, we define a system cost as a minimization objective function that comprises two parts. First, an offloading cost which can be interpreted as the cost of using computational resources from the AMA. Second, a penalty cost due to potential task expiration. To minimize the expected (timeaverage) cost over a given time horizon, we formulate a Dynamic programming (DP). However, the DP Equation suffers from the well-known curse of dimensionality, which makes computations intractable, especially for infinite system state space. To reduce the computational burden, we identify three important properties of the optimal policy and show that it suffices to evaluate the DP Equation on a finite subset of the state space only. We then prove that the optimal task offloading decision at a state can be inferred from that at its adjacent states, further reducing the computational load. We present simulations to verify the theoretical results and to provide insights into the considered system.

Authors:Frédéric Zheng, Yassir Jedra, Alexandre Proutière
Title: Minimal Order Recovery through Rank-adaptive Identification
Abstract:
This paper addresses the problem of identifying linear systems from noisy input-output trajectories. We introduce Thresholded Ho-Kalman, an algorithm that leverages a rank-adaptive procedure to estimate a Hankel-like matrix associated with the system. This approach optimally balances the trade-off between accurately inferring key singular values and minimizing approximation errors for the rest. We establish finite-sample Frobenius norm error bounds for the estimated Hankel matrix. Our algorithm further recovers both the system order and its Markov parameters, and we provide upper bounds for the sample complexity required to identify the system order and finite-time error bounds for estimating the Markov parameters. Interestingly, these bounds match those achieved by state-of-the-art algorithms that assume prior knowledge of the system order.

Authors:Nurullah Sevim, Mostafa Ibrahim, Sabit Ekin, Theodore S. Rappaport
Title: Theoretical Foundations of Waste Factor and Waste Figure with Applications to Fixed Wireless Access and Relay Systems
Abstract:
The exponential rise in energy consumption across wireless communication systems, particularly in anticipation of next-generation wireless systems, necessitates rigorous frameworks for evaluating and optimizing energy efficiency. This paper revisits and expands the concept of the Waste Factor (W), or Waste Figure (WF) in decibel scale, as a unifying metric that captures both utilized and wasted power in cascaded communication systems. Building upon its foundation in system-level power modeling, we integrate the Waste Factor into a refined formulation of the Consumption Factor (CF), the ratio of data rate to total consumed power, linking it directly to Shannon's theoretical limit on energy per bit. This analysis introduces additive energy waste into the classical energy-per-bit derivation through the Waste Factor term. We derive closed-form expressions for energy-per-bit expenditure in both direct and relay-assisted links and develop a decision rule to determine which communication path is more energy efficient under given conditions. While not modeled explicitly, Reflective Intelligent Surfaces (RIS) can be interpreted as a special case of relay-based architectures within this unified formulation, suggesting broader applicability of the Waste Factor framework to emerging 6G use cases. The framework is then extended to a Fixed Wireless Access (FWA) scenario, where uplink and downlink asymmetries, traffic directionality, and component inefficiencies are jointly considered to analyze energy-optimal deployment strategies.

Authors:Renjie Ma, Su Zhang, Wenjie Liu, Zhijian Hu, Peng Shi
Title: Learning event-triggered controllers for linear parameter-varying systems from data
Abstract:
Nonlinear dynamical behaviours in engineering applications can be approximated by linear-parameter varying (LPV) representations, but obtaining precise model knowledge to develop a control algorithm is difficult in practice. In this paper, we develop the data-driven control strategies for event-triggered LPV systems with stability verifications. First, we provide the theoretical analysis of $θ$-persistence of excitation for LPV systems, which leads to the feasible data-based representations. Then, in terms of the available perturbed data, we derive the stability certificates for event-triggered LPV systems with the aid of Petersen's lemma in the sense of robust control, resulting in the computationally tractable semidefinite programmings, the feasible solutions of which yields the optimal gain schedulings. Besides, we generalize the data-driven eventtriggered LPV control methods to the scenario of reference trajectory tracking, and discuss the robust tracking stability accordingly. Finally, we verify the effectiveness of our theoretical derivations by numerical simulations.

Authors:Mohammad Mirtaba, Ankit Goel
Title: Continuous-Time Output Feedback Adaptive Control for Stabilization and Tracking with Experimental Results
Abstract:
This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control algorithm. The particle swarm optimization framework automates the adaptive algorithm's hyper-parameter tuning. The proposed controller is numerically validated in the tracking problems of a double integrator and a bicopter system and is experimentally validated in an attitude stabilization problem. Numerical and experimental results show that the proposed controller is an effective technique for model-free output feedback control.

Authors:Axel TahmasebiMoradi, Vincent Ren, Benjamin Le-Creurer, Chetra Mang, Mouadh Yagoubi
Title: Feasibility Study of CNNs and MLPs for Radiation Heat Transfer in 2-D Furnaces with Spectrally Participative Gases
Abstract:
Aiming to reduce the computational cost of numerical simulations, a convolutional neural network (CNN) and a multi-layer perceptron (MLP) are introduced to build a surrogate model to approximate radiative heat transfer solutions in a 2-D walled domain with participative gases. The originality of this work lays in the adaptation of the inputs of the problem (gas and wall properties) in order to fit with the CNN architecture, more commonly used for image processing. Two precision datasets have been created with the classical solver, ICARUS2D, that uses the discrete transfer radiation method with the statistical narrow bands model. The performance of the CNN architecture is compared to a more classical MLP architecture in terms of speed and accuracy. Thanks to Optuna, all results are obtained using the optimized hyper parameters networks. The results show a significant speedup with industrially acceptable relative errors compared to the classical solver for both architectures. Additionally, the CNN outperforms the MLP in terms of precision and is more robust and stable to changes in hyper-parameters. A performance analysis on the dataset size of the samples have also been carried out to gain a deeper understanding of the model behavior.

Authors:Arev Hambardzumyan, Rafayel Ghasabyan, Vahagn Tamazyan
Title: FPGA-Based Material Testing Machine Controller
Abstract:
In the realm of contemporary materials testing, the demand for scalability, adaptability, parallelism, and speed has surged due to the proliferation of diverse materials and testing standards. Traditional controller-based systems often fall short in meeting these requirements, resulting in adaptability and processing speed limitations. Conversely, FPGA-based controllers present a multifaceted, high-performance solution. Key advantages of FPGA-based controllers in materials testing encompass reconfiguration capabilities for cost-effective adaptation to evolving materials and standards. FPGAs also enable the integration of parallel control and data acquisition circuits, vital for multichannel test equipment demanding simultaneous, independent operation of multiple control channels.

Authors:Marena Trujillo, Amir Sajadi, Jonathan Shaw, Bri-Mathias Hodge
Title: Computationally Efficient Analytical Models of Frequency and Voltage in Low-Inertia Systems
Abstract:
In this paper, low-order models of the frequency and voltage response of mixed-generation, low-inertia systems are presented. These models are unique in their ability to efficiently and accurately model frequency and voltage dynamics without increasing the computational burden as the share of inverters is increased in a system. The models are validated against industry-grade electromagnetic transient simulation, compared to which the proposed models are several orders of magnitude faster. The accuracy and efficiency of the low-inertia frequency and voltage models makes them well suited for a variety of planning and operational studies, especially for multi-scenario and probabilistic studies, as well as for screening studies to establish impact zones based on the dynamic interactions between inverters and synchronous generators.

Authors:Xiaoran Liu, Istvan David
Title: AI Simulation by Digital Twins: Systematic Survey, Reference Framework, and Mapping to a Standardized Architecture
Abstract:
Insufficient data volume and quality are particularly pressing challenges in the adoption of modern subsymbolic AI. To alleviate these challenges, AI simulation uses virtual training environments in which AI agents can be safely and efficiently developed with simulated, synthetic data. Digital twins open new avenues in AI simulation, as these high-fidelity virtual replicas of physical systems are equipped with state-of-the-art simulators and the ability to further interact with the physical system for additional data collection. In this article, we report on our systematic survey of digital twin-enabled AI simulation. By analyzing 22 primary studies, we identify technological trends and derive a reference framework to situate digital twins and AI components. Based on our findings, we derive a reference framework and provide architectural guidelines by mapping it onto the ISO 23247 reference architecture for digital twins. Finally, we identify challenges and research opportunities for prospective researchers.

Authors:Emre Arslan, Ahmet Faruk Coskun
Title: RIS Size Determination Across Frequencies and Deployment Scenarios: A Simulation-Based Study
Abstract:
Despite the growing interest in the integration of reconfigurable intelligent surfaces (RIS) into next-generation wireless communications systems, a critical gap remains in understanding what the dimensions of an RIS must be to provide meaningful performance gains across realistic deployment scenarios. This paper addresses this challenge by presenting a practical and scenario-aware methodology for determining optimal RIS dimensions, tailored to specific frequency bands, environments, and use cases. Leveraging a realistic simulation model that incorporates angular scattering characteristics, practical network node locations, and propagation constraints, we evaluate the RIS-assisted performance in a diverse set of configurations. For selected use-cases, we quantify key performance indicators such as average signal-to-noise ratio and outage probability, and we demonstrate how RIS size impacts system reliability. Our findings show that RIS deployment effectiveness is highly sensitive to both physical size and geometric placement, and that there is no one-size-fits-all solution. The proposed framework, supported by detailed use case tables and validated through comprehensive simulations, offers design guidelines for operators and vendors seeking to deploy RIS in practical wireless network settings.

Authors:Ahmet Faruk Coskun, Alper Tolga Kocaoglu, Emre Arslan, Zehra Yigit, Samed Kesir, Batuhan Kaplan, Jianwu Dou, Yijun Cui
Title: Experimental Performances of mmWave RIS-assisted 5G-Advanced Wireless Deployments in Urban Environments
Abstract:
Reconfigurable intelligent surface (RIS) has emerged as a groundbreaking technology for 6G wireless communication networks, enabling cost-effective control over wireless propagation environment. By dynamically manipulating its codebook so as to deflect the direction of the reflected electromagnetic wave, RIS can achieve enhanced signal quality, extended coverage, and interference mitigation. This study presents experimental performance of ZTE Dynamic 2.0 RIS products through a series of real-world tests conducted on Turkcell's millimeter-wave (mmWave) testbed. The evaluation involves network coverage extension in urban areas, multi-user efficiency, and the integration of virtual reality technology to support immersive applications in next-generation 6G networks. Through a comprehensive measurement-based analysis, the performance of the RIS product is demonstrated, highlighting its potential to address critical challenges in mmWave communications and to enable advanced 6G use cases.

Authors:Xinyue Pei, Jihao Liu, Xuewen Luo, Xingwei Wang, Yingyang Chen, Miaowen Wen, Theodoros A. Tsiftsis
Title: RSMA-Enabled Covert Communications Against Multiple Spatially Random Wardens
Abstract:
This work investigates covert communication in a rate-splitting multiple access (RSMA)-based multi-user multiple-input single-output system, where the random locations of the wardens follow a homogeneous Poisson point process. To demonstrate practical deployment scenarios, imperfect channel state information at the transmitter is considered. Closed-form expressions for the statistics of the received signal-to-interference-plus-noise ratio, along with the analytical formulations for the covertness constraint, outage probability, and effective covert throughput (ECT), are derived. Subsequently, an ECT maximization problem is formulated under covertness and power allocation constraints. This optimization problem is addressed using an alternating optimization-assisted genetic algorithm (AO-GA). Simulation results corroborate the theoretical analysis and demonstrate the superiority of RSMA over conventional multiple access schemes, as well as the effectiveness of the proposed AO-GA.

Authors:Michael Ruderman, Denis Efimov
Title: Regularization of non-overshooting quasi-continuous sliding mode control for chattering suppression at equilibrium
Abstract:
Robust finite-time feedback controller introduced for the second-order systems in [1] can be seen as a non-overshooting quasi-continuous sliding mode control. The paper proposes a regularization scheme to suppress inherent chattering due to discontinuity of the control [1] in the origin, in favor of practical applications. A detailed analysis with ISS and iISS proofs are provided along with supporting numerical results.

Authors:Pengbo Zhu, Giancarlo Ferrari-Trecate, Nikolas Geroliminis
Title: En Route Path-planning for Partially Occupied Vehicles in Ride-pooling Systems
Abstract:
Ride-pooling services, such as UberPool and Lyft Shared Saver, enable a single vehicle to serve multiple customers within one shared trip. Efficient path-planning algorithms are crucial for improving the performance of such systems. For partially occupied vehicles with available capacity, we introduce a novel routing algorithm designed to maximize the likelihood of picking up additional passengers while serving the current passengers to their destination. Unlike traditional methods that group passengers and vehicles based on predefined time windows, our algorithm allows for immediate responses to passenger requests. Our approach optimizes travel time while dynamically considering passenger demand and coordinating with other vehicles. Formulated as an integer linear programming (ILP) problem, our method is computationally efficient and suitable for real-time applications. Simulation results demonstrate that our proposed method can significantly enhance service quality.

Authors:Guozhen Zhu, Yuqian Hu, Chenshu Wu, Wei-Hsiang Wang, Beibei Wang, K. J. Ray Liu
Title: Experience Paper: Scaling WiFi Sensing to Millions of Commodity Devices for Ubiquitous Home Monitoring
Abstract:
WiFi-based home monitoring has emerged as a compelling alternative to traditional camera- and sensor-based solutions, offering wide coverage with minimal intrusion by leveraging existing wireless infrastructure. This paper presents key insights and lessons learned from developing and deploying a large-scale WiFi sensing solution, currently operational across over 10 million commodity off-the-shelf routers and 100 million smart bulbs worldwide. Through this extensive deployment, we identify four real-world challenges that hinder the practical adoption of prior research: 1) Non-human movements (e.g., pets) frequently trigger false positives; 2) Low-cost WiFi chipsets and heterogeneous hardware introduce inconsistencies in channel state information (CSI) measurements; 3) Motion interference in multi-user environments complicates occupant differentiation; 4) Computational constraints on edge devices and limited cloud transmission impede real-time processing. To address these challenges, we present a practical and scalable system, validated through comprehensive two-year evaluations involving 280 edge devices, across 16 scenarios, and over 4 million motion samples. Our solutions achieve an accuracy of 92.61% in diverse real-world homes while reducing false alarms due to non-human movements from 63.1% to 8.4% and lowering CSI transmission overhead by 99.72%. Notably, our system integrates sensing and communication, supporting simultaneous WiFi sensing and data transmission over home WiFi networks. While focused on home monitoring, our findings and strategies generalize to various WiFi sensing applications. By bridging the gaps between theoretical research and commercial deployment, this work offers practical insights for scaling WiFi sensing in real-world environments.

Authors:Andreas Katsanikakis, Nikolaos Bekiaris-Liberis
Title: Stabilization of Linear Switched Systems with Long Input Delay via Average or Averaging Predictor Feedbacks
Abstract:
We develop delay-compensating feedback laws for linear switched systems with time-dependent switching. Because the future values of the switching signal, which are needed for constructing an exact predictor-feedback law, may be unavailable at current time, the key design challenge is how to construct a proper predictor state. We resolve this challenge constructing two alternative, average predictor-based feedback laws. The first is viewed as a predictor-feedback law for a particular average system, properly modified to provide exact state predictions over a horizon that depends on a minimum dwell time of the switching signal (when it is available). The second is, essentially, a modification of an average of predictor feedbacks, each one corresponding to the fixed-mode predictor-feedback law. We establish that under the control laws introduced, the closed-loop systems are (uniformly) exponentially stable, provided that the differences among system's matrices and among (nominal stabilizing) controller's gains are sufficiently small, with a size that is inversely proportional to the delay length. Since no restriction is imposed on the delay, such a limitation is inherent to the problem considered (in which the future switching signal values are unavailable), and thus, it cannot be removed. The stability proof relies on multiple Lyapunov functionals constructed via backstepping and derivation of solutions' estimates for quantifying the difference between average and exact predictor states. We present consistent numerical simulation results, which illustrate the necessity of employing the average predictor-based laws and demonstrate the performance improvement when the knowledge of a minimum dwell time is properly utilized for improving state prediction accuracy.

Authors:Muratkhan Abdirash, Xiaofan Cui
Title: Nonlinear Optimal Control of DC Microgrids with Safety and Stability Guarantees
Abstract:
A DC microgrid is a promising alternative to the traditional AC power grid, since it can efficiently integrate distributed and renewable energy resources. However, as an emerging framework, it lacks the rigorous theoretical guarantees of its AC counterpart. In particular, safe stabilization of the DC microgrid has been a non-trivial task in power electronics. To address that, we take a control theoretic perspective in designing the feedback controller with provable guarantees. We present a systematic way to construct Control Lyapunov Functions (CLF) to stabilize the microgrid, and, independently, Control Barrier Functions (CBF) to enforce its safe operation at all times. The safety-critical controller (SCC) proposed in this work integrates the two control objectives, with safety prioritized, into a quadratic program (QP) as linear constraints, which allows for its online deployment using off-the-shelf convex optimization solvers. The SCC is compared against a robust version of the conventional droop control through numerical experiments whose results indicate the SCC outperforms the droop controller in guaranteeing safety and retaining stability at the same time.

Authors:Emmanuel O. Badmus, Amritanshu Pandey
Title: Two-Stage Bidirectional Inverter Equivalent Circuit Model for Distribution Grid Steady-State Analysis and Optimization
Abstract:
This paper presents a \textit{physics-based} steady-state equivalent circuit model of a two-stage bidirectional inverter. These inverters connect distributed energy resources (DERs), such as photovoltaic (PV) and battery systems, to distribution grids. Existing inverter models have technical gaps on three fronts: i) inadequate modeling of inverter losses, ii) use of mathematical abstractions for bidirectional flow of power, and iii) inability to integrate different control modes into nonlinear solvers without loss of generality. We propose a physics-first model that explicitly captures losses in passive circuit components based on circuit-level principles. We enable bidirectional power flow without binary or complementarity constraints by formulating loss terms as smooth, sign-aware expressions of current. We introduce and parameterize controlled current sources with twice-differentiable continuous functions to enable inverter control modes without loss of generality. We integrate DERs with the proposed inverter model at the load buses of distribution networks to perform power flow and optimization studies on real-world distribution networks with over 20,000 nodes. We demonstrate that the proposed model is more accurate, integrates seamlessly with various control modes without loss of generality, and scales robustly to large optimization problems. Index Terms: bidirectional inverter model, circuit-based modeling, DERs, inverter efficiency, power control, steady-state analysis.

Authors:Aref Ghoreishee, Abhishek Mishra, John Walsh, Anup Das, Nagarajan Kandasamy
Title: Improving Performance of Spike-based Deep Q-Learning using Ternary Neurons
Abstract:
We propose a new ternary spiking neuron model to improve the representation capacity of binary spiking neurons in deep Q-learning. Although a ternary neuron model has recently been introduced to overcome the limited representation capacity offered by the binary spiking neurons, we show that its performance is worse than that of binary models in deep Q-learning tasks. We hypothesize gradient estimation bias during the training process as the underlying potential cause through mathematical and empirical analysis. We propose a novel ternary spiking neuron model to mitigate this issue by reducing the estimation bias. We use the proposed ternary spiking neuron as the fundamental computing unit in a deep spiking Q-learning network (DSQN) and evaluate the network's performance in seven Atari games from the Gym environment. Results show that the proposed ternary spiking neuron mitigates the drastic performance degradation of ternary neurons in Q-learning tasks and improves the network performance compared to the existing binary neurons, making DSQN a more practical solution for on-board autonomous decision-making tasks.

Authors:Chenglou Liu, Yufeng Lu, Fangfang Xie, Tingwei Ji, Yao Zheng
Title: Dynamic real-time multi-UAV cooperative mission planning method under multiple constraints
Abstract:
As UAV popularity soars, so does the mission planning associated with it. The classical approaches suffer from the triple problems of decoupled of task assignment and path planning, poor real-time performance and limited adaptability. Aiming at these challenges, this paper proposes a dynamic real-time multi-UAV collaborative mission planning algorithm based on Dubins paths under a distributed formation structure. Dubins path with multiple advantages bridges the gap between task assignment and path planning, leading to a coupled solution for mission planning. Then, a series of acceleration techniques, task clustering preprocessing, highly efficient distance cost functions, low-complexity and less iterative task allocation strategies, are employed to guarantee the real-time performance of the algorithms. To cope with different emergencies and their simultaneous extremes, real-time planning of emerging tasks and mission replanning due to the reduction of available UAVs are appropriately handled. Finally, the developed algorithm is comprehensively exemplified and studied through simulations, highlighting that the proposed method only sacrifices 9.57% of the path length, while achieving a speed improvement of 4-5 orders of magnitude over the simulated annealing method, with a single mission planning of about 0.0003s.

Authors:Defne E. Ozan, Andrea Nóvoa, Georgios Rigas, Luca Magri
Title: Data-assimilated model-informed reinforcement learning
Abstract:
The control of spatio-temporally chaos is challenging because of high dimensionality and unpredictability. Model-free reinforcement learning (RL) discovers optimal control policies by interacting with the system, typically requiring observations of the full physical state. In practice, sensors often provide only partial and noisy measurements (observations) of the system. The objective of this paper is to develop a framework that enables the control of chaotic systems with partial and noisy observability. The proposed method, data-assimilated model-informed reinforcement learning (DA-MIRL), integrates (i) low-order models to approximate high-dimensional dynamics; (ii) sequential data assimilation to correct the model prediction when observations become available; and (iii) an off-policy actor-critic RL algorithm to adaptively learn an optimal control strategy based on the corrected state estimates. We test DA-MIRL on the spatiotemporally chaotic solutions of the Kuramoto-Sivashinsky equation. We estimate the full state of the environment with (i) a physics-based model, here, a coarse-grained model; and (ii) a data-driven model, here, the control-aware echo state network, which is proposed in this paper. We show that DA-MIRL successfully estimates and suppresses the chaotic dynamics of the environment in real time from partial observations and approximate models. This work opens opportunities for the control of partially observable chaotic systems.

Authors:Harsha Yelchuri, Diwakar Kumar Singh, Nithish Krishnabharathi Gnani, T V Prabhakar, Chandramani Singh
Title: RoboTwin: A Robotic Teleoperation Framework Using Digital Twins
Abstract:
Robotic surgery imposes a significant cognitive burden on the surgeon. This cognitive burden increases in the case of remote robotic surgeries due to latency between entities and thus might affect the quality of surgery. Here, the patient side and the surgeon side are geographically separated by hundreds to thousands of kilometres. Real-time teleoperation of robots requires strict latency bounds for control and feedback. We propose a dual digital twin (DT) framework and explain the simulation environment and teleoperation framework. Here, the doctor visually controls the locally available DT of the patient side and thus experiences minimum latency. The second digital twin serves two purposes. Firstly, it provides a layer of safety for operator-related mishaps, and secondly, it conveys the coordinates of known and unknown objects back to the operator's side digital twin. We show that teleoperation accuracy and user experience are enhanced with our approach. Experimental results using the NASA-TLX metric show that the quality of surgery is vastly improved with DT, perhaps due to reduced cognitive burden. The network data rate for identifying objects at the operator side is 25x lower than normal.

Authors:Siddharth Prabhu, Srinivas Rangarajan, Mayuresh Kothare
Title: Bi-Level optimization for parameter estimation of differential equations using interpolation
Abstract:
Inverse problem or parameter estimation of ordinary differential equations is a process of obtaining the best parameters using experimental measurements of the states. Single (Multiple)-shooting is a type of sequential optimization method that minimizes the error in the measured and numerically integrated states. However, this requires computing sensitivities i.e. the derivatives of states with respect to the parameters over the numerical integrator, which can get computationally expensive. To address this challenge, many interpolation-based approaches have been proposed to either reduce the computational cost of sensitivity calculations or eliminate their need. In this paper, we use a bi-level optimization framework that leverages interpolation and exploits the structure of the differential equation to solve an inner convex optimization problem. We apply this method to two different problem formulations. First, parameter estimation for differential equations, and delayed differential equations, where the model structure is known but the parameters are unknown. Second, model discovery problems, where both the model structure and parameters are unknown.

Authors:Diogo Landau, Ingeborg de Pater, Mihaela Mitici, Nishant Saurabh
Title: Federated learning framework for collaborative remaining useful life prognostics: an aircraft engine case study
Abstract:
Complex systems such as aircraft engines are continuously monitored by sensors. In predictive aircraft maintenance, the collected sensor measurements are used to estimate the health condition and the Remaining Useful Life (RUL) of such systems. However, a major challenge when developing prognostics is the limited number of run-to-failure data samples. This challenge could be overcome if multiple airlines would share their run-to-failure data samples such that sufficient learning can be achieved. Due to privacy concerns, however, airlines are reluctant to share their data in a centralized setting. In this paper, a collaborative federated learning framework is therefore developed instead. Here, several airlines cooperate to train a collective RUL prognostic machine learning model, without the need to centrally share their data. For this, a decentralized validation procedure is proposed to validate the prognostics model without sharing any data. Moreover, sensor data is often noisy and of low quality. This paper therefore proposes four novel methods to aggregate the parameters of the global prognostic model. These methods enhance the robustness of the FL framework against noisy data. The proposed framework is illustrated for training a collaborative RUL prognostic model for aircraft engines, using the N-CMAPSS dataset. Here, six airlines are considered, that collaborate in the FL framework to train a collective RUL prognostic model for their aircraft's engines. When comparing the proposed FL framework with the case where each airline independently develops their own prognostic model, the results show that FL leads to more accurate RUL prognostics for five out of the six airlines. Moreover, the novel robust aggregation methods render the FL framework robust to noisy data samples.

Authors:Niraj Gohil, Nawshad Haque, Amgad Elgowainy, Amro M. Farid
Title: Enhancing Spatio-Temporal Resolution of Process-Based Life Cycle Analysis with Model-Based Systems Engineering \& Hetero-functional Graph Theory
Abstract:
Life cycle analysis (LCA) has emerged as a vital tool for assessing the environmental impacts of products, processes, and systems throughout their entire lifecycle. It provides a systematic approach to quantifying resource consumption, emissions, and waste, enabling industries, researchers, and policymakers to identify hotspots for sustainability improvements. By providing a comprehensive assessment of systems, from raw material extraction to end-of-life disposal, LCA facilitates the development of environmentally sound strategies, thereby contributing significantly to sustainable engineering and informed decision-making. Despite its strengths and ubiquitous use, life cycle analysis has not been reconciled with the broader literature in model-based systems engineering and analysis, thus hindering its integration into the design of complex systems more generally. This lack of reconciliation poses a significant problem, as it hinders the seamless integration of environmental sustainability into the design and optimization of complex systems. Without alignment between life cycle analysis (LCA) and model-based systems engineering (MBSE), sustainability remains an isolated consideration rather than an inherent part of the system's architecture and design. The original contribution of this paper is twofold. First, the paper reconciles process-based life cycle analysis with the broader literature and vocabulary of model-based systems engineering and hetero-functional graph theory. It ultimately proves that model-based systems engineering and hetero-functional graph theory are a formal generalization of process-based life cycle analysis. Secondly, the paper demonstrates how model-based systems engineering and hetero-functional graph theory may be used to enhance the spatio-temporal resolution of process-based life cycle analysis in a manner that aligns with system design objectives.

Authors:Adam Peichl, Matěj Kuře, Wim Michiels, Tomáš Vyhlídal
Title: Integrated design of system structure and delayed resonator towards efficient non-collocated vibration absorption
Abstract:
The problem of non-collocated vibration absorption by a delayed resonator is addressed with emphasis on system fatigue resistance and energy efficiency of control actions. The analysis is performed for a system consisting of an arbitrary large series of flexibly linked single-degree-of-freedom masses. For the stage where the vibration of the target mass is fully absorbed by the non-collocated resonator, key forces, motion amplitudes and potential energies across the system structure are assessed. Next, a complete parameter set of the resonator gain and delay is derived, and the actuation force and power needed by the resonator for the full vibration absorption is determined. The derived quantities are utilized in forming an optimization problem to balance minimal risk of fatigue across the system structure and power needed by the resonator, under the closed loop stability and parameter constraints. Next to the gain and delay of the resonator, selected structural parameters of the system are used as variables in the constrained nonlinear optimization problem. Experimental and numerical case studies are included to demonstrate benefits of the proposed integrated structural and control design.

Authors:Paul Lutkus, Kaiyuan Wang, Lars Lindemann, Stephen Tu
Title: Latent Representations for Control Design with Provable Stability and Safety Guarantees
Abstract:
We initiate a formal study on the use of low-dimensional latent representations of dynamical systems for verifiable control synthesis. Our main goal is to enable the application of verification techniques -- such as Lyapunov or barrier functions -- that might otherwise be computationally prohibitive when applied directly to the full state representation. Towards this goal, we first provide dynamics-aware approximate conjugacy conditions which formalize the notion of reconstruction error necessary for systems analysis. We then utilize our conjugacy conditions to transfer the stability and invariance guarantees of a latent certificate function (e.g., a Lyapunov or barrier function) for a latent space controller back to the original system. Importantly, our analysis contains several important implications for learning latent spaces and dynamics, by highlighting the necessary geometric properties which need to be preserved by the latent space, in addition to providing concrete loss functions for dynamics reconstruction that are directly related to control design. We conclude by demonstrating the applicability of our theory to two case studies: (1) stabilization of a cartpole system, and (2) collision avoidance for a two vehicle system.

Authors:Filippos Fotiadis, Kyriakos G. Vamvoudakis
Title: A Physics-Informed Learning Framework to Solve the Infinite-Horizon Optimal Control Problem
Abstract:
We propose a physics-informed neural networks (PINNs) framework to solve the infinite-horizon optimal control problem of nonlinear systems. In particular, since PINNs are generally able to solve a class of partial differential equations (PDEs), they can be employed to learn the value function of the infinite-horizon optimal control problem via solving the associated steady-state Hamilton-Jacobi-Bellman (HJB) equation. However, an issue here is that the steady-state HJB equation generally yields multiple solutions; hence if PINNs are directly employed to it, they may end up approximating a solution that is different from the optimal value function of the problem. We tackle this by instead applying PINNs to a finite-horizon variant of the steady-state HJB that has a unique solution, and which uniformly approximates the optimal value function as the horizon increases. An algorithm to verify if the chosen horizon is large enough is also given, as well as a method to extend it -- with reduced computations and robustness to approximation errors -- in case it is not. Unlike many existing methods, the proposed technique works well with non-polynomial basis functions, does not require prior knowledge of a stabilizing controller, and does not perform iterative policy evaluations. Simulations are performed, which verify and clarify theoretical findings.

Authors:Maria Patrou, Thomas Wang, Wael Elwasif, Markus Eisenbach, Ross Miller, William Godoy, Oscar Hernandez
Title: Power-Capping Metric Evaluation for Improving Energy Efficiency in HPC Applications
Abstract:
With high-performance computing systems now running at exascale, optimizing power-scaling management and resource utilization has become more critical than ever. This paper explores runtime power-capping optimizations that leverage integrated CPU-GPU power management on architectures like the NVIDIA GH200 superchip. We evaluate energy-performance metrics that account for simultaneous CPU and GPU power-capping effects by using two complementary approaches: speedup-energy-delay and a Euclidean distance-based multi-objective optimization method. By targeting a mostly compute-bound exascale science application, the Locally Self-Consistent Multiple Scattering (LSMS), we explore challenging scenarios to identify potential opportunities for energy savings in exascale applications, and we recognize that even modest reductions in energy consumption can have significant overall impacts. Our results highlight how GPU task-specific dynamic power-cap adjustments combined with integrated CPU-GPU power steering can improve the energy utilization of certain GPU tasks, thereby laying the groundwork for future adaptive optimization strategies.

Authors:Chenglin Gong, Ziming Wang, Guanxuan Jiang, Xin Wang, Yiding Ji
Title: Effective Fixed-Time Control for Constrained Nonlinear System
Abstract:
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally, we develop a class of multi-threshold event-triggered control strategies that facilitate autonomous controller updates, substantially reducing communication resource consumption. Notably, the self-triggered strategy distinguishes itself from other strategies by obviating the need for continuous real-time monitoring of the controller's state variables. By accurately forecasting the subsequent activation instance, this strategy significantly optimizes the efficiency of the control system. Moreover, our theoretical analysis demonstrates that the semi-global practical fixed-time stability (SPFTS) criterion guarantees both tracking accuracy and closed-loop stability under state constraints, with convergence time independent of initial conditions. Finally, simulation results reveal that the proposed method significantly decreases the frequency of control command updates while maintaining tracking accuracy.

Authors:Ali Forootani, Mohammad Khosravi
Title: Synthetic Time Series Forecasting with Transformer Architectures: Extensive Simulation Benchmarks
Abstract:
Time series forecasting plays a critical role in domains such as energy, finance, and healthcare, where accurate predictions inform decision-making under uncertainty. Although Transformer-based models have demonstrated success in sequential modeling, their adoption for time series remains limited by challenges such as noise sensitivity, long-range dependencies, and a lack of inductive bias for temporal structure. In this work, we present a unified and principled framework for benchmarking three prominent Transformer forecasting architectures-Autoformer, Informer, and Patchtst-each evaluated through three architectural variants: Minimal, Standard, and Full, representing increasing levels of complexity and modeling capacity. We conduct over 1500 controlled experiments on a suite of ten synthetic signals, spanning five patch lengths and five forecast horizons under both clean and noisy conditions. Our analysis reveals consistent patterns across model families. To advance this landscape further, we introduce the Koopman-enhanced Transformer framework, Deep Koopformer, which integrates operator-theoretic latent state modeling to improve stability and interpretability. We demonstrate its efficacy on nonlinear and chaotic dynamical systems. Our results highlight Koopman based Transformer as a promising hybrid approach for robust, interpretable, and theoretically grounded time series forecasting in noisy and complex real-world conditions.

Authors:Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng, John M. Dolan
Title: LLA-MPC: Fast Adaptive Control for Autonomous Racing
Abstract:
We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidly changing tire-surface interactions. Unlike existing approaches requiring substantial data collection or offline training, LLA-MPC employs a model bank for immediate adaptation without a learning period. It integrates two key mechanisms: a look-back window that evaluates recent vehicle behavior to select the most accurate model and a look-ahead horizon that optimizes trajectory planning based on the identified dynamics. The selected model and estimated friction coefficient are then incorporated into a trajectory planner to optimize reference paths in real-time. Experiments across diverse racing scenarios demonstrate that LLA-MPC outperforms state-of-the-art methods in adaptation speed and handling, even during sudden friction transitions. Its learning-free, computationally efficient design enables rapid adaptation, making it ideal for high-speed autonomous racing in multi-surface environments.

Authors:Thomas L. Ahrens, Ian M. Down, Manoranjan Majji
Title: Direct Pseudospectral Optimal Control by Orthogonal Polynomial Integral Collocation
Abstract:
This paper details a methodology to transcribe an optimal control problem into a nonlinear program for generation of the trajectories that optimize a given functional by approximating only the highest order derivatives of a given system's dynamics. The underlying method uses orthogonal polynomial integral collocation by which successive integrals are taken to approximate all lower order states. Hence, one set of polynomial coefficients can represent an entire coordinate's degree of freedom. Specifically, Chebyshev polynomials of the first and second kind and Legendre polynomials are used over their associated common interpolating grids derived from the bases' roots and extrema. Simple example problems compare different polynomial bases' performance to analytical solutions. The planar circular orbit raising problem is used to verify the method with solutions obtained by other pseudospectral methods in literature. Finally, a rocket landing flip maneuver problem is solved to demonstrate the ability to solve complex problems with multiple states and control variables with constraints. Simulations establish this method's performance, and reveal that the polynomial/node choice for a given problem notably affects the performance.

Authors:Ashok R Samrat, Swati Singh, Shashi Ranjan Kumar
Title: Three-Dimensional Nonlinear Guidance with Impact Time and Field-of-view Constraints
Abstract:
This paper addresses the time-constrained interception of targets at a predetermined time with bounded field-of-view capability of the seeker-equipped interceptors. We propose guidance laws using the effective lead angle and velocity lead angles of the interceptor to achieve a successful interception of the target. The former scheme extends the existing two-dimensional guidance strategy to a three-dimensional setting. We have shown that such an extension may result in high-frequency switching in the input demand, which may degrade the interceptor's performance. To overcome the potential limitations of such a guidance strategy, we propose an elegant solution using the velocity lead angles and the range error with a backstepping technique. Using the velocity lead angles as virtual inputs, the effective lead angle profile is subsequently regulated to satisfy the seeker's field-of-view bound. Unlike the existing strategies, the proposed guidance strategy does not rely on the time-to-go estimate, which is an appealing feature of the design, as the time-to-go estimate may not always be available with high precision. We provide a theoretical analysis of the error variable and subsequently analytically derive the bounds on achievable impact times. Numerical simulations are performed to support the theoretical findings. The performance of the proposed guidance strategy is compared with that of an existing one, and it has been shown to yield better performance. Finally, a study on different choices of virtual inputs is also provided.

Authors:Wei Wang, Xiaoyu Ou, Zhihan Ren, Waqas Bin Abbas, Shuping Dang, Angela Doufexi, Mark A. Beach
Title: Analysis on Energy Efficiency of RIS-Assisted Multiuser Downlink Near-Field Communications
Abstract:
In this paper, we focus on the energy efficiency (EE) optimization and analysis of reconfigurable intelligent surface (RIS)-assisted multiuser downlink near-field communications. Specifically, we conduct a comprehensive study on several key factors affecting EE performance, including the number of RIS elements, the types of reconfigurable elements, reconfiguration resolutions, and the maximum transmit power. To accurately capture the power characteristics of RISs, we adopt more practical power consumption models for three commonly used reconfigurable elements in RISs: PIN diodes, varactor diodes, and radio frequency (RF) switches. These different elements may result in RIS systems exhibiting significantly different energy efficiencies (EEs), even when their spectral efficiencies (SEs) are similar. Considering discrete phases implemented at most RISs in practice, which makes their optimization NP-hard, we develop a nested alternating optimization framework to maximize EE, consisting of an outer integer-based optimization for discrete RIS phase reconfigurations and a nested non-convex optimization for continuous transmit power allocation within each iteration. Extensive comparisons with multiple benchmark schemes validate the effectiveness and efficiency of the proposed framework. Furthermore, based on the proposed optimization method, we analyze the EE performance of RISs across different key factors and identify the optimal RIS architecture yielding the highest EE.

Authors:Yue Xiao, Yi He, Yaqing Zhang, Xin Lin, Ming Zhang
Title: Autonomous Circular Drift Control for 4WD-4WS Vehicles Without Precomputed Drifting Equilibrium
Abstract:
Under extreme conditions, autonomous drifting enables vehicles to follow predefined paths at large slip angles, significantly enhancing the control system's capability to handle hazardous scenarios. Four-wheel-drive and four-wheel-steering (4WD-4WS) vehicles, which have been extensively studied, offer superior path-following precision and enhanced maneuverability under challenging driving conditions. In this paper, a hierarchical drifting controller is proposed for 4WD-4WS vehicles to track both path and velocity without relying on precomputed drifting equilibrium. The controller is structured into two layers: a trajectory tracking layer and an actuator regulation layer. The first layer generates the desired tire forces in the vehicle body frame, while the second layer converts these desired tire forces into steering angle commands and torque commands for the front and rear motors. The effectiveness and robustness of the proposed controller are validated through simulation.

Authors:Adrian Saldanha, Adam Peichl, Wim Michiels, Tomáš Vyhlídal
Title: Delayed dynamic-feedback controller design for multi-frequency vibration suppression
Abstract:
We present a methodology for designing a dynamic controller with delayed output feedback for achieving non-collocated vibration suppression with a focus on the multi-frequency case. To synthesize the delay-based controller, we first remodel the system of equations as a delay-differential algebraic equation (DDAE) in such a way that existing tools for design of a static output feedback controller can be easily adapted. The problem of achieving non-collocated vibration suppression with sufficient damping is formulated as a constrained optimization problem of minimizing the spectral abscissa in the presence of zero-location constraints, with the constraints exhibiting polynomial dependence on its parameters. We transform the problem into an unconstrained one using elimination, following which we solve the resulting non-convex, non-smooth optimization problem.

Authors:Mostafaali Ayubirad, Madiha Akbar, Hamid R. Ossareh
Title: Modeling and Constraint-Aware Control of Pressure Dynamics in Water Electrolysis Systems
Abstract:
This paper addresses the challenge of pressure constraint violations in water electrolysis systems operating under dynamic power conditions, a problem common to both Proton Exchange Membrane and alkaline technologies. To investigate this issue, a control-oriented model of an alkaline electrolyzer is developed, capturing key pressure and flow dynamics. To manage rapid power fluctuations that may cause pressure to exceed manufacturer-defined operational boundaries, a model-based constraint-aware power governor based on the Reference Governor (RG) framework is proposed. Simulation results show that the strategy effectively maintains pressure within the specified operating range, outperforming conventional filtering methods while enhancing hydrogen production and reducing auxiliary energy consumption.

Authors:Hao Yin, Claudio De Persis, Bayu Jayawardhana, Santiago Sanchez Escalonilla Plaza
Title: Neural network based control of unknown nonlinear systems via contraction analysis
Abstract:
This paper studies the design of neural network (NN)-based controllers for unknown nonlinear systems, using contraction analysis. A Neural Ordinary Differential Equation (NODE) system is constructed by approximating the unknown draft dynamics with a feedforward NN. Incremental sector bounds and contraction theory are applied to the activation functions and the weights of the NN, respectively. It is demonstrated that if the incremental sector bounds and the weights satisfy some non-convex conditions, the NODE system is contractive. To improve computational efficiency, these non-convex conditions are reformulated as convex LMI conditions. Additionally, it is proven that when the NODE system is contractive, the trajectories of the original autonomous system converge to a neighborhood of the unknown equilibrium, with the size of this neighborhood determined by the approximation error. For a single-layer NN, the NODE system is simplified to a continuous-time Hopfield NN. If the NODE system does not satisfy the contraction conditions, an NN-based controller is designed to enforce contractivity. This controller integrates a linear component, which ensures contraction through suitable control gains, and an NN component, which compensates for the NODE system's nonlinearities. This integrated controller guarantees that the trajectories of the original affine system converge to a neighborhood of the unknown equilibrium. The effectiveness of the proposed approach is demonstrated through two illustrative examples.

Authors:Aubida A. Al-Hameed, Safwan Hafeedh Younus, Mohamad A. Ahmed, Abdullah Baz
Title: Optimizing Resource Allocation for QoS and Stability in Dynamic VLC-NOMA Networks via MARL
Abstract:
Visible Light Communication (VLC) combined with Non-Orthogonal Multiple Access (NOMA) offers a promising solution for dense indoor wireless networks. Yet, managing resources effectively is challenged by VLC network dynamic conditions involving user mobility and light dimming. In addition to satisfying Quality of Service (QoS) and network stability requirements. Traditional resource allocation methods and simpler RL approaches struggle to jointly optimize QoS and stability under the dynamic conditions of mobile VLC-NOMA networks. This paper presents MARL frameworks tailored to perform complex joint optimization of resource allocation (NOMA power, user scheduling) and network stability (interference, handovers), considering heterogeneous QoS, user mobility, and dimming in VLC-NOMA systems. Our MARL frameworks capture dynamic channel conditions and diverse user QoS , enabling effective joint optimization. In these frameworks, VLC access points (APs) act as intelligent agents, learning to allocate power and schedule users to satisfy diverse requirements while maintaining network stability by managing interference and minimizing disruptive handovers. We conduct a comparative analysis of two key MARL paradigms: 1) Centralized Training with Decentralized Execution (CTDE) and 2) Centralized Training with Centralized Execution (CTCE). Comprehensive simulations validate the effectiveness of both tailored MARL frameworks and demonstrate an ability to handle complex optimization. The results show key trade-offs, as the CTDE approach achieved approximately 16\% higher for High priority (HP) user QoS satisfaction, while the CTCE approach yielded nearly 7 dB higher average SINR and 12\% lower ping-pong handover ratio, offering valuable insights into the performance differences between these paradigms in complex VLC-NOMA network scenarios.

Authors:Luiz Maia, Gerhard Fohler
Title: Decreasing Utilization of Systems with Multi-Rate Cause-Effect Chains While Reducing End-to-End Latencies
Abstract:
The Logical Execution Time (LET) model has deterministic properties which dramatically reduce the complexity of analyzing temporal requirements of multi-rate cause-effect chains. The configuration (length and position) of task's communication intervals directly define which task instances propagate data through the chain and affect end-to-end latencies. Since not all task instances propagate data through the chain, the execution of these instances wastes processing resources. By manipulating the configuration of communication intervals, it is possible to control which task instances are relevant for data propagation and end-to-end latencies. However, since tasks can belong to more than one cause-effect chain, the problem of configuring communication intervals becomes non-trivial given the large number of possible configurations. In this paper, we present a method to decrease the waste of processing resources while reducing end-to-end latencies. We use a search algorithm to analyze different communication interval configurations and find the combination that best decrease system utilization while reducing end-to-end latencies. By controlling data propagation by means of precedence constraints, our method modifies communication intervals and controls which task instances affect end-to-end latencies. Despite the sporadic release time of some task instances during the analysis, our method transforms those instances into periodic tasks. We evaluate our work using synthetic task sets and the automotive benchmark proposed by BOSCH for the WATERS industrial challenge.

Authors:Juraj Lieskovský, Jaroslav Bušek, Tomáš Vyhlídal
Title: Continuous-time iterative linear-quadratic regulator
Abstract:
We present a continuous-time equivalent to the well-known iterative linear-quadratic algorithm including an implementation of a backtracking line-search policy and a novel regularization approach based on the necessary conditions in the Riccati pass of the linear-quadratic regulator. This allows the algorithm to effectively solve trajectory optimization problems with non-convex cost functions, which is demonstrated on the cart-pole swing-up problem. The algorithm compatibility with state-of-the-art suites of numerical integration solvers allows for the use of high-order adaptive-step methods. Their use results in a variable number of time steps both between passes of the algorithm and across iterations, maintaining a balance between the number of function evaluations and the discretization error.

Authors:Shuwei Xing, Inaara Ahmed-Fazal, Utsav Pardasani, Uditha Jayarathne, Scott Illsley, Aaron Fenster, Terry M. Peters, Elvis C. S. Chen
Title: Virtual Fluoroscopy for Interventional Guidance using Magnetic Tracking
Abstract:
Purpose: In conventional fluoroscopy-guided interventions, the 2D projective nature of X-ray imaging limits depth perception and leads to prolonged radiation exposure. Virtual fluoroscopy, combined with spatially tracked surgical instruments, is a promising strategy to mitigate these limitations. While magnetic tracking shows unique advantages, particularly in tracking flexible instruments, it remains under-explored due to interference from ferromagnetic materials in the C-arm room. This work proposes a virtual fluoroscopy workflow by effectively integrating magnetic tracking, and demonstrates its clinical efficacy. Methods: An automatic virtual fluoroscopy workflow was developed using a radiolucent tabletop field generator prototype. Specifically, we developed a fluoro-CT registration approach with automatic 2D-3D shared landmark correspondence to establish the C-arm-patient relationship, along with a general C-arm modelling approach to calculate desired poses and generate corresponding virtual fluoroscopic images. Results: Testing on a dataset with views ranging from RAO 90 degrees to LAO 90 degrees, simulated fluoroscopic images showed visually imperceptible differences from the real ones, achieving a mean target projection distance error of 1.55 mm. An endoleak phantom insertion experiment highlighted the effectiveness of simulating multiplanar views with real-time instrument overlays, achieving a mean needle tip error of 3.42 mm. Conclusions: Results demonstrated the efficacy of virtual fluoroscopy integrated with magnetic tracking, improving depth perception during navigation. The broad capture range of virtual fluoroscopy showed promise in improving the users understanding of X-ray imaging principles, facilitating more efficient image acquisition.

Authors:Jiazhu Li, Jian Kuang, Xiaoji Niu
Title: MSCEKF-MIO: Magnetic-Inertial Odometry Based on Multi-State Constraint Extended Kalman Filter
Abstract:
To overcome the limitation of existing indoor odometry technologies which often cannot simultaneously meet requirements for accuracy cost-effectiveness, and robustness-this paper proposes a novel magnetometer array-aided inertial odometry approach, MSCEKF-MIO (Multi-State Constraint Extended Kalman Filter-based Magnetic-Inertial Odometry). We construct a magnetic field model by fitting measurements from the magnetometer array and then use temporal variations in this model-extracted from continuous observations-to estimate the carrier's absolute velocity. Furthermore, we implement the MSCEKF framework to fuse observed magnetic field variations with position and attitude estimates from inertial navigation system (INS) integration, thereby enabling autonomous, high-precision indoor relative positioning. Experimental results demonstrate that the proposed algorithm achieves superior velocity estimation accuracy and horizontal positioning precision relative to state-of-the-art magnetic array-aided INS algorithms (MAINS). On datasets with trajectory lengths of 150-250m, the proposed method yields an average horizontal position RMSE of approximately 2.5m. In areas with distinctive magnetic features, the magneto-inertial odometry achieves a velocity estimation accuracy of 0.07m/s. Consequently, the proposed method offers a novel positioning solution characterized by low power consumption, cost-effectiveness, and high reliability in complex indoor environments.

Authors:Davide Plozza, Patricia Apostol, Paul Joseph, Simon Schläpfer, Michele Magno
Title: Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing
Abstract:
Compact quadrupedal robots are proving increasingly suitable for deployment in real-world scenarios. Their smaller size fosters easy integration into human environments. Nevertheless, real-time locomotion on uneven terrains remains challenging, particularly due to the high computational demands of terrain perception. This paper presents a robust reinforcement learning-based exteroceptive locomotion controller for resource-constrained small-scale quadrupeds in challenging terrains, which exploits real-time elevation mapping, supported by a careful depth sensor selection. We concurrently train both a policy and a state estimator, which together provide an odometry source for elevation mapping, optionally fused with visual-inertial odometry (VIO). We demonstrate the importance of positioning an additional time-of-flight sensor for maintaining robustness even without VIO, thus having the potential to free up computational resources. We experimentally demonstrate that the proposed controller can flawlessly traverse steps up to 17.5 cm in height and achieve an 80% success rate on 22.5 cm steps, both with and without VIO. The proposed controller also achieves accurate forward and yaw velocity tracking of up to 1.0 m/s and 1.5 rad/s respectively. We open-source our training code at github.com/ETH-PBL/elmap-rl-controller.

Authors:Zijun Liu, Yafei Wang, Tianhao Fang, Wenjin Wang, Zhili Sun
Title: Time-Continuous Frequency Allocation for Feeder Links of Mega Constellations with Multi-Antenna Gateway Stations
Abstract:
With the recent rapid advancement of mega low earth orbit (LEO) satellite constellations, multi-antenna gateway station (MAGS) has emerged as a key enabler to support extremely high system capacity via massive feeder links. However, the densification of both space and ground segment leads to reduced spatial separation between links, posing unprecedented challenges of interference exacerbation. This paper investigates graph coloring-based frequency allocation methods for interference mitigation (IM) of mega LEO systems. We first reveal the characteristics of MAGS interference pattern and formulate the IM problem into a $K$-coloring problem using an adaptive threshold method. Then we propose two tailored graph coloring algorithms, namely Generalized Global (GG) and Clique-Based Tabu Search (CTS), to solve this problem. GG employs a low-complexity greedy conflict avoidance strategy, while CTS leverages the unique clique structure brought by MAGSs to enhance IM performance. Subsequently, we innovatively modify them to achieve time-continuous frequency allocation, which is crucial to ensure the stability of feeder links. Moreover, we further devise two mega constellation decomposition methods to alleviate the complexity burden of satellite operators. Finally, we propose a list coloring-based vacant subchannel utilization method to further improve spectrum efficiency and system capacity. Simulation results on Starlink constellation of the first and second generations with 34396 satellites demonstrate the effectiveness and superiority of the proposed methodology.

Authors:Alexandre Banks, Randy Moore, Sayem Nazmuz Zaman, Alaa Eldin Abdelaal, Septimiu E. Salcudean
Title: AutoCam: Hierarchical Path Planning for an Autonomous Auxiliary Camera in Surgical Robotics
Abstract:
Incorporating an autonomous auxiliary camera into robot-assisted minimally invasive surgery (RAMIS) enhances spatial awareness and eliminates manual viewpoint control. Existing path planning methods for auxiliary cameras track two-dimensional surgical features but do not simultaneously account for camera orientation, workspace constraints, and robot joint limits. This study presents AutoCam: an automatic auxiliary camera placement method to improve visualization in RAMIS. Implemented on the da Vinci Research Kit, the system uses a priority-based, workspace-constrained control algorithm that combines heuristic geometric placement with nonlinear optimization to ensure robust camera tracking. A user study (N=6) demonstrated that the system maintained 99.84% visibility of a salient feature and achieved a pose error of 4.36 $\pm$ 2.11 degrees and 1.95 $\pm$ 5.66 mm. The controller was computationally efficient, with a loop time of 6.8 $\pm$ 12.8 ms. An additional pilot study (N=6), where novices completed a Fundamentals of Laparoscopic Surgery training task, suggests that users can teleoperate just as effectively from AutoCam's viewpoint as from the endoscope's while still benefiting from AutoCam's improved visual coverage of the scene. These results indicate that an auxiliary camera can be autonomously controlled using the da Vinci patient-side manipulators to track a salient feature, laying the groundwork for new multi-camera visualization methods in RAMIS.

Authors:Tong Xiao, Simon Doclo
Title: Spatially Selective Active Noise Control for Open-fitting Hearables with Acausal Optimization
Abstract:
Recent advances in active noise control have enabled the development of hearables with spatial selectivity, which actively suppress undesired noise while preserving desired sound from specific directions. In this work, we propose an improved approach to spatially selective active noise control that incorporates acausal relative impulse responses into the optimization process, resulting in significantly improved performance over the causal design. We evaluate the system through simulations using a pair of open-fitting hearables with spatially localized speech and noise sources in an anechoic environment. Performance is evaluated in terms of speech distortion, noise reduction, and signal-to-noise ratio improvement across different delays and degrees of acausality. Results show that the proposed acausal optimization consistently outperforms the causal approach across all metrics and scenarios, as acausal filters more effectively characterize the response of the desired source.

Authors:Yuankai Zhu, Stavros Vougioukas
Title: Fast Heuristic Scheduling and Trajectory Planning for Robotic Fruit Harvesters with Multiple Cartesian Arms
Abstract:
This work proposes a fast heuristic algorithm for the coupled scheduling and trajectory planning of multiple Cartesian robotic arms harvesting fruits. Our method partitions the workspace, assigns fruit-picking sequences to arms, determines tight and feasible fruit-picking schedules and vehicle travel speed, and generates smooth, collision-free arm trajectories. The fruit-picking throughput achieved by the algorithm was assessed using synthetically generated fruit coordinates and a harvester design featuring up to 12 arms. The throughput increased monotonically as more arms were added. Adding more arms when fruit densities were low resulted in diminishing gains because it took longer to travel from one fruit to another. However, when there were enough fruits, the proposed algorithm achieved a linear speedup as the number of arms increased.

Authors:Xuanzhi Zhu, Pedro Casau, Carlos Silvestre
Title: Event-Triggered Synergistic Controllers with Dwell-Time Transmission
Abstract:
We propose novel event-triggered synergistic controllers for nonlinear continuous-time plants by incorporating event-triggered control into stabilizing synergistic controllers. We highlight that a naive application of common event-triggering conditions may not ensure dwell-time transmission due to the joint jumping dynamics of the closed-loop system. Under mild conditions, we develop a suite of event-triggered synergistic controllers that guarantee both dwell-time transmission and global asymptotic stability. Through numerical simulations, we demonstrate the effectiveness of our controller applied to the problem of rigid body attitude stabilization.

Authors:Shan Yang, Yongli Zhu
Title: Offline Reinforcement Learning for Microgrid Voltage Regulation
Abstract:
This paper presents a study on using different offline reinforcement learning algorithms for microgrid voltage regulation with solar power penetration. When environment interaction is unviable due to technical or safety reasons, the proposed approach can still obtain an applicable model through offline-style training on a previously collected dataset, lowering the negative impact of lacking online environment interactions. Experiment results on the IEEE 33-bus system demonstrate the feasibility and effectiveness of the proposed approach on different offline datasets, including the one with merely low-quality experience.

Authors:Brooks A. Butler, Magnus Egerstedt
Title: Hamilton's Rule for Enabling Altruism in Multi-Agent Systems
Abstract:
This paper explores the application of Hamilton's rule to altruistic decision-making in multi-agent systems. Inspired by biological altruism, we introduce a framework that evaluates when individual agents should incur costs to benefit their neighbors. By adapting Hamilton's rule, we define agent ``fitness" in terms of task productivity rather than genetic survival. We formalize altruistic decision-making through a graph-based model of multi-agent interactions and propose a solution using collaborative control Lyapunov functions. The approach ensures that altruistic behaviors contribute to the collective goal-reaching efficiency of the system. We illustrate this framework on a multi-agent way-point navigation problem, where we show through simulation how agent importance levels influence altruistic decision-making, leading to improved coordination in navigation tasks.

Authors:Ruichen Yang, György M. Lévay, Christopher L. Hunt, Dániel Czeiner, Megan C. Hodgson, Damini Agarwal, Rahul R. Kaliki, Nitish V. Thakor
Title: Visual Feedback of Pattern Separability Improves Myoelectric Decoding Performance of Upper Limb Prostheses
Abstract:
State-of-the-art upper limb myoelectric prostheses often use pattern recognition (PR) control systems that translate electromyography (EMG) signals into desired movements. As prosthesis movement complexity increases, users often struggle to produce sufficiently distinct EMG patterns for reliable classification. Existing training typically involves heuristic, trial-and-error user adjustments to static decoder boundaries. Goal: We introduce the Reviewer, a 3D visual interface projecting EMG signals directly into the decoder's classification space, providing intuitive, real-time insight into PR algorithm behavior. This structured feedback reduces cognitive load and fosters mutual, data-driven adaptation between user-generated EMG patterns and decoder boundaries. Methods: A 10-session study with 12 able-bodied participants compared PR performance after motor-based training and updating using the Reviewer versus conventional virtual arm visualization. Performance was assessed using a Fitts law task that involved the aperture of the cursor and the control of orientation. Results: Participants trained with the Reviewer achieved higher completion rates, reduced overshoot, and improved path efficiency and throughput compared to the standard visualization group. Significance: The Reviewer introduces decoder-informed motor training, facilitating immediate and consistent PR-based myoelectric control improvements. By iteratively refining control through real-time feedback, this approach reduces reliance on trial-and-error recalibration, enabling a more adaptive, self-correcting training framework. Conclusion: The 3D visual feedback significantly improves PR control in novice operators through structured training, enabling feedback-driven adaptation and reducing reliance on extensive heuristic adjustments.

Authors:Alexander Demin, Christina Katsamaki, Fabrice Rouillier
Title: Some Computational Tools for Solving a Selection of Problems in Control Theory
Abstract:
This paper demonstrates how certified computational tools can be used to address various problems in control theory. In particular, we introduce PACE.jl, a Julia package that implements symbolic elimination techniques, including (among others) discriminant varieties and Rational Univariate Representation, while also supporting multi-precision interval computations. We showcase its applications to key control theory problems, including identification, stability analysis, and optimization, for both parameter-dependent and parameter-free systems.

Authors:Shivam Bajaj, Prateek Jaiswal, Vijay Gupta
Title: Leveraging Offline Data from Similar Systems for Online Linear Quadratic Control
Abstract:
``Sim2real gap", in which the system learned in simulations is not the exact representation of the real system, can lead to loss of stability and performance when controllers learned using data from the simulated system are used on the real system. In this work, we address this challenge in the linear quadratic regulator (LQR) setting. Specifically, we consider an LQR problem for a system with unknown system matrices. Along with the state-action pairs from the system to be controlled, a trajectory of length $S$ of state-action pairs from a different unknown system is available. Our proposed algorithm is constructed upon Thompson sampling and utilizes the mean as well as the uncertainty of the dynamics of the system from which the trajectory of length $S$ is obtained. We establish that the algorithm achieves $\tilde{\mathcal{O}}({f(S,M_δ)\sqrt{T/S}})$ Bayes regret after $T$ time steps, where $M_δ$ characterizes the \emph{dissimilarity} between the two systems and $f(S,M_δ)$ is a function of $S$ and $M_δ$. When $M_δ$ is sufficiently small, the proposed algorithm achieves $\tilde{\mathcal{O}}({\sqrt{T/S}})$ Bayes regret and outperforms a naive strategy which does not utilize the available trajectory.

Authors:Dominik Baumann, Krzysztof Kowalczyk, Cristian R. Rojas, Koen Tiels, Pawel Wachel
Title: Safety and optimality in learning-based control at low computational cost
Abstract:
Applying machine learning methods to physical systems that are supposed to act in the real world requires providing safety guarantees. However, methods that include such guarantees often come at a high computational cost, making them inapplicable to large datasets and embedded devices with low computational power. In this paper, we propose CoLSafe, a computationally lightweight safe learning algorithm whose computational complexity grows sublinearly with the number of data points. We derive both safety and optimality guarantees and showcase the effectiveness of our algorithm on a seven-degrees-of-freedom robot arm.

Authors:Amir Modares, Bosen Lian, Hamidreza Modares
Title: Non-Conservative Data-driven Safe Control Design for Nonlinear Systems with Polyhedral Safe Sets
Abstract:
This paper presents a data-driven nonlinear safe control design approach for discrete-time systems under parametric uncertainties and additive disturbances. We first characterize a new control structure from which a data-based representation of closed-loop systems is obtained. This data-based closed-loop system is composed of two parts: 1) a parametrized linear closed-loop part and a parametrized nonlinear remainder closed-loop part. We show that using the standard practice or learning a robust controller to ensure safety while treating the remaining nonlinearities as disturbances brings about significant challenges in terms of computational complexity and conservatism. To overcome these challenges, we develop a novel nonlinear safe control design approach in which the closed-loop nonlinear remainders are learned, rather than canceled, in a control-oriented fashion while preserving the computational efficiency. To this end, a primal-dual optimization framework is leveraged in which the control gains are learned to enforce the second-order optimality on the closed-loop nonlinear remainders. This allows us to account for nonlinearities in the design for the sake of safety rather than treating them as disturbances. This new controller parameterization and design approach reduces the computational complexity and the conservatism of designing a safe nonlinear controller. A simulation example is then provided to show the effectiveness of the proposed data-driven controller.

Authors:Gal Ben Itzhak, Miguel Saavedra-Melo, Ender Ayanoglu, Filippo Capolino, A. Lee Swindlehurst
Title: AI-Driven Optimization of Wave-Controlled Reconfigurable Intelligent Surfaces
Abstract:
A promising type of Reconfigurable Intelligent Surface (RIS) employs tunable control of its varactors using biasing transmission lines below the RIS reflecting elements. Biasing standing waves (BSWs) are excited by a time-periodic signal and sampled at each RIS element to create a desired biasing voltage and control the reflection coefficients of the elements. A simple rectifier can be used to sample the voltages and capture the peaks of the BSWs over time. Like other types of RIS, attempting to model and accurately configure a wave-controlled RIS is extremely challenging due to factors such as device non-linearities, frequency dependence, element coupling, etc., and thus significant differences will arise between the actual and assumed performance. An alternative approach to solving this problem is data-driven: Using training data obtained by sampling the reflected radiation pattern of the RIS for a set of BSWs, a neural network (NN) is designed to create an input-output map between the BSW amplitudes and the resulting sampled radiation pattern. This is the approach discussed in this paper. In the proposed approach, the NN is optimized using a genetic algorithm (GA) to minimize the error between the predicted and measured radiation patterns. The BSW amplitudes are then designed via Simulated Annealing (SA) to optimize a signal-to-leakage-plus-noise ratio measure by iteratively forward-propagating the BSW amplitudes through the NN and using its output as feedback to determine convergence. The resulting optimal solutions are stored in a lookup table to be used both as settings to instantly configure the RIS and as a basis for determining more complex radiation patterns.

Authors:Matthew A. McCready, Xiaozhi Cao, Kawin Setsompop, John M. Pauly, Adam B. Kerr
Title: OPTIKS: Optimized Gradient Properties Through Timing in K-Space
Abstract:
A customizable method (OPTIKS) for designing fast trajectory-constrained gradient waveforms with optimized time domain properties was developed. Given a specified multidimensional k-space trajectory, the method optimizes traversal speed (and therefore timing) with position along the trajectory. OPTIKS facilitates optimization of objectives dependent on the time domain gradient waveform and the arc-length domain k-space speed. OPTIKS is applied to design waveforms which limit peripheral nerve stimulation (PNS), minimize mechanical resonance excitation, and reduce acoustic noise. A variety of trajectory examples are presented including spirals, circular echo-planar-imaging, and rosettes. Design performance is evaluated based on duration, standardized PNS models, field measurements, gradient coil back-EMF measurements, and calibrated acoustic measurements. We show reductions in back-EMF of up to 94% and field oscillations up to 91.1%, acoustic noise decreases of up to 9.22 dB, and with efficient use of PNS models speed increases of up to 11.4%. The design method implementation is made available as an open source Python package through GitHub.

Authors:Amin Rezaeizadeh, Silvia Mastellone
Title: Optimal Current Control Strategy for Reliable Power Electronics Converters: Frequency-Domain Approach
Abstract:
Power electronics converters are key enablers in the global energy transition for power generation, industrial and mobility applications; they convert electrical power in a controlled, reliable and efficient manner. The semiconductor switching devices, at the core of power converters, are the most likely component to fail due to the damage caused by the current-induced temperature cycling. Damage models of semiconductors have been developed and employed to study their reliability, improve their design and to estimate the lifetime of the converter in various power applications. However, those models can offer more if employed in the design of strategies to actively operate the converter. Specifically, properly controlling the current, and hence the temperature cycling, can effectively contribute to reducing the accumulated damage in the semiconductor and increase its reliability and lifetime. In this paper we propose a novel current control approach that integrates reliability requirements into the design framework, based on a frequency-domain model of the semiconductor damage.

Authors:Sindre Benjamin Remman, Anastasios M. Lekkas
Title: Realistic Counterfactual Explanations for Machine Learning-Controlled Mobile Robots using 2D LiDAR
Abstract:
This paper presents a novel method for generating realistic counterfactual explanations (CFEs) in machine learning (ML)-based control for mobile robots using 2D LiDAR. ML models, especially artificial neural networks (ANNs), can provide advanced decision-making and control capabilities by learning from data. However, they often function as black boxes, making it challenging to interpret them. This is especially a problem in safety-critical control applications. To generate realistic CFEs, we parameterize the LiDAR space with simple shapes such as circles and rectangles, whose parameters are chosen by a genetic algorithm, and the configurations are transformed into LiDAR data by raycasting. Our model-agnostic approach generates CFEs in the form of synthetic LiDAR data that resembles a base LiDAR state but is modified to produce a pre-defined ML model control output based on a query from the user. We demonstrate our method on a mobile robot, the TurtleBot3, controlled using deep reinforcement learning (DRL) in real-world and simulated scenarios. Our method generates logical and realistic CFEs, which helps to interpret the DRL agent's decision making. This paper contributes towards advancing explainable AI in mobile robotics, and our method could be a tool for understanding, debugging, and improving ML-based autonomous control.

Authors:Shengming Yuan, Hao Zhou
Title: AI-CDA4All: Democratizing Cooperative Autonomous Driving for All Drivers via Affordable Dash-cam Hardware and Open-source AI Software
Abstract:
As transportation technology advances, the demand for connected vehicle infrastructure has greatly increased to improve their efficiency and safety. One area of advancement, Cooperative Driving Automation (CDA) still relies on expensive autonomy sensors or connectivity units and are not interoperable across existing market car makes/models, limiting its scalability on public roads. To fill these gaps, this paper presents a novel approach to democratizing CDA technology, it leverages low-cost, commercially available edge devices such as vehicle dash-cams and open-source software to make the technology accessible and scalable to be used in transportation infrastructure and broader public domains. This study also investigates the feasibility of utilizing cost-effective communication protocols based on LTE and WiFi. These technologies enable lightweight Vehicle-to-Everything (V2X) communications, facilitating real-time data exchange between vehicles and infrastructure. Our research and development efforts are aligned with industrial standards to ensure compatibility and future integration into existing transportation ecosystems. By prioritizing infrastructure-oriented applications, such as improved traffic flow management, this approach seeks to deliver tangible societal benefits without directly competing with vehicle OEMs. As recent advancement of Generative AI (GenAI), there is no standardized integration of GenAI technologies into open-source CDAs, as the current trends of muiltimodal large language models gain popularity, we demonstrated a feasible locally deployed edge LLM models can enhance driving experience while preserving privacy and security compared to cloud-connected solutions. The proposed system underscores the potential of low-cost, scalable solutions in advancing CDA functionality, paving the way for smarter, safer, and more inclusive transportation networks.

Authors:Jackson Fogelquist, Xinfan Lin
Title: Joint Parameterization of Hybrid Physics-Based and Machine Learning Li-Ion Battery Model
Abstract:
Electrochemical hybrid battery models have major potential to enable advanced physics-based control, diagnostic, and prognostic features for next-generation lithium-ion battery management systems. This is due to the physical significance of the electrochemical model, which is complemented by a machine learning model that compensates for output prediction errors caused by system uncertainties. While hybrid models have demonstrated robust output prediction performance under large system uncertainties, they are highly susceptible to the influence of uncertainties during parameter identification, which can compromise the physical significance of the model. To address this challenge, we present a parameter estimation framework that explicitly considers system uncertainties through a discrepancy function. The approach also incorporates a downsampling procedure to address the computational barriers associated with large time-series data sets, as are typical in the battery domain. The framework was validated in simulation, yielding several mean parameter estimation errors that were one order of magnitude smaller than those of the conventional least squares approach. While developed for the high-uncertainty, electrochemical hybrid modeling context, the estimation framework is applicable to all models and is presented in a generalized form.

Authors:Garegin Grigoryan, Minseok Kwon, M. Mustafa Rafique
Title: Extending the Control Plane of Container Orchestrators for I/O Virtualization
Abstract:
Single Root Input/Output Virtualization (SR-IOV) is a standard technology for forking a single PCI express device and providing it to applications while ensuring performance isolation. It enables container orchestrators to share a limited number of physical network interfaces without incurring significant virtualization overhead. The allocation of virtualized network devices to containers, however, needs to be more configurable based on the bandwidth needs of running applications. Moreover, container orchestrators' network control over the virtualized interfaces is limited by the abilities of SR-IOV. We explore the design considerations for a system with controlled SR-IOV virtualization and present ConRDMA, a novel architecture that enables fine control of RDMA virtualization for containers. Our evaluation shows that ConRDMA enables containers to use RDMA allocated bandwidth more efficiently and to select best-suited nodes to meet their varying communication requirements.

Authors:Francesco Prignoli, Ying Shuai Quan, Mohammad Jeddi, Jonas Sjöberg, Paolo Falcone
Title: Priority-Driven Safe Model Predictive Control Approach to Autonomous Driving Applications
Abstract:
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC approach with priority-driven constraint softening -- which ensures the satisfaction of \emph{hard} constraints under external disturbances by selectively softening a predefined subset of adjustable constraints -- we show how the algorithm dynamically relaxes lower-priority, comfort-related constraints in response to unexpected disturbances while preserving critical safety requirements such as collision avoidance and lane-keeping. A learning-based algorithm approximating the time consuming SMPC is introduced to enable real-time execution. Simulations in real-world driving scenarios subject to unpredicted disturbances confirm that this prioritized softening mechanism consistently upholds stringent safety constraints, underscoring the effectiveness of the proposed method.

Authors:Ann Mary Toms, Xingpeng Li, Kaushik Rajashekara
Title: Optimal Microgrid Sizing of Offshore Renewable Energy Sources for Offshore Platforms and Coastal Communities
Abstract:
The global energy landscape is undergoing a transformative shift towards renewable energy and advanced storage solutions, driven by the urgent need for sustainable and resilient power systems. Isolated offshore communities, such as islands and offshore platforms, which traditionally rely on mainland grids or diesel generators, stand to gain significantly from renewable energy integration. Promising offshore renewable technologies include wind turbines, wave and tidal energy converters, and floating photovoltaic systems, paired with a storage solution like battery energy storage systems. This paper introduces a renewable energy microgrid optimizer (REMO), a tool designed to identify the optimal sizes of renewable generation and storage resources for offshore microgrids. A key challenge in such models is accurately accounting for battery degradation costs. To address this, the REMO model integrates a deep neural network-based battery degradation (DNN-BD) module, which factors in variables like ambient temperature, charge/discharge rates, state of charge, depth of discharge and battery health. Simulations on six test regions demonstrate that the REMO-DNN-BD approach minimizes lifetime energy costs while maintaining high reliability and sustainability, making it a viable design solution for offshore microgrid systems.

Authors:Manobendu Sarker, Md. Zoheb Hassan, Georges Kaddoum
Title: Joint User Association and Bandwidth Assignment for Digital Twin-Assisted Multi-RAT Networks
Abstract:
In this paper, we investigate user equipment (UE)-radio access technology (RAT) association and bandwidth assignment to maximize sum-rates in a multi-RAT network. To this end, we formulate an optimization problem that jointly addresses UE association and bandwidth allocation, adhering to practical constraints. Because of the NP-hard nature of this problem, finding a globally optimal solution is computationally infeasible. To address this challenge, we propose a centralized and computationally efficient heuristic algorithm that aims to maximize sum-rates while enhancing quality of service (QoS). Yet, the proposed approach requires global channel state information (CSI) for near-optimal performance, which incurs substantial overhead and data collection costs in large-scale multi-RAT networks. To alleviate this burden, we use a digital twin (DT) of the multi-RAT network, leveraging its context-awareness to acquire global CSI with reduced overhead. Our numerical results reveal that our approach improves sum-rates by up to 43% over baseline method, with less than a 5% deviation from the theoretical optimal solution, while achieving up to a 43% improvement in QoS. Further analysis reveals that our method not only surpasses the optimal solution in terms of QoS enhancement, but also ensures significant computational efficiency.

Authors:Mohammad Merati, David Castañón
Title: Dynamic Network Flow Optimization for Task Scheduling in PTZ Camera Surveillance Systems
Abstract:
This paper presents a novel approach for optimizing the scheduling and control of Pan-Tilt-Zoom (PTZ) cameras in dynamic surveillance environments. The proposed method integrates Kalman filters for motion prediction with a dynamic network flow model to enhance real-time video capture efficiency. By assigning Kalman filters to tracked objects, the system predicts future locations, enabling precise scheduling of camera tasks. This prediction-driven approach is formulated as a network flow optimization, ensuring scalability and adaptability to various surveillance scenarios. To further reduce redundant monitoring, we also incorporate group-tracking nodes, allowing multiple objects to be captured within a single camera focus when appropriate. In addition, a value-based system is introduced to prioritize camera actions, focusing on the timely capture of critical events. By adjusting the decay rates of these values over time, the system ensures prompt responses to tasks with imminent deadlines. Extensive simulations demonstrate that this approach improves coverage, reduces average wait times, and minimizes missed events compared to traditional master-slave camera systems. Overall, our method significantly enhances the efficiency, scalability, and effectiveness of surveillance systems, particularly in dynamic and crowded environments.

Authors:Mauro Mancini, Dario Ruggiero
Title: Artificial Potential Field and Sliding Mode Control for Spacecraft Attitude Maneuver with Actuation and Pointing Constraints
Abstract:
This study investigates the combination of guidance and control strategies for rigid spacecraft attitude reorientation, while dealing with forbidden pointing constraints, actuator limitations, and system uncertainties. These constraints arise due to the presence of bright objects in space that may damage sensitive payloads onboard the spacecraft, and the risk that actuator saturations may compromise closed-loop system stability. Furthermore, spacecraft attitude dynamics are typically affected by parametric uncertainties, external disturbances, and system nonlinearities, which cannot be neglected. In this article, the problem of spacecraft reorientation under pointing and actuation constraints is addressed using a strategy that combines Artificial Potential Field (APF) and Sliding Mode Control (SMC). A rigorous Lyapunov-based analysis yields closed-form expressions for APF/SMC gains, providing explicit mathematical formulas for gain values without the need for iterative computations. These expressions account for angular velocity and control torque limitations, external disturbances, and inertia uncertainties. The robustness of the proposed control strategy is demonstrated through Monte Carlo simulations using a high-fidelity attitude dynamics simulator. Additionally, mu-analysis is employed to assess local stability properties and quantify robustness margins. The results confirm the practical feasibility of the proposed method in real-world space scenarios, highlighting its effectiveness in uncertain and constrained environments.

Authors:Zhenan Feng, Ehsan Nekouei
Title: Event-Triggered GAT-LSTM Framework for Attack Detection in Heating, Ventilation, and Air Conditioning Systems
Abstract:
Heating, Ventilation, and Air Conditioning (HVAC) systems are essential for maintaining indoor environmental quality, but their interconnected nature and reliance on sensor networks make them vulnerable to cyber-physical attacks. Such attacks can interrupt system operations and risk leaking sensitive personal information through measurement data. In this paper, we propose a novel attack detection framework for HVAC systems, integrating an Event-Triggering Unit (ETU) for local monitoring and a cloud-based classification system using the Graph Attention Network (GAT) and the Long Short-Term Memory (LSTM) network. The ETU performs a binary classification to identify potential anomalies and selectively triggers encrypted data transmission to the cloud, significantly reducing communication cost. The cloud-side GAT module models the spatial relationships among HVAC components, while the LSTM module captures temporal dependencies across encrypted state sequences to classify the attack type. Our approach is evaluated on datasets that simulate diverse attack scenarios. Compared to GAT-only (94.2% accuracy) and LSTM-only (91.5%) ablations, our full GAT-LSTM model achieves 98.8% overall detection accuracy and reduces data transmission to 15%. These results demonstrate that the proposed framework achieves high detection accuracy while preserving data privacy by using the spatial-temporal characteristics of HVAC systems and minimizing transmission costs through event-triggered communication.

Authors:Karlo Rado, Mirko Baglioni, Anahita Jamshidnejad
Title: Enabling Robots to Autonomously Search Dynamic Cluttered Post-Disaster Environments
Abstract:
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered environments with uncertainties, while avoiding static and moving obstacles. We propose an integrated control framework for SaR robots in dynamic, uncertain environments, including a computationally efficient heuristic motion planning system that provides a nominal (assuming there are no uncertainties) collision-free trajectory for SaR robots and a robust motion tracking system that steers the robot to track this reference trajectory, taking into account the impact of uncertainties. The control architecture guarantees a balanced trade-off among various SaR objectives, while handling the hard constraints, including safety. The results of various computer-based simulations, presented in this paper, showed significant out-performance (of up to 42.3%) of the proposed integrated control architecture compared to two commonly used state-of-the-art methods (Rapidly-exploring Random Tree and Artificial Potential Function) in reaching targets (e.g., trapped victims in SaR) safely, collision-free, and in the shortest possible time.

Authors:Craig Maxwell, Mirko Baglioni, Anahita Jamshidnejad
Title: Model Predictive Fuzzy Control: A Hierarchical Multi-Agent Control Architecture for Outdoor Search-and-Rescue Robots
Abstract:
Autonomous robots deployed in unknown search-and-rescue (SaR) environments can significantly improve the efficiency of the mission by assisting in fast localisation and rescue of the trapped victims. We propose a novel integrated hierarchical control architecture, called model predictive fuzzy control (MPFC), for autonomous mission planning of multi-robot SaR systems that should efficiently map an unknown environment: We combine model predictive control (MPC) and fuzzy logic control (FLC), where the robots are locally controlled by computationally efficient FLC controllers, and the parameters of these local controllers are tuned via a centralised MPC controller, in a regular or event-triggered manner. The proposed architecture provides three main advantages: (1) The control decisions are made by the FLC controllers, thus the real-time computation time is affordable. (2) The centralised MPC controller optimises the performance criteria with a global and predictive vision of the system dynamics, and updates the parameters of the FLC controllers accordingly. (3) FLC controllers are heuristic by nature and thus do not take into account optimality in their decisions, while the tuned parameters via the MPC controller can indirectly incorporate some level of optimality in local decisions of the robots. A simulation environment for victim detection in a disaster environment was designed in MATLAB using discrete, 2-D grid-based models. While being comparable from the point of computational efficiency, the integrated MPFC architecture improves the performance of the multi-robot SaR system compared to decentralised FLC controllers. Moreover, the performance of MPFC is comparable to the performance of centralised MPC for path planning of SaR robots, whereas MPFC requires significantly less computational resources, since the number of the optimisation variables in the control problem are reduced.

Authors:Hoe Ziet Wong, Insaf Rzig, Safwan Alfattani, Wael Jaafar
Title: Computing in Integrated Terrestrial and Non-Terrestrial Networks: A Comprehensive Survey
Abstract:
The rapid growth of Internet-of-things (IoT) devices, smart vehicles, and other connected objects is driving demand for ubiquitous connectivity and intensive computing capacity. 5G and upcoming 6G networks are crucial to meeting these demands and the fast-evolving services and applications. However, traditional terrestrial networks face limitations in coverage and capacity. Integrated Terrestrial and Non-Terrestrial Networks (ITNTN) are emerging to address these challenges. In essence, ITNTN combines ground-based infrastructure with aerial, space, and water surface networks to provide seamless connectivity and computing resources anytime, anywhere. Given the stringent quality-of-service (QoS) of future services, edge computing will be an inseparable component of ITNTN. Consequently, we dive in this survey into current efforts of integrating cloud/fog/edge computing into ITNTN layers to facilitate stringent QoS services and address the data processing needs of modern applications. Since there have been only limited and partial efforts in integrating computing functionalities within ITNTN, we aim to extend the discussion to the full integration of computing and identifying the challenges and future research directions to achieve it.

Authors:Jeremias Gerner, Klaus Bogenberger, Stefanie Schmidtner
Title: Floating Car Observers in Intelligent Transportation Systems: Detection Modeling and Temporal Insights
Abstract:
Floating Car Observers (FCOs) extend traditional Floating Car Data (FCD) by integrating onboard sensors to detect and localize other traffic participants, providing richer and more detailed traffic data. In this work, we explore various modeling approaches for FCO detections within microscopic traffic simulations to evaluate their potential for Intelligent Transportation System (ITS) applications. These approaches range from 2D raytracing to high-fidelity co-simulations that emulate real-world sensors and integrate 3D object detection algorithms to closely replicate FCO detections. Additionally, we introduce a neural network-based emulation technique that effectively approximates the results of high-fidelity co-simulations. This approach captures the unique characteristics of FCO detections while offering a fast and scalable solution for modeling. Using this emulation method, we investigate the impact of FCO data in a digital twin of a traffic network modeled in SUMO. Results demonstrate that even at a 20% penetration rate, FCOs using LiDAR-based detections can identify 65% of vehicles across various intersections and traffic demand scenarios. Further potential emerges when temporal insights are integrated, enabling the recovery of previously detected but currently unseen vehicles. By employing data-driven methods, we recover over 80% of these vehicles with minimal positional deviations. These findings underscore the potential of FCOs for ITS, particularly in enhancing traffic state estimation and monitoring under varying penetration rates and traffic conditions.

Authors:Antonio Grotta, Francesco De Lellis
Title: Online Phase Estimation of Human Oscillatory Motions using Deep Learning
Abstract:
Accurately estimating the phase of oscillatory systems is essential for analyzing cyclic activities such as repetitive gestures in human motion. In this work we introduce a learning-based approach for online phase estimation in three-dimensional motion trajectories, using a Long Short- Term Memory (LSTM) network. A calibration procedure is applied to standardize trajectory position and orientation, ensuring invariance to spatial variations. The proposed model is evaluated on motion capture data and further tested in a dynamical system, where the estimated phase is used as input to a reinforcement learning (RL)-based control to assess its impact on the synchronization of a network of Kuramoto oscillators.

Authors:Nicholas Hafner, Chaoran Liu, Carlos Ishi, Hiroshi Ishiguro
Title: Quadrupedal Spine Control Strategies: Exploring Correlations Between System Dynamic Responses and Human Perspectives
Abstract:
Unlike their biological cousins, the majority of existing quadrupedal robots are constructed with rigid chassis. This results in motion that is either beetle-like or distinctly robotic, lacking the natural fluidity characteristic of mammalian movements. Existing literature on quadrupedal robots with spinal configurations primarily focuses on energy efficiency and does not consider the effects in human-robot interaction scenarios. Our contributions include an initial investigation into various trajectory generation strategies for a quadrupedal robot with a four degree of freedom spine, and an analysis on the effect that such methods have on human perception of gait naturalness compared to a fixed spine baseline. The strategies were evaluated using videos of walking, trotting and turning simulations. Among the four different strategies developed, the optimised time varying and the foot-tracking strategies were perceived to be more natural than the baseline in a randomised trial with 50 participants. Although none of the strategies demonstrated any energy efficiency improvements over the no-spine baseline, some showed greater footfall consistency at higher speeds. Given the greater likeability drawn from the more natural locomotion patterns, this type of robot displays potential for applications in social robot scenarios such as elderly care, where energy efficiency is not a primary concern.

Authors:Mohammadreza Doostmohammadian, Mohammad Pirani
Title: On the Design of Resilient Distributed Single Time-Scale Estimators: A Graph-Theoretic Approach
Abstract:
Distributed estimation in interconnected systems has gained increasing attention due to its relevance in diverse applications such as sensor networks, autonomous vehicles, and cloud computing. In real practice, the sensor network may suffer from communication and/or sensor failures. This might be due to cyber-attacks, faults, or environmental conditions. Distributed estimation resilient to such conditions is the topic of this paper. By representing the sensor network as a graph and exploiting its inherent structural properties, we introduce novel techniques that enhance the robustness of distributed estimators. As compared to the literature, the proposed estimator (i) relaxes the network connectivity of most existing single time-scale estimators and (ii) reduces the communication load of the existing double time-scale estimators by avoiding the inner consensus loop. On the other hand, the sensors might be subject to faults or attacks, resulting in biased measurements. Removing these sensor data may result in observability loss. Therefore, we propose resilient design on the definitions of $q$-node-connectivity and $q$-link-connectivity, which capture robust strong-connectivity under link or sensor node failure. By proper design of the sensor network, we prove Schur stability of the proposed distributed estimation protocol under failure of up to $q$ sensors or $q$ communication links.

Authors:Ming Yi, Yiqian Wu, Saud Alghumayjan, James Anderson, Bolun Xu
Title: A Decision-Focused Predict-then-Bid Framework for Strategic Energy Storage
Abstract:
This paper introduces a novel decision-focused framework for energy storage arbitrage bidding. Inspired by the bidding process for energy storage in electricity markets, we propose a predict-then-bid end-to-end method incorporating the storage arbitrage optimization and market clearing models. This is achieved through a tri-layer framework that combines a price prediction layer with a two-stage optimization problem: an energy storage optimization layer and a market-clearing optimization layer. We leverage the implicit function theorem for gradient computation in the first optimization layer and incorporate a perturbation-based approach into the decision-focused loss function to ensure differentiability in the market-clearing layer. Numerical experiments using electricity market data from New York demonstrate that our bidding design substantially outperforms existing methods, achieving the highest profits and showcasing the effectiveness of the proposed approach.

Authors:Tianhao Li, Yibei Li, Zhixin Liu, Xiaoming Hu
Title: Pattern formation using an intrinsic optimal control approach
Abstract:
This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the leaders. These agents interact with each other by Laplacian dynamics on a graph. The pattern formation control problem is formulated as an intrinsic infinite time-horizon linear quadratic optimal control problem, namely, no error information is incorporated in the objective function. Under mild conditions, we show the existence of the optimal control strategy and the convergence to the desired pattern formation. Based on the optimal control strategy, we propose a distributed control strategy to achieve the given pattern. Finally, numerical simulation is given to illustrate theoretical results.

Authors:M. Saeid HaghighiFard, Sinem Coleri
Title: Secure Cluster-Based Hierarchical Federated Learning in Vehicular Networks
Abstract:
Hierarchical Federated Learning (HFL) has recently emerged as a promising solution for intelligent decision-making in vehicular networks, helping to address challenges such as limited communication resources, high vehicle mobility, and data heterogeneity. However, HFL remains vulnerable to adversarial and unreliable vehicles, whose misleading updates can significantly compromise the integrity and convergence of the global model. To address these challenges, we propose a novel defense framework that integrates dynamic vehicle selection with robust anomaly detection within a cluster-based HFL architecture, specifically designed to counter Gaussian noise and gradient ascent attacks. The framework performs a comprehensive reliability assessment for each vehicle by evaluating historical accuracy, contribution frequency, and anomaly records. Anomaly detection combines Z-score and cosine similarity analyses on model updates to identify both statistical outliers and directional deviations in model updates. To further refine detection, an adaptive thresholding mechanism is incorporated into the cosine similarity metric, dynamically adjusting the threshold based on the historical accuracy of each vehicle to enforce stricter standards for consistently high-performing vehicles. In addition, a weighted gradient averaging mechanism is implemented, which assigns higher weights to gradient updates from more trustworthy vehicles. To defend against coordinated attacks, a cross-cluster consistency check is applied to identify collaborative attacks in which multiple compromised clusters coordinate misleading updates. Together, these mechanisms form a multi-level defense strategy to filter out malicious contributions effectively. Simulation results show that the proposed algorithm significantly reduces convergence time compared to benchmark methods across both 1-hop and 3-hop topologies.

Authors:Mahboubeh Zarei, Robin Chhabra
Title: Fault-Tolerant Multi-Modal Localization of Multi-Robots on Matrix Lie Groups
Abstract:
Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We introduce novel stochastic operations to perform composition, differencing, inversion, averaging, and fusion of correlated and non-correlated estimates on Lie groups, enabling pseudo-pose construction for filter updates. The method integrates a combination of proprioceptive and exteroceptive measurements from inertial, velocity, and pose (pseudo-pose) sensors on each robot in an Extended Kalman Filter (EKF) framework. The prediction step is conducted on the Lie group $\mathbb{SE}_2(3) \times \mathbb{R}^3 \times \mathbb{R}^3$, where each robot's pose, velocity, and inertial measurement biases are propagated. The proposed framework uses body velocity, relative pose measurements from fiducial markers, and inter-robot communication to provide scalable EKF update across the network on the Lie group $\mathbb{SE}(3) \times \mathbb{R}^3$. A fault detection module is implemented, allowing the integration of only reliable pseudo-pose measurements from fiducial markers. We demonstrate the effectiveness of the method through experiments with a network of wheeled mobile robots equipped with inertial measurement units, wheel odometry, and ArUco markers. The comparison results highlight the proposed method's real-time performance, superior efficiency, reliability, and scalability in multi-robot localization, making it well-suited for large-scale robotic systems.

Authors:Felix Biertümpfel, Emily Burgin, Hanna-Lee Harjono, Paulo Lozano, Harald Pfifer
Title: Linear Parameter Varying Attitude Control For CubeSats Using Electrospray Thrusters
Abstract:
This paper proposes the design of a single linear parameter-varying (LPV) controller for the attitude control of CubeSats using electro spray thrusters. CubeSat attitude control based on electro spray thrusters faces two main challenges. Firstly, the thruster can only generate a small control torque leading to easily saturating the actuation system. Secondly, CubeSats need to operate multiple different maneuvers from large to small slews to pointing tasks. LPV control is ideally suitable to address these challenges. The proposed design follows a mixed-sensitivity control scheme. The parameter-varying weights depend on the attitude error and are derived from the performance and robustness requirements of individual typical CubeSat maneuvers. The controller is synthesized by minimizing the induced L2-norm of the closed-loop interconnections between the controller and weighted plant. The performance and robustness of the controller is demonstrated on a simulation of the MIT Space Propulsion Lab's Magnetic Levitation CubeSat Testbed.

Authors:Mishal Assif P K, Yuliy Baryshnikov
Title: Topological State Space Inference for Dynamical Systems
Abstract:
We present a computational pipe aiming at recovery of the topology of the underlying phase space from observation of an output function along a sample of trajectories of a dynamical system.

Authors:Plouton Grammatikos, Ali Mohamed Ali, Fabrizio Sossan
Title: Measurement-Based Line-Impedance Estimation in the Absence of Phasor Measurement Units
Abstract:
This paper proposes and compares experimentally several methods to estimate the series resistance and reactance (i.e., the transversal components of the $π$-model of a line) of low-voltage lines in distribution grids. It first shows that if phasor measurements are available and the grid nodal voltages and power injections are known, the problem can be formulated and solved as a conventional load flow with properly adjusted unknowns. To solve this problem, we propose an analytical derivation of the Jacobian matrix. If only RMS values are available, such as from smart meters, integrating information from multiple intervals becomes necessary, ultimately opening to least-squares estimations, widely adopted in the literature. In this context, applying the proposed Jacobian contributes to accelerating the problem resolution of existing algorithms. The methods are compared in terms of estimation performance and convergence by using measurements from an experimental distribution grid interfacing real-world components and with realistic size implemented at the Gridlab at HES-SO Valais.

Authors:Yingzhuo Jiang, Wenjun Huang, Rongdun Lin, Chenyang Miao, Tianfu Sun, Yunduan Cui
Title: Multi-Goal Dexterous Hand Manipulation using Probabilistic Model-based Reinforcement Learning
Abstract:
This paper tackles the challenge of learning multi-goal dexterous hand manipulation tasks using model-based Reinforcement Learning. We propose Goal-Conditioned Probabilistic Model Predictive Control (GC-PMPC) by designing probabilistic neural network ensembles to describe the high-dimensional dexterous hand dynamics and introducing an asynchronous MPC policy to meet the control frequency requirements in real-world dexterous hand systems. Extensive evaluations on four simulated Shadow Hand manipulation scenarios with randomly generated goals demonstrate GC-PMPC's superior performance over state-of-the-art baselines. It successfully drives a cable-driven Dexterous hand, DexHand 021 with 12 Active DOFs and 5 tactile sensors, to learn manipulating a cubic die to three goal poses within approximately 80 minutes of interactions, demonstrating exceptional learning efficiency and control performance on a cost-effective dexterous hand platform.

Authors:Xiaobin Zhang, Mohamed Karim Bouafoura, Lu Shi, Konstantinos Karydis
Title: A Koopman Operator-based NMPC Framework for Mobile Robot Navigation under Uncertainty
Abstract:
Mobile robot navigation can be challenged by system uncertainty. For example, ground friction may vary abruptly causing slipping, and noisy sensor data can lead to inaccurate feedback control. Traditional model-based methods may be limited when considering such variations, making them fragile to varying types of uncertainty. One way to address this is by leveraging learned prediction models by means of the Koopman operator into nonlinear model predictive control (NMPC). This paper describes the formulation of, and provides the solution to, an NMPC problem using a lifted bilinear model that can accurately predict affine input systems with stochastic perturbations. System constraints are defined in the Koopman space, while the optimization problem is solved in the state space to reduce computational complexity. Training data to estimate the Koopman operator for the system are given via randomized control inputs. The output of the developed method enables closed-loop navigation control over environments populated with obstacles. The effectiveness of the proposed method has been tested through numerical simulations using a wheeled robot with additive stochastic velocity perturbations, Gazebo simulations with a realistic digital twin robot, and physical hardware experiments without knowledge of the true dynamics.

Authors:Farid Mafi, Mohammad Pirani
Title: Fault Detection and Human Intervention in Vehicle Platooning: A Multi-Model Framework
Abstract:
Vehicle platooning has been a promising solution for improving traffic efficiency and throughput. However, a failure in a single vehicle, including communication loss with neighboring vehicles, can significantly disrupt platoon performance and potentially trigger cascading effects. Similar to modern autonomous vehicles, platoon systems require human drivers to take control during failures, leading to scenarios where vehicles are operated by drivers with diverse driving styles. This paper presents a novel multi-model approach for simultaneously identifying signal drop locations and driver attitudes in vehicular platoons using only tail vehicle measurements. The proposed method distinguishes between attentive and distracted driver behaviors by analyzing the propagation patterns of disturbances through the platoon system. Beyond its application in platooning, our methodology for detecting driver behavior using a multi-model approach provides a novel framework for human driver identification. To enhance computational efficiency for real-time applications, we introduce a blending-based identification method utilizing chosen models and weighted interpolation, significantly reducing the number of required models while maintaining detection accuracy. The effectiveness of our approach is validated through high-fidelity CarSim/Simulink environment simulations. Results demonstrate that the proposed method can accurately identify both the location of signal drops and the corresponding driver behavior. This approach minimizes the complexity and cost of fault detection while ensuring accuracy and reliability.

Authors:Yankai Lin, Michelle S. Chong, Carlos Murguia
Title: Modified Control Barrier Function for Quadratic Program Based Control Design via Sum-of-Squares Programming
Abstract:
We consider a nonlinear control affine system controlled by inputs generated by a quadratic program (QP) induced by a control barrier functions (CBF). Specifically, we slightly modify the condition satisfied by CBFs and study how the modification can positively impact the closed loop behavior of the system. We show that, QP-based controllers designed using the modified CBF condition preserves the desired properties of QP-based controllers using standard CBF conditions. Furthermore, using the generalized S-procedure for polynomial functions, we formulate the design of the modified CBFs as a Sum-Of-Squares (SOS) program, which can be solved efficiently. Via a numerical example, the proposed CBF design is shown to have superior performance over the standard CBF widely used in existing literature.

Authors:Khashayar Ghanizadegan, Hashim A. Hashim
Title: Unscented Particle Filter for Visual-inertial Navigation using IMU and Landmark Measurements
Abstract:
This paper introduces a geometric Quaternion-based Unscented Particle Filter for Visual-Inertial Navigation (QUPF-VIN) specifically designed for a vehicle operating with six degrees of freedom (6 DoF). The proposed QUPF-VIN technique is quaternion-based capturing the inherently nonlinear nature of true navigation kinematics. The filter fuses data from a low-cost inertial measurement unit (IMU) and landmark observations obtained via a vision sensor. The QUPF-VIN is implemented in discrete form to ensure seamless integration with onboard inertial sensing systems. Designed for robustness in GPS-denied environments, the proposed method has been validated through experiments with real-world dataset involving an unmanned aerial vehicle (UAV) equipped with a 6-axis IMU and a stereo camera, operating with 6 DoF. The numerical results demonstrate that the QUPF-VIN provides superior tracking accuracy compared to ground truth data. Additionally, a comparative analysis with a standard Kalman filter-based navigation technique further highlights the enhanced performance of the QUPF-VIN.

Authors:Uday Kiran Reddy Tadipatri, Benjamin D. Haeffele, Joshua Agterberg, Ingvar Ziemann, René Vidal
Title: Nonconvex Linear System Identification with Minimal State Representation
Abstract:
Low-order linear System IDentification (SysID) addresses the challenge of estimating the parameters of a linear dynamical system from finite samples of observations and control inputs with minimal state representation. Traditional approaches often utilize Hankel-rank minimization, which relies on convex relaxations that can require numerous, costly singular value decompositions (SVDs) to optimize. In this work, we propose two nonconvex reformulations to tackle low-order SysID (i) Burer-Monterio (BM) factorization of the Hankel matrix for efficient nuclear norm minimization, and (ii) optimizing directly over system parameters for real, diagonalizable systems with an atomic norm style decomposition. These reformulations circumvent the need for repeated heavy SVD computations, significantly improving computational efficiency. Moreover, we prove that optimizing directly over the system parameters yields lower statistical error rates, and lower sample complexities that do not scale linearly with trajectory length like in Hankel-nuclear norm minimization. Additionally, while our proposed formulations are nonconvex, we provide theoretical guarantees of achieving global optimality in polynomial time. Finally, we demonstrate algorithms that solve these nonconvex programs and validate our theoretical claims on synthetic data.

Authors:Nachuan Yang, Yuzhe Li, Ling Shi, Tongwen Chen
Title: A Unified Alternating Optimization Framework for Joint Sensor and Actuator Configuration in LQG Systems
Abstract:
This paper fills a gap in the literature by considering a joint sensor and actuator configuration problem under the linear quadratic Gaussian (LQG) performance without assuming a predefined set of candidate components. Different from the existing research, which primarily focuses on selecting or placing sensors and actuators from a fixed group, we consider a more flexible formulation where these components must be designed from scratch, subject to general-form configuration costs and constraints. To address this challenge, we first analytically characterize the gradients of the LQG performance with respect to the sensor and actuator matrices using algebraic Riccati equations. Subsequently, we derive first-order optimality conditions based on the Karush-Kuhn-Tucker (KKT) analysis and develop a unified alternating direction method of multipliers (ADMM)-based alternating optimization framework to address the general-form sensor and actuator configuration problem. Furthermore, we investigate three representative scenarios: sparsity promoting configuration, low-rank promoting configuration, and structure-constrained configuration. For each scenario, we provide in-depth analysis and develop tailored computational schemes. The proposed framework ensures numerical efficiency and adaptability to various design constraints and configuration costs, making it well-suited for integration into numerical solvers.

Authors:Jinnan Piao, Dong Li, Yiming Sun, Zhibo Li, Ming Yang, Xueting Yu
Title: Iterative Joint Detection of Kalman Filter and Channel Decoder for Sensor-to-Controller Link in Wireless Networked Control Systems
Abstract:
In this letter, we propose an iterative joint detection algorithm of Kalman filter (KF) and channel decoder for the sensor-to-controller link of wireless networked control systems, which utilizes the prior information of control system to improve control and communication performance. In this algorithm, we first use the KF to estimate the probability density of the control system outputs and calculate the prior probability of received signals to assist decoder. Then, the possible outputs of the control system are traversed to update the prior probability in order to implement iterative detection. The simulation results show that the prior information and the iterative structure can reduce the block error rate performance of communications while improving the root mean square error performance of controls.

Authors:Phillip Pitschi, Simon Sagmeister, Sven Goblirsch, Markus Lienkamp, Boris Lohmann
Title: Longitudinal Control for Autonomous Racing with Combustion Engine Vehicles
Abstract:
Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration or force. However, vehicles with combustion engines expect different actuation inputs. This paper proposes a longitudinal control concept that translates high-level trajectory-tracking commands to the required low-level vehicle commands such as throttle, brake pressure and a desired gear. We chose a modular structure to easily integrate different trajectory-tracking control algorithms and vehicles. The proposed control concept enables a close tracking of the high-level control command. An anti-lock braking system, traction control, and brake warmup control also ensure a safe operation during real-world tests. We provide experimental validation of our concept using real world data with longitudinal accelerations reaching up to $25 \, \frac{\mathrm{m}}{\mathrm{s}^2}$. The experiments were conducted using the EAV24 racecar during the first event of the Abu Dhabi Autonomous Racing League on the Yas Marina Formula 1 Circuit.

Authors:Alexander Demin, Alexey Ovchinnikov, Fabrice Rouillier
Title: Parameter Estimation in ODE Models with Certified Polynomial System Solving
Abstract:
We consider dynamical models given by rational ODE systems. Parameter estimation is an important and challenging task of recovering parameter values from observed data. Recently, a method based on differential algebra and rational interpolation was proposed to express parameter estimation in terms of polynomial system solving. Typically, polynomial system solving is a bottleneck, hence the choice of the polynomial solver is crucial. In this contribution, we compare two polynomial system solvers applied to parameter estimation: homotopy continuation solver from HomotopyContinuation.jl and our new implementation of a certified solver based on rational univariate representation (RUR) and real root isolation. We show how the new RUR solver can tackle examples that are out of reach for the homotopy methods and vice versa.

Authors:J. Francisco Presenza, Ignacio Mas, J. Ignacio Alvarez-Hamelin, Juan I. Giribet
Title: Subframework-based Bearing Rigidity Maintenance Control in Multirobot Networks
Abstract:
This work presents a novel approach for \textit{bearing rigidity} analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system's framework into \textit{subframeworks}, we express bearing rigidity -- a global property -- as a set of \textit{local} properties, with rigidity eigenvalues serving as natural \textit{local rigidity measures}. We propose a decentralized gradient-based controller to execute mission-specific commands using only bearing measurements. The controller preserves bearing rigidity by keeping the rigidity eigenvalues above a threshold, using only information exchanged within subframeworks. Simulations evaluate the scheme's effectiveness, underscoring its scalability and practicality.

Authors:Defne E. Ozan, Andrea Nóvoa, Luca Magri
Title: Data-Assimilated Model-Based Reinforcement Learning for Partially Observed Chaotic Flows
Abstract:
The goal of many applications in energy and transport sectors is to control turbulent flows. However, because of chaotic dynamics and high dimensionality, the control of turbulent flows is exceedingly difficult. Model-free reinforcement learning (RL) methods can discover optimal control policies by interacting with the environment, but they require full state information, which is often unavailable in experimental settings. We propose a data-assimilated model-based RL (DA-MBRL) framework for systems with partial observability and noisy measurements. Our framework employs a control-aware Echo State Network for data-driven prediction of the dynamics, and integrates data assimilation with an Ensemble Kalman Filter for real-time state estimation. An off-policy actor-critic algorithm is employed to learn optimal control strategies from state estimates. The framework is tested on the Kuramoto-Sivashinsky equation, demonstrating its effectiveness in stabilizing a spatiotemporally chaotic flow from noisy and partial measurements.

Authors:Ahmed A. Hassan, Ahmad Adnan Qidan, Taisir Elgorashi, Jaafar Elmirghani
Title: LiDAL-Assisted RLNC-NOMA in OWC Systems
Abstract:
Optical wireless communication (OWC) is envisioned as a key enabler for immersive indoor data transmission in future wireless communication networks. However, multi-user interference management arises as a challenge in dense indoor OWC systems composed of multiple optical access points (APs) serving multiple users. In this paper, we propose a novel dual-function OWC system for communication and localization. Non-orthogonal multiple access (NOMA) with random linear network coding (RLNC) is designed for data transmission, where NOMA allows the serving of multiple users simultaneously through controlling the power domain, and RLNC helps minimize errors that might occur during signal processing phase. This setup is assisted with a light detection and localization system (LiDAL) that can passively obtain spatio-temporal indoor information of user presence and location for dynamic-user grouping. The designed LiDAL system helps to improve the estimation of channel state information (CSI) in realistic indoor network scenarios, where the CSI of indoor users might be noisy and/or highly correlated. We evaluate the performance of NOMA combined with RLNC by analyzing the probability of successful decoding compared to conventional NOMA and orthogonal schemes. In addition, we derive the Cramer-Rao Lower Bound (CRLB) to evaluate the accuracy of location estimation. The results show that the proposed RLNC-NOMA improves the probability of successful decoding and the overall system performance. The results also show the high accuracy of the unbiased location estimator and its assistant in reducing the imperfection of CSI, leading to high overall system performance.

Authors:Michael Ruderman, Denis Efimov
Title: Power-based control of output oscillations with online estimation of biased harmonics
Abstract:
The recently introduced discrete power-based control (Ruderman (2024b)) reduces largely the communication efforts in the control loop when compensating for the marginally damped or even slowly diverging output oscillations. The control commutates twice per oscillations period (at the amplitude peaks) and uses the measured harmonic output only. The power-based control scheme requires the knowledge of the instantaneous frequency, amplitude, and bias parameters of the harmonic signal. This paper extends the power-based control by the finite-time estimation of the biased harmonics (Ahmed et al. (2022)). Also an improved analytic calculation of the impulse weighting factor is provided. The power-based oscillations control with online estimation of the harmonic parameters is evaluated experimentally on the fifth-order actuator system with a free hanging load under gravity and measurement noise.

Authors:Hossein Gholampour, Jonathon E. Slightam, Logan E. Beaver
Title: Mass-Adaptive Admittance Control for Robotic Manipulators
Abstract:
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a six-degrees-of-freedom robotic manipulator to reliably follow waypoints while automatically estimating and compensating for unknown payload weight. Our method integrates an admittance control framework with a mass estimator, allowing the robot to dynamically update an excitation force to compensate for the payload mass. This strategy mitigates end-effector sagging and preserves stability when handling objects of unknown weights. We experimentally validated our approach in a challenging pick-and-place task on a shelf with a crossbar, improved accuracy in reaching waypoints and compliant motion compared to a baseline admittance-control scheme. By safely accommodating unknown payloads, our work enhances flexibility in robotic automation and represents a significant step forward in adaptive control for uncertain environments.

Authors:Matthew S. Hankins, Jair Certório, Tzuyu Jeng, Nuno C. Martins
Title: Nash Equilibrium Learning In Large Populations With First Order Payoff Modifications
Abstract:
We establish Nash equilibrium learning -- convergence of the population state to a suitably defined Nash equilibria set -- for a class of payoff dynamical mechanism with a first order modification. The first order payoff modification can model aspects of the agents' bounded rationality, anticipatory or averaging terms in the payoff mechanism, or first order Padé approximations of delays. To obtain our main results, we apply a combination of two nonstandard system-theoretic passivity notions.

Authors:Maitham F. AL-Sunni, Hassan Almubarak, John M. Dolan
Title: Safety Embedded Adaptive Control Using Barrier States
Abstract:
In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with parametric uncertainty, which are augmented into the uncertain dynamical model. We employ an adaptive nonlinear control strategy based on a control Lyapunov functions approach to design a stabilizing controller for the augmented system. The developed theory shows that the controller ensures safe control actions for the original system while meeting specified performance objectives. We validate the effectiveness of our approach through simulations on diverse systems, including a planar quadrotor subject to unknown drag forces and an adaptive cruise control system, for which we provide comparisons with existing methodologies.

Authors:Khandaker Akramul Haque, Shining Sun, Xiang Huo, Ana E. Goulart, Katherine R. Davis
Title: Scalable Discrete Event Simulation Tool for Large-Scale Cyber-Physical Energy Systems: Advancing System Efficiency and Scalability
Abstract:
Modern power systems face growing risks from cyber-physical attacks, necessitating enhanced resilience due to their societal function as critical infrastructures. The challenge is that defense of large-scale systems-of-systems requires scalability in their threat and risk assessment environment for cyber physical analysis including cyber-informed transmission planning, decision-making, and intrusion response. Hence, we present a scalable discrete event simulation tool for analysis of energy systems, called DESTinE. The tool is tailored for largescale cyber-physical systems, with a focus on power systems. It supports faster-than-real-time traffic generation and models packet flow and congestion under both normal and adversarial conditions. Using three well-established power system synthetic cases with 500, 2000, and 10,000 buses, we overlay a constructed cyber network employing star and radial topologies. Experiments are conducted to identify critical nodes within a communication network in response to a disturbance. The findings are incorporated into a constrained optimization problem to assess the impact of the disturbance on a specific node and its cascading effects on the overall network. Based on the solution of the optimization problem, a new hybrid network topology is also derived, combining the strengths of star and radial structures to improve network resilience. Furthermore, DESTinE is integrated with a virtual server and a hardware-in-the-loop (HIL) system using Raspberry Pi 5.

Authors:Hong Yang, Qi Yu, Travis Desel
Title: Can We Ignore Labels In Out of Distribution Detection?
Abstract:
Out-of-distribution (OOD) detection methods have recently become more prominent, serving as a core element in safety-critical autonomous systems. One major purpose of OOD detection is to reject invalid inputs that could lead to unpredictable errors and compromise safety. Due to the cost of labeled data, recent works have investigated the feasibility of self-supervised learning (SSL) OOD detection, unlabeled OOD detection, and zero shot OOD detection. In this work, we identify a set of conditions for a theoretical guarantee of failure in unlabeled OOD detection algorithms from an information-theoretic perspective. These conditions are present in all OOD tasks dealing with real-world data: I) we provide theoretical proof of unlabeled OOD detection failure when there exists zero mutual information between the learning objective and the in-distribution labels, a.k.a. 'label blindness', II) we define a new OOD task - Adjacent OOD detection - that tests for label blindness and accounts for a previously ignored safety gap in all OOD detection benchmarks, and III) we perform experiments demonstrating that existing unlabeled OOD methods fail under conditions suggested by our label blindness theory and analyze the implications for future research in unlabeled OOD methods.

Authors:Chao Chen, Sei Zhen Khong, Rodolphe Sepulchre
Title: Soft and Hard Scaled Relative Graphs for Nonlinear Feedback Stability
Abstract:
This paper presents input-output stability analysis of nonlinear feedback systems based on the notion of soft and hard scaled relative graphs (SRGs). The soft and hard SRGs acknowledge the distinction between incremental positivity and incremental passivity and reconcile them from a graphical perspective. The essence of our proposed analysis is that the separation of soft/hard SRGs of two open-loop systems on the complex plane guarantees closed-loop stability. The main results generalize an existing soft SRG separation theorem for bounded open-loop systems which was proved based on interconnection properties of soft SRGs under a chordal assumption. By comparison, our analysis does not require this chordal assumption and applies to possibly unbounded open-loop systems.

Authors:Rui Huang, Jackson Fogelquist, Xinfan Lin
Title: Robust Estimation of Battery State of Health Using Reference Voltage Trajectory
Abstract:
Accurate estimation of state of health (SOH) is critical for battery applications. Current model-based SOH estimation methods typically rely on low C-rate constant current tests to extract health parameters like solid phase volume fraction and lithium-ion stoichiometry, which are often impractical in real-world scenarios due to time and operational constraints. Additionally, these methods are susceptible to modeling uncertainties that can significantly degrade the estimation accuracy, especially when jointly estimating multiple parameters. In this paper, we present a novel reference voltage-based method for robust battery SOH estimation. This method utilizes the voltage response of a battery under a predefined current excitation at the beginning of life (BOL) as a reference to compensate for modeling uncertainty. As the battery degrades, the same excitation is applied to generate the voltage response, which is compared with the BOL trajectory to estimate the key health parameters accurately. The current excitation is optimally designed using the Particle Swarm Optimization algorithm to maximize the information content of the target parameters. Simulation results demonstrate that our proposed method significantly improves parameter estimation accuracy under different degradation levels, compared to conventional methods relying only on direct voltage measurements. Furthermore, our method jointly estimates four key SOH parameters in only 10 minutes, making it practical for real-world battery health diagnostics, e.g., fast testing to enable battery repurposing.

Authors:Konstantin Avrachenkov, Kousik Das, Veeraruna Kavitha, Vartika Singh
Title: Stability of Polling Systems for a Large Class of Markovian Switching Policies
Abstract:
We consider a polling system with two queues, where a single server is attending the queues in a cyclic order and requires non-zero switching times to switch between the queues. Our aim is to identify a fairly general and comprehensive class of Markovian switching policies that renders the system stable. Potentially a class of policies that can cover the Pareto frontier related to individual-queue-centric performance measures like the stationary expected number of waiting customers in each queue; for instance, such a class of policies is identified recently for a polling system near the fluid regime (with large arrival and departure rates), and we aim to include that class. We also aim to include a second class that facilitates switching between the queues at the instance the occupancy in the opposite queue crosses a threshold and when that in the visiting queue is below a threshold (this inclusion facilitates design of `robust' polling systems). Towards this, we consider a class of two-phase switching policies, which includes the above mentioned classes. In the maximum generality, our policies can be represented by eight parameters, while two parameters are sufficient to represent the aforementioned classes. We provide simple conditions to identify the sub-class of switching policies that ensure system stability. By numerically tuning the parameters of the proposed class, we illustrate that the proposed class can cover the Pareto frontier for the stationary expected number of customers in the two queues.

Authors:Isabella Huang, Richard Cheng, Sangwoon Kim, Dan Kruse, Carolyn Matl, Lukas Kaul, JC Hancock, Shanmuga Harikumar, Mark Tjersland, James Borders, Dan Helmick
Title: Practical Insights on Grasp Strategies for Mobile Manipulation in the Wild
Abstract:
Mobile manipulation robots are continuously advancing, with their grasping capabilities rapidly progressing. However, there are still significant gaps preventing state-of-the-art mobile manipulators from widespread real-world deployments, including their ability to reliably grasp items in unstructured environments. To help bridge this gap, we developed SHOPPER, a mobile manipulation robot platform designed to push the boundaries of reliable and generalizable grasp strategies. We develop these grasp strategies and deploy them in a real-world grocery store -- an exceptionally challenging setting chosen for its vast diversity of manipulable items, fixtures, and layouts. In this work, we present our detailed approach to designing general grasp strategies towards picking any item in a real grocery store. Additionally, we provide an in-depth analysis of our latest real-world field test, discussing key findings related to fundamental failure modes over hundreds of distinct pick attempts. Through our detailed analysis, we aim to offer valuable practical insights and identify key grasping challenges, which can guide the robotics community towards pressing open problems in the field.

Authors:Victor Nan Fernandez-Ayala, Jorge Silva, Meng Guo, Dimos V. Dimarogonas
Title: Robust Visual Servoing under Human Supervision for Assembly Tasks
Abstract:
We propose a framework enabling mobile manipulators to reliably complete pick-and-place tasks for assembling structures from construction blocks. The picking uses an eye-in-hand visual servoing controller for object tracking with Control Barrier Functions (CBFs) to ensure fiducial markers in the blocks remain visible. An additional robot with an eye-to-hand setup ensures precise placement, critical for structural stability. We integrate human-in-the-loop capabilities for flexibility and fault correction and analyze robustness to camera pose errors, proposing adapted barrier functions to handle them. Lastly, experiments validate the framework on 6-DoF mobile arms.

Authors:Lukas Zezula, Matus Kozovsky, Ludek Buchta, Petr Blaha
Title: Discrete-Time Modeling of Interturn Short Circuits in Interior PMSMs
Abstract:
This article describes the discrete-time modeling approach for interturn short circuits in interior permanent magnet synchronous motors with concentrated windings that facilitate model-based fault diagnostics and mitigation. A continuous-time model incorporating universal series-parallel stator winding connection and radial permanent magnet fluxes is developed in the stator variables and transformed into the rotor reference frame, including also the electromagnetic torque. The transformed model undergoes discretization using the matrix exponential-based technique, wherein the electrical angular velocity and angle are considered time-varying parameters. The resulting model is subsequently expanded to consider the motor connection resistance via perturbation techniques. In the laboratory experiments, we validate the dynamical properties of the derived model by comparing its outputs with the experimental data and waveforms generated by the forward Euler-based discrete-time approximation.

Authors:David Black, Septimiu Salcudean
Title: Linearity, Time Invariance, and Passivity of a Novice Person in Human Teleoperation
Abstract:
Low-cost teleguidance of medical procedures is becoming essential to provide healthcare to remote and underserved communities. Human teleoperation is a promising new method for guiding a novice person with relatively high precision and efficiency through a mixed reality (MR) interface. Prior work has shown that the novice, or "follower", can reliably track the MR input with performance not unlike a telerobotic system. As a consequence, it is of interest to understand and control the follower's dynamics to optimize the system performance and permit stable and transparent bilateral teleoperation. To this end, linearity, time-invariance, inter-axis coupling, and passivity are important in teleoperation and controller design. This paper therefore explores these effects with regard to the follower person in human teleoperation. It is demonstrated through modeling and experiments that the follower can indeed be treated as approximately linear and time invariant, with little coupling and a large excess of passivity at practical frequencies. Furthermore, a stochastic model of the follower dynamics is derived. These results will permit controller design and analysis to improve the performance of human teleoperation.

Authors:Shivam Bajaj, Carolyn L. Beck, Vijay Gupta
Title: Online Model Order Reduction of Linear Systems via $(γ,δ)$-Similarity
Abstract:
Model order reduction aims to determine a low-order approximation of high-order models with least possible approximation errors. For application to physical systems, it is crucial that the reduced order model (ROM) is robust to any disturbance that acts on the full order model (FOM) -- in the sense that the output of the ROM remains a good approximation of that of the FOM, even in the presence of such disturbances. In this work, we present a framework for online model order reduction for a class of continuous-time linear systems that ensures this property for any $\mathcal{L}_2$ disturbance. Apart from robustness to disturbances in this sense, the proposed framework also displays other desirable properties for model order reduction: (1) a provable bound on the error defined as the $L_2$ norm of the difference between the output of the ROM and FOM, (2) preservation of stability, (3) compositionality properties and a provable error bound for arbitrary interconnected systems, (4) a provable bound on the output of the FOM when the controller designed for the ROM is used with the FOM, and finally, (5) compatibility with existing approaches such as balanced truncation and moment matching. Property (4) does not require computation of any gap metric and property (5) is beneficial as existing approaches can also be equipped with some of the preceding properties. The theoretical results are corroborated on numerical case studies, including on a building model.

Authors:Hugo Matias, Daniel Silvestre
Title: Hybrid Lyapunov and Barrier Function-Based Control with Stabilization Guarantees
Abstract:
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation of this framework is the introduction of asymptotically stable equilibrium points besides the minimizer of the CLF, leading to deadlock situations even for simple systems and bounded convex unsafe sets. To address this problem, we propose a hybrid CLF-CBF control framework with global asymptotic stabilization and safety guarantees, offering a more flexible and systematic design methodology compared to current alternatives available in the literature. We further extend this framework to higher-order systems via a recursive procedure based on a joint CLF-CBF backstepping approach. The proposed solution is assessed through several simulation examples.

Authors:Paul Lutkus, Michelle S. Chong, Lars Lindemann
Title: Nonconvex Obstacle Avoidance using Efficient Sampling-Based Distance Functions
Abstract:
We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However, existing solutions are computationally expensive (e.g., model predictive controllers), neglect nonlinear dynamics (e.g., graph-based planners), use diffeomorphic transformations into convex domains (e.g., for star shapes), or are conservative due to convex overapproximations. The key challenge here is that the computation of the distance between the shapes of the robot and the obstacles is a nonconvex problem. We propose efficient computation of this distance via sampling-based distance functions. We quantify the sampling error and show that, for certain systems, such sampling-based distance functions are valid nonsmooth control barrier functions. We also study how to deal with disturbances on the robot dynamics in our setting. Finally, we illustrate our method on a robot navigation task involving an omnidirectional robot and nonconvex obstacles. We also analyze performance and computational efficiency of our controller as a function of the number of samples.

Authors:Himanshu Sharma, Wei Wang, Bowen Huang, Buxin She, Thiagarajan Ramachandaran
Title: Control Co-Design Under Uncertainty for Offshore Wind Farms: Optimizing Grid Integration, Energy Storage, and Market Participation
Abstract:
Offshore wind farms (OWFs) are set to significantly contribute to global decarbonization efforts. Developers often use a sequential approach to optimize design variables and market participation for grid-integrated offshore wind farms. However, this method can lead to sub-optimal system performance, and uncertainties associated with renewable resources are often overlooked in decision-making. This paper proposes a control co-design approach, optimizing design and control decisions for integrating OWFs into the power grid while considering energy market and primary frequency market participation. Additionally, we introduce optimal sizing solutions for energy storage systems deployed onshore to enhance revenue for OWF developers over time. This framework addresses uncertainties related to wind resources and energy prices. We analyze five U.S. west-coast offshore wind farm locations and potential interconnection points, as identified by the Bureau of Ocean Energy Management (BOEM). Results show that optimized control co-design solutions can increase market revenue by 3.2\% and provide flexibility in managing wind resource uncertainties.

Authors:Yankai Lin, Michelle S. Chong, Carlos Murguia
Title: Secondary Safety Control for Systems with Sector Bounded Nonlinearities [Extended Version]
Abstract:
We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor attacks. Specifically, we adopt the setup that a controller has already been designed to stabilize the plant. Using invariant sets and barrier certificate theory, we first give sufficient conditions to verify the safety of the closed-loop system under attacks. Furthermore, by using a subset of sensors that are assumed to be free of attacks, we provide a synthesis method for a secondary controller that enhances the safety of the system. The sufficient conditions to verify safety are derived using Lyapunov-based tools and the S-procedure. Using the projection lemma, the conditions are then formulated as linear matrix inequality (LMI) problems which can be solved efficiently. Lastly, our theoretical results are illustrated through numerical simulations.

Authors:Lorenzo Schena, Wim Munters, Jan Helsen, Miguel A. Mendez
Title: POD-Based Sparse Stochastic Estimation of Wind Turbine Blade Vibrations
Abstract:
This study presents a framework for estimating the full vibrational state of wind turbine blades from sparse deflection measurements. The identification is performed in a reduced-order space obtained from a Proper Orthogonal Decomposition (POD) of high-fidelity aeroelastic simulations based on Geometrically Exact Beam Theory (GEBT). In this space, a Reduced Order Model (ROM) is constructed using a linear stochastic estimator, and further enhanced through Kalman fusion with a quasi-steady model of azimuthal dynamics driven by measured wind speed. The performance of the proposed estimator is assessed in a synthetic environment replicating turbulent inflow and measurement noise over a wide range of operating conditions. Results demonstrate the method's ability to accurately reconstruct three-dimensional deformations and accelerations using noisy displacement and acceleration measurements at only four spatial locations. These findings highlight the potential of the proposed framework for real-time blade monitoring, optimal sensor placement, and active load control in wind turbine systems.

Authors:Lansu Dai, Burak Kantarci
Title: Advancing Autonomous Vehicle Safety: A Combined Fault Tree Analysis and Bayesian Network Approach
Abstract:
This paper integrates Fault Tree Analysis (FTA) and Bayesian Networks (BN) to assess collision risk and establish Automotive Safety Integrity Level (ASIL) B failure rate targets for critical autonomous vehicle (AV) components. The FTA-BN integration combines the systematic decomposition of failure events provided by FTA with the probabilistic reasoning capabilities of BN, which allow for dynamic updates in failure probabilities, enhancing the adaptability of risk assessment. A fault tree is constructed based on AV subsystem architecture, with collision as the top event, and failure rates are assigned while ensuring the total remains within 100 FIT. Bayesian inference is applied to update posterior probabilities, and the results indicate that perception system failures (46.06 FIT) are the most significant contributor, particularly failures to detect existing objects (PF5) and misclassification (PF6). Mitigation strategies are proposed for sensors, perception, decision-making, and motion control to reduce the collision risk. The FTA-BN integration approach provides dynamic risk quantification, offering system designers refined failure rate targets to improve AV safety.

Authors:Pan Lu, Eddie Wadbro, Jonas Starck, Martin Berggren, Emadeldeen Hassan
Title: Topology optimization of decoupling feeding networks for antenna arrays
Abstract:
Near-field and radiation coupling between nearby radiating elements is unavoidable, and it is considered a limiting factor for applications in wireless communications and active sensing. This article proposes a density-based topology optimization approach to design decoupling networks for such systems. The decoupling networks are designed based on a multi-objective optimization problem with the radiating elements replaced by their time-domain impulse response for efficient computations and to enable the solution of the design problem using gradient-based optimization methods. We use the adjoint-field method to compute the gradients of the optimization objectives. Additionally, nonlinear filters are applied during the optimization procedure to impose minimum-size control on the optimized designs. We demonstrate the concept by designing the decoupling network for a two-element planar antenna array; the antenna is designed in a separate optimization problem. The optimized decoupling networks provide a signal path that destructively interferes with the coupling between the radiating elements while preserving their individual matching to the feeding ports. Compact decoupling networks capable of suppressing the mutual coupling by more than 10 dB between two closely separated planar antennas operating around 2.45 GHz are presented and validated experimentally.

Authors:Wenqian Jiang, Olivier Huber, Michael C. Ferris, Line Roald
Title: Can Carbon-Aware Electric Load Shifting Reduce Emissions? An Equilibrium-Based Analysis
Abstract:
An increasing number of electric loads, such as hydrogen producers or data centers, can be characterized as carbon-sensitive, meaning that they are willing to adapt the timing and/or location of their electricity usage in order to minimize carbon footprints. However, the emission reduction efforts of these carbon-sensitive loads rely on carbon intensity information such as average carbon emissions, and it is unclear whether load shifting based on these signals effectively reduces carbon emissions. To address this open question, we investigate the impact of carbon-sensitive consumers using equilibrium analysis. Specifically, we expand the commonly used equilibrium model for electricity market clearing to include carbon-sensitive consumers that adapt their consumption based on an average carbon intensity signal. This analysis represents an idealized situation for carbon-sensitive loads, where their carbon preferences are reflected directly in the market clearing, and contrasts with current practice where carbon intensity signals only become known to consumers aposteriori (i.e. after the market has already been cleared). We include both illustrative examples and larger numerical simulations, including benchmarking with other methods, to illuminate the contributions and limitations of carbon-sensitive loads in power system emission reductions.

Authors:Sebastian Kebrich, Felix Engelhardt, David Franzmann, Christina Büsing, Jochen Linßen, Heidi Heinrichs
Title: Robust Capacity Expansion Modelling for Renewable Energy Systems under Weather Uncertainty
Abstract:
Future greenhouse gas neutral energy systems will be dominated by renewable energy technologies whose energy output is subject to uncertain weather conditions. This work proposes an algorithm to do capacity expansion planning (CAPEX) under weather uncertainty. When faced with multiple possible weather years, the quality of a CAPEX solution derived on a single year's data is evaluated across all years, and the CAPEX optimisation problem is iteratively modified whenever supply gaps are detected. These modifications lead to solutions with sufficient back--up capacity to overcome periods of (cold) dark lulls, and sufficient total annual energy supply across all years. A computational study on an energy system model of Germany shows that the iterative algorithm finds solutions that guarantee security of supply for all considered weather years for an increase of 1.6-2.9% in total annual cost compared to initial solutions. Results also underline the importance of assessing the feasibility of energy system models using atypical time--series, including dark lull and cold period effects.

Authors:Roberta Raineri, Lorenzo Zino, Anton Proskurnikov
Title: FJ-MM: The Friedkin-Johnsen Opinion Dynamics Model with Memory and Higher-Order Neighbors
Abstract:
The Friedkin-Johnsen (FJ) model has been extensively explored and validated, spanning applications in social science, systems and control, game theory, and algorithmic research. In this paper, we introduce an advanced generalization of the FJ model, termed FJ-MM which incorporates both memory effects and multi-hop (higher-order neighbor) influence. This formulation allows agents to naturally incorporate both current and previous opinions at each iteration stage. Our numerical results demonstrate that incorporating memory and multi-hop influence significantly reshapes the opinion landscape; for example, the final opinion profile can exhibit reduced polarization. We analyze the stability and equilibrium properties of the FJ-MM model, showing that these properties can be reduced to those of a comparison model--namely, the standard FJ model with a modified influence matrix. This reduction enables us to leverage established stability results from FJ dynamics. Additionally, we examine the convergence rate of the FJ-MM model and demonstrate that, as can be expected, the time lags introduced by memory and higher-order neighbor influences result in slower convergence.

Authors:Rian Adam Rajagede, Muhammad Husni Santriaji, Muhammad Arya Fikriansyah, Hilal Hudan Nuha, Yanjie Fu, Yan Solihin
Title: NAPER: Fault Protection for Real-Time Resource-Constrained Deep Neural Networks
Abstract:
Fault tolerance in Deep Neural Networks (DNNs) deployed on resource-constrained systems presents unique challenges for high-accuracy applications with strict timing requirements. Memory bit-flips can severely degrade DNN accuracy, while traditional protection approaches like Triple Modular Redundancy (TMR) often sacrifice accuracy to maintain reliability, creating a three-way dilemma between reliability, accuracy, and timeliness. We introduce NAPER, a novel protection approach that addresses this challenge through ensemble learning. Unlike conventional redundancy methods, NAPER employs heterogeneous model redundancy, where diverse models collectively achieve higher accuracy than any individual model. This is complemented by an efficient fault detection mechanism and a real-time scheduler that prioritizes meeting deadlines by intelligently scheduling recovery operations without interrupting inference. Our evaluations demonstrate NAPER's superiority: 40% faster inference in both normal and fault conditions, maintained accuracy 4.2% higher than TMR-based strategies, and guaranteed uninterrupted operation even during fault recovery. NAPER effectively balances the competing demands of accuracy, reliability, and timeliness in real-time DNN applications

Authors:Mostafa Mohammadian, Anna Van Boven, Kyri Baker
Title: Restoring Feasibility in Power Grid Optimization: A Counterfactual ML Approach
Abstract:
Electric power grids are essential components of modern life, delivering reliable power to end-users while adhering to a multitude of engineering constraints and requirements. In grid operations, the Optimal Power Flow problem plays a key role in determining cost-effective generator dispatch that satisfies load demands and operational limits. However, due to stressed operating conditions, volatile demand profiles, and increased generation from intermittent energy sources, this optimization problem may become infeasible, posing risks such as voltage instability and line overloads. This study proposes a learning framework that combines machine learning with counterfactual explanations to automatically diagnose and restore feasibility in the OPF problem. Our method provides transparent and actionable insights by methodically identifying infeasible conditions and suggesting minimal demand response actions. We evaluate the proposed approach on IEEE 30-bus and 300-bus systems, demonstrating its capability to recover feasibility with high success rates and generating diverse corrective options, appropriate for real-time decision-making. These preliminary findings illustrate the potential of combining classical optimization with explainable AI techniques to enhance grid reliability and resilience.

Authors:Ruixiang Wu, Jiahao Ai, Tongxin Li
Title: InstructMPC: A Human-LLM-in-the-Loop Framework for Context-Aware Control
Abstract:
Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to incorporate context-specific predictions and expert instructions, which traditional MPC often neglects. We propose InstructMPC, a novel framework that addresses this gap by integrating real-time human instructions through a Large Language Model (LLM) to produce context-aware predictions for MPC. Our method employs a Language-to-Distribution (L2D) module to translate contextual information into predictive disturbance trajectories, which are then incorporated into the MPC optimization. Unlike existing context-aware and language-based MPC models, InstructMPC enables dynamic human-LLM interaction and fine-tunes the L2D module in a closed loop with theoretical performance guarantees, achieving a regret bound of $O(\sqrt{T\log T})$ for linear dynamics when optimized via advanced fine-tuning methods such as Direct Preference Optimization (DPO) using a tailored loss function.

Authors:Feng Guo, Luis D. Couto
Title: A Control-Oriented Simplified Single Particle Model with Grouped Parameter and Sensitivity Analysis for Lithium-Ion Batteries
Abstract:
Lithium-ion batteries are widely used in transportation, energy storage, and consumer electronics, driving the need for reliable battery management systems (BMS) for state estimation and control. The Single Particle Model (SPM) balances computational efficiency and accuracy but faces challenges in parameter estimation due to numerous parameters. Current SPM models using parabolic approximation introduce intermediate variables and hard to do parameter grouping. This study presents a control-oriented SPM reformulation that employs parameter grouping and parabolic approximation to simplify model parameters while using average and surface lithium-ion concentrations as model output. By parameter grouping, the original 17 parameters were reduced to 9 grouped parameters. The reformulated model achieves a reduced-order ordinary differential equation form while maintaining mathematical accuracy equivalent to the pre-grouped discretized SPM. Through Sobol sensitivity analysis under various current profiles, the grouped parameters were reduced from 9 to 6 highly sensitive parameters. Results demonstrate that estimating these 6 parameters achieves comparable practical accuracy to estimating all 9 parameters, with faster convergence. This control-oriented SPM enhances BMS applications by facilitating state estimation and control while reducing parameter estimation requirements.

Authors:Mohammad Almomani, Muhammad Sarwar, Venkataramana Ajjarapu
Title: Enhanced Entropy-Based Metric for Characterization of Delayed Voltage Recovery
Abstract:
Ensuring accurate violation detection in power systems is paramount for operational reliability. This paper introduces an enhanced voltage recovery violation index (EVRVI), a comprehensive index designed to quantify fault-induced delayed voltage recovery (FIDVR). EVRVI enhances traditional entropy-based methods by leveraging Empirical Mode Decomposition (EMD) to extract key features from the voltage signal, which are then used to quantify over-voltage (OV) and under-voltage (UV) events. Our simulations on the Nordic system, involving over 245k scenarios, demonstrate EVRVI's superior ability to identify and categorize voltage recovery issues compared to the traditional entropy-based measure. EVRVI not only significantly reduces false negatives in violation detection but also provides a reliable framework for over-voltage detection, making it an invaluable tool for modern power system studies.

Authors:Mohammad Almomani, Muhammad Sarwar, Venkataramana Ajjarapu
Title: Novel Data-Driven Indices for Early Detection and Quantification of Short-Term Voltage Instability from Voltage Trajectories
Abstract:
This paper presents a novel Short-Term Voltage Stability Index (STVSI), which leverages Lyapunov Exponent-based detection to assess and quantify short-term stability triggered by Over Excitation Limiters (OELs) or undamped oscillations in voltage. The proposed method is measurement-based and decomposes the voltage trajectory into two key components using Empirical Mode Decomposition (EMD): a residual part, which indicates delayed voltage recovery, and an oscillatory part, which captures oscillations. The residual component is critical, as it can detect activation of OELs in synchronous generators or Low Voltage Ride-Through (LVRT) relays in inverter-based resources, potentially leading to instability within the quasisteady-state time frame. Meanwhile, the oscillatory component may indicate either a stable or unstable state in the short term. To accurately assess stability, STVSI employs an entropy-based metric to measure the proximity of the system to instability, with specific indices for short-term voltage stability based on oscillations and recovery. Simulations on the Nordic power system demonstrate that STVSI effectively identifies and categorizes voltage stability issues. Moreover, STVSI not only detects voltage stability conditions but also qualitatively assesses the extent of stability, providing a nuanced measure of stability.

Authors:Mohammad Almomani, Ahmed Alkhonain, Venkataramana Ajjarapu
Title: Extended Sensitivity-Aware Reactive Power Dispatch Algorithm for Smart Inverters with Multiple Control Modes
Abstract:
The increasing integration of Distributed Energy Resources (DERs) in distribution networks presents new challenges for voltage regulation and reactive power support. This paper extends a sensitivity-aware reactive power dispatch algorithm tailored to manage smart inverters operating under different control modes, including PQ, PV, and Volt-Var (VV). The proposed approach dynamically optimizes reactive power dispatch and voltage setpoints, enabling effective coordination among distribution systems as a virtual power plant (VPP) to support the transmission network. The algorithm is applied to the IEEE 13-bus and IEEE-123 bus test systems, and its performance is validated by comparing results with OpenDSS simulations across various operating scenarios. Results show that the maximum error in the voltages is less than 0.015 pu.

Authors:Akanksha Jaiswal, Arpan Chattopadhyay
Title: Age-of-information minimization under energy harvesting and non-stationary environment
Abstract:
This work focuses on minimizing the age of information for multiple energy harvesting sources that sample data and transmit it to a sink node. At each time, the central scheduler selects one of the sources to probe the quality of its channel to the sink node, and then the assessed channel quality is utilized to determine whether a source will sample and send the packet. For a single source case, we assume that the probed channel quality is known at each time instant, model the problem of AoI minimization as a Markov decision process, and prove the optimal sampling policy threshold structure. We then use this threshold structure and propose an AEC-SW-UCRL2 algorithm to handle unknown and time varying energy harvesting rate and channel statistics, motivated by the popular SWUCRL2 algorithm for non stationary reinforcement learning. This algorithm is applicable when an upper bound is available for the total variation of each of these quantities over a time horizon. Furthermore, in situations where these variation budgets are not accessible, we introduce the AEC-BORL algorithm, motivated by the well known BORL algorithm. For the multiple source case, we demonstrate that the AoI minimization problem can be formulated as a constrained MDP, which can be relaxed using a Lagrange multiplier and decoupled into sub problems across source nodes. We also derive Whittle index based source scheduling policy for probing and an optimal threshold policy for source sampling. We next leverage this Whittle index and threshold structure to develop the WIT-SW-UCRL2 algorithm for unknown time varying energy harvesting rates and channel statistics under their respective variation budgets. Moreover, we also proposed a Whittle index and threshold based bandit over reinforcement learning (WIT-BORL) algorithm for unknown variation budgets. Finally, we numerically demonstrate the efficacy of our algorithms.

Authors:Jiong Jin, Zhibo Pang, Jonathan Kua, Quanyan Zhu, Karl H. Johansson, Nikolaj Marchenko, Dave Cavalcanti
Title: Cloud-Fog Automation: The New Paradigm towards Autonomous Industrial Cyber-Physical Systems
Abstract:
Autonomous Industrial Cyber-Physical Systems (ICPS) represent a future vision where industrial systems achieve full autonomy, integrating physical processes seamlessly with communication, computing and control technologies while holistically embedding intelligence. Cloud-Fog Automation is a new digitalized industrial automation reference architecture that has been recently proposed. This architecture is a fundamental paradigm shift from the traditional International Society of Automation (ISA)-95 model to accelerate the convergence and synergy of communication, computing, and control towards a fully autonomous ICPS. With the deployment of new wireless technologies to enable almost-deterministic ultra-reliable low-latency communications, a joint design of optimal control and computing has become increasingly important in modern ICPS. It is also imperative that system-wide cyber-physical security are critically enforced. Despite recent advancements in the field, there are still significant research gaps and open technical challenges. Therefore, a deliberate rethink in co-designing and synergizing communications, computing, and control (which we term "3C co-design") is required. In this paper, we position Cloud-Fog Automation with 3C co-design as the new paradigm to realize the vision of autonomous ICPS. We articulate the state-of-the-art and future directions in the field, and specifically discuss how goal-oriented communication, virtualization-empowered computing, and Quality of Service (QoS)-aware control can drive Cloud-Fog Automation towards a fully autonomous ICPS, while accounting for system-wide cyber-physical security.

Authors:Muhammad Asfar Saeed, Augustine O. Nwajana, Muneeb Ahmad
Title: Design of a compact low loss 2-way millimetre wave power divider for future communication
Abstract:
In this paper, a rectangular-shaped power divider has been presented operating at 27.9 GHz. The power divider has achieved acceptable results for important parameters such as S11, S12, S21, and S22. The substrate employed for the power divider is Roger 3003 which has a thickness of 1.6 mm. This power divider provides a reflection coefficient of -12.2 dB and an insertion loss of 3.1 dB at 28 GHz. This ka-band T-junction power divider covers 68% of the bandwidth. Dimensions of the ka-band T-junction power divider are 50x80 mm. Due to its dimensions and bandwidth this power divider is more suitable for millimetre wave applications like RADAR, beamforming, and 5G applications.

Authors:Augustine O. Nwajana, Mosammat Rokaiya Akter, Muhammad Asfar Saeed
Title: Asymmetric 4.77 Three-Way Unequal Filtering Power Divider/Combiner for Communication Systems Application
Abstract:
This study presents a novel three-way unequal filtering power divider/combiner, addressing challenges in unequal power distribution while incorporating filtering functions in communication systems. Wilkinson power divider (WPD) is the traditional power division approach using quarter-wavelength transmission lines [1]. This type of power divider is popularly used in communication systems due to its good electrical isolation and simple structure. The problem with WPD is that its operation requires the use of an externally connected bandpass filter (BPF) to achieve filtering functionality. This leads to increased footprint and increased loss coefficients in a system. In contrast to the traditional design approach involving a BPF, a matching transmission line, and a Wilkinson power divider as separate components, the proposed integrated filtering power divider (FPD) consolidates all three components into a single device, leading to lower footprint and lower loss coefficient in a system. Circuit modelling and electromagnetic (EM) simulations were conducted to ensure alignment between theoretical and practical results. The design demonstrates effective unequal power division at the three output ports while maintaining very good filtering performance. Results show a return loss better than 15 dB and a minimum insertion loss of 1.2 dB. The overall size of the device is 32.2 x 50.0 mm. This paper contributes to advancements in power divider design by addressing unequal power division challenges and integrating filtering functions. The findings offer a foundation for future developments in advanced power divider/combiner systems, with insights into potential challenges and areas for further improvements.

Authors:Peng Xie, Johannes Betz, Davide M. Raimondo, Amr Alanwar
Title: Data-Driven Reachability Analysis for Piecewise Affine Systems
Abstract:
Hybrid systems play a crucial role in modeling real-world applications where discrete and continuous dynamics interact, including autonomous vehicles, power systems, and traffic networks. Safety verification for these systems requires determining whether system states can enter unsafe regions under given initial conditions and uncertainties, a question directly addressed by reachability analysis. However, hybrid systems present unique difficulties because their state space is divided into multiple regions with distinct dynamic models, causing traditional data-driven methods to produce inadequate over-approximations of reachable sets at region boundaries where dynamics change abruptly. This paper introduces a novel approach using hybrid zonotopes for data-driven reachability analysis of piecewise affine systems. Our method addresses the boundary transition problem by developing computational algorithms that calculate the family of set models guaranteed to contain the true system trajectories. Additionally, we extend and evaluate three methods for set-based estimation that account for input-output data with measurement noise.

Authors:Federico M. Zegers, Sean Phillips
Title: ChronoSync: A Decentralized Chronometer Synchronization Protocol for Multi-Agent Systems
Abstract:
This work presents a decentralized time synchronization algorithm for multi-agent systems. Each agent possesses two clocks, a hardware clock that is perturbed by environmental phenomena (e.g., temperature, humidity, pressure, g forces, etc.) and a steerable software clock that inherits the perturbations affecting the hardware clock. Under these disturbances and the independent time kept by the hardware clocks, our consensus-based controller enables all agents to steer their software-defined clocks into practical synchronization while achieving a common user-defined clock drift. Furthermore, we treat the drift of each hardware clock as an unknown parameter, which our algorithm can accurately estimate. The coupling of the agents is modeled by a connected, undirected, and static graph. However, each agent possesses a timer mechanism that determines when to broadcast a sample of its software time and update its own software-time estimate. Hence, communication between agents can be directed, intermittent, and asynchronous. The closed-loop dynamics of the ensemble is modeled using a hybrid system, where a Lyapunov-based stability analysis demonstrates that a set encoding the time synchronization and clock drift estimation objectives is globally practically exponentially stable. The performance suggested by the theoretical development is confirmed in simulation.

Authors:Omar Amri, Carla Seatzu, Alessandro Giua, Dimitri Lefebvre
Title: Probabilistic State Estimation of Timed Probabilistic Discrete Event Systems via Artificial Neural Networks [Draft Version]
Abstract:
This paper is about the state estimation of timed probabilistic discrete event systems. The main contribution is to propose general procedures for developing state estimation approaches based on artificial neural networks. It is assumed that no formal model of the system exists but a data set is available, which contains the history of the timed behaviour of the systems. This dataset will be exploited to develop a neural network model that uses both logical and temporal information gathered during the functioning of the system as inputs and provides the state probability vector as output. Two main approaches are successively proposed (i) state estimation of timed probabilistic discrete event systems over observations: in this case the state estimate is reconstructed at the occurrence of each new observation; (ii) state estimation of timed probabilistic discrete event systems over time: in this case the state estimate is reconstructed at each clock time increment. For each approach, the paper outlines the process of data preprocessing, model building and implementation. This paper not only proposes groundbreaking approaches but also opens the door to further exploitation of artificial neural networks for the benefit of discrete event systems.

Authors:Enguerrand Prebet, Samuel Teuber, André Platzer
Title: Verification of Autonomous Neural Car Control with KeYmaera X
Abstract:
This article presents a formal model and formal safety proofs for the ABZ'25 case study in differential dynamic logic (dL). The case study considers an autonomous car driving on a highway avoiding collisions with neighbouring cars. Using KeYmaera X's dL implementation, we prove absence of collision on an infinite time horizon which ensures that safety is preserved independently of trip length. The safety guarantees hold for time-varying reaction time and brake force. Our dL model considers the single lane scenario with cars ahead or behind. We demonstrate that dL with its tools is a rigorous foundation for runtime monitoring, shielding, and neural network verification. Doing so sheds light on inconsistencies between the provided specification and simulation environment highway-env of the ABZ'25 study. We attempt to fix these inconsistencies and uncover numerous counterexamples which also indicate issues in the provided reinforcement learning environment.

Authors:Taosha Guo, Arie Ogranovich, Arvind R. Venkatakrishnan, Madelyn R. Shapiro, Francesco Bullo, Fabio Pasqualetti
Title: Oscillatory Associative Memory with Exponential Capacity
Abstract:
The slowing of Moore's law and the increasing energy demands of machine learning present critical challenges for both the hardware and machine learning communities, and drive the development of novel computing paradigms. Of particular interest is the challenge of incorporating memory efficiently into the learning process. Inspired by how human brains store and retrieve information, associative memory mechanisms provide a class of computational methods that can store and retrieve patterns in a robust, energy-efficient manner. Existing associative memory architectures, such as the celebrated Hopfield model and oscillatory associative memory networks, store patterns as stable equilibria of network dynamics. However, the capacity (i.e. the number of patterns that a network can memorize normalized by their number of nodes) of existing oscillatory models have been shown to decrease with the size of the network, making them impractical for large-scale, real-world applications. In this paper, we propose a novel associative memory architecture based on Kuramoto oscillators. We show that the capacity of our associative memory network increases exponentially with network size and features no spurious memories. In addition, we present algorithms and numerical experiments to support these theoretical findings, providing guidelines for the hardware implementation of the proposed associative memory networks.

Authors:Yike Qiao, Xiaodong He, An Zhuo, Zhiyong Sun, Weimin Bao, Zhongkui Li
Title: Curvature-Constrained Vector Field for Motion Planning of Nonholonomic Robots
Abstract:
Vector fields are advantageous in handling nonholonomic motion planning as they provide reference orientation for robots. However, additionally incorporating curvature constraints becomes challenging, due to the interconnection between the design of the curvature-bounded vector field and the tracking controller under underactuation. In this paper, we present a novel framework to co-develop the vector field and the control laws, guiding the nonholonomic robot to the target configuration with curvature-bounded trajectory. First, we formulate the problem by introducing the target positive limit set, which allows the robot to converge to or pass through the target configuration, depending on different dynamics and tasks. Next, we construct a curvature-constrained vector field (CVF) via blending and distributing basic flow fields in workspace and propose the saturated control laws with a dynamic gain, under which the tracking error's magnitude decreases even when saturation occurs. Under the control laws, kinematically constrained nonholonomic robots are guaranteed to track the reference CVF and converge to the target positive limit set with bounded trajectory curvature. Numerical simulations show that the proposed CVF method outperforms other vector-field-based algorithms. Experiments on Ackermann UGVs and semi-physical fixed-wing UAVs demonstrate that the method can be effectively implemented in real-world scenarios.

Authors:Yujun Huang, Marius Furter, Gioele Zardini
Title: On Composable and Parametric Uncertainty in Systems Co-Design
Abstract:
Optimizing the design of complex systems requires navigating interdependent decisions, heterogeneous components, and multiple objectives. Our monotone theory of co-design offers a compositional framework for addressing this challenge, modeling systems as Design Problems (DPs), representing trade-offs between functionalities and resources within partially ordered sets. While current approaches model uncertainty using intervals, capturing worst- and best-case bounds, they fail to express probabilistic notions such as risk and confidence. These limitations hinder the applicability of co-design in domains where uncertainty plays a critical role. In this paper, we introduce a unified framework for composable uncertainty in co-design, capturing intervals, distributions, and parametrized models. This extension enables reasoning about risk-performance trade-offs and supports advanced queries such as experiment design, learning, and multi-stage decision making. We demonstrate the expressiveness and utility of the framework via a numerical case study on the uncertainty-aware co-design of task-driven Unmanned Aerial Vehicles (UAVs).

Authors:Ankur Shiledar, Manfredi Villani, Joseph N. E. Lucero, Ruixiao Sun, Vivek A. Sujan, Simona Onori, Giorgio Rizzoni
Title: Assessing Geographical and Seasonal Influences on Energy Efficiency of Electric Drayage Trucks
Abstract:
The electrification of heavy-duty vehicles is a critical pathway towards improved energy efficiency of the freight sector. The current battery electric truck technology poses several challenges to the operations of commercial vehicles, such as limited driving range, sensitivity to climate conditions, and long recharging times. Estimating the energy consumption of heavy-duty electric trucks is crucial to assess the feasibility of the fleet electrification and its impact on the electric grid. This paper focuses on developing a model-based simulation approach to predict and analyze the energy consumption of drayage trucks used in ports logistic operations, considering seasonal climate variations and geographical characteristics. The paper includes results for three major container ports within the United States, providing region-specific insights into driving range, payload capacity, and charging infrastructure requirements, which will inform decision-makers in integrating electric trucks into the existing drayage operations and plan investments for electric grid development.

Authors:Andrea Ghezzi, Armin Nurkanović, Avishai Weiss, Moritz Diehl, Stefano Di Cairano
Title: A Comparative Study of MINLP and MPVC Formulations for Solving Complex Nonlinear Decision-Making Problems in Aerospace Applications
Abstract:
High-level decision-making for dynamical systems often involves performance and safety specifications that are activated or deactivated depending on conditions related to the system state and commands. Such decision-making problems can be naturally formulated as optimization problems where these conditional activations are regulated by discrete variables. However, solving these problems can be challenging numerically, even on powerful computing platforms, especially when the dynamics are nonlinear. In this work, we consider decision-making for nonlinear systems where certain constraints, as well as possible terms in the cost function, are activated or deactivated depending on the system state and commands. We show that these problems can be formulated either as mixed-integer nonlinear programs (MINLPs) or as mathematical programs with vanishing constraints (MPVCs), where the former formulation involves discrete decision variables, whereas the latter relies on continuous variables subject to structured nonconvex constraints. We discuss the different solution methods available for both formulations and demonstrate them on optimal trajectory planning problems in various aerospace applications. Finally, we compare the strengths and weaknesses of the MINLP and MPVC approaches through a focused case study on powered descent guidance with divert-feasible regions.

Authors:Amitabh Sharma, Saksham Gupta, Shivansh Pratap Singh, Rishabh Dev Yadav, Hongyu Song, Wei Pan, Spandan Roy, Simone Baldi
Title: Impedance and Stability Targeted Adaptation for Aerial Manipulator with Unknown Coupling Dynamics
Abstract:
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how effectively the impedance control can tackle the unavoidable coupling forces between the aerial vehicle and the manipulator. However, the existing impedance controllers for aerial manipulator either ignore these coupling forces (in partitioned system compliance methods) or require their precise knowledge (in complete system compliance methods). Unfortunately, such forces are very difficult to model, if at all possible. To solve this long-standing control challenge, we introduce an impedance controller for aerial manipulator which does not rely on a priori knowledge of the system dynamics and of the coupling forces. The impedance control design can address unknown coupling forces, along with system parametric uncertainties, via suitably designed adaptive laws. The closed-loop system stability is proved analytically and experimental results with a payload-catching scenario demonstrate significant improvements in overall stability and tracking over the state-of-the-art impedance controllers using either partitioned or complete system compliance.

Authors:Matěj Kuře, Adam Peichl, Jaroslav Bušek, Nejat Olgac, Tomáš Vyhlídal
Title: Non-collocated vibration absorption using delayed resonator for spectral and spacial tuning -- analysis and experimental validation
Abstract:
Non-collocated vibration absorption (NCVA) concept using delayed resonator for in-situ tuning is analyzed and experimentally validated. There are two critical contributions of this work. One is on the scalable analytical pathway for verifying the concept of resonant substructure as the basis of the ideal vibration absorption. The second is to experimentally validate the spatial and spectral tunability of NCVA structures for the first time. For both novelties arbitrarily large dimensions of interconnected mass-spring-damper chains are considered. Following the state of the art on NCVA, control synthesis is performed over the resonant substructure comprising the delayed resonator and a part of the primary structure involved in the vibration absorption. The experimental validation of the proposed NCVA concept is performed on a mechatronic setup with three interconnected cart-bodies. Based on the spectral analysis, an excitation frequency is selected for which a stable vibration suppression can be achieved sequentially for all the three bodies, one collocated and two non-collocated. The experimental results closely match the simulations for complete vibration suppression at the targeted bodies, and thus validating the crucial spatial tunability characteristic as well as the traditional spectral tuning.

Authors:Sicheng Liu, Qun Wang, Zhuwei Qin, Weishan Zhang, Jingyi Wang, Xiang Ma
Title: IRS Assisted Decentralized Learning for Wideband Spectrum Sensing
Abstract:
The increasing demand for reliable connectivity in industrial environments necessitates effective spectrum utilization strategies, especially in the context of shared spectrum bands. However, the dynamic spectrum-sharing mechanisms often lead to significant interference and critical failures, creating a trade-off between spectrum scarcity and under-utilization. This paper addresses these challenges by proposing a novel Intelligent Reflecting Surface (IRS)-assisted spectrum sensing framework integrated with decentralized deep learning. The proposed model overcomes partial observation constraints and minimizes communication overhead while leveraging IRS technology to enhance spectrum sensing accuracy. Through comprehensive simulations, the framework demonstrates its ability to monitor wideband spectrum occupancy effectively, even under challenging signal-to-noise ratio (SNR) conditions. This approach offers a scalable and robust solution for spectrum management in next-generation wireless networks.

Authors:Mohammed Adib Oumer, Amr Alanwar, Majid Zamani
Title: Data-Driven Safety Verification using Barrier Certificates and Matrix Zonotopes
Abstract:
Ensuring safety in cyber-physical systems (CPSs) is a critical challenge, especially when system models are difficult to obtain or cannot be fully trusted due to uncertainty, modeling errors, or environmental disturbances. Traditional model-based approaches rely on precise system dynamics, which may not be available in real-world scenarios. To address this, we propose a data-driven safety verification framework that leverages matrix zonotopes and barrier certificates to verify system safety directly from noisy data. Instead of trusting a single unreliable model, we construct a set of models that capture all possible system dynamics that align with the observed data, ensuring that the true system model is always contained within this set. This model set is compactly represented using matrix zonotopes, enabling efficient computation and propagation of uncertainty. By integrating this representation into a barrier certificate framework, we establish rigorous safety guarantees without requiring an explicit system model. Numerical experiments demonstrate the effectiveness of our approach in verifying safety for dynamical systems with unknown models, showcasing its potential for real-world CPS applications.

Authors:Simone Fasolato, Anirudh Allam, Simona Onori, Davide M. Raimondo
Title: Analyzing cell-to-cell heterogeneities and cell configurations in parallel-connected battery modules using physics-based modeling
Abstract:
In parallel-connected cells, cell-to-cell (CtC) heterogeneities can lead to current and thermal gradients that may adversely impact the battery performance and aging. Sources of CtC heterogeneity include manufacturing process tolerances, poor module configurations, and inadequate thermal management. Understanding which CtC heterogeneity sources most significantly impact battery performance is crucial, as it can provide valuable insights. In this study, we use an experimentally validated electrochemical battery model to simulate hundreds of battery configurations, each consisting of four cells in parallel. We conduct a statistical analysis to evaluate the relative importance of key cell-level parameters, interconnection resistance, cell spacing, and location on performance and aging. The analysis reveals that heterogeneities in electrode active material volume fractions primarily impact module capacity, energy, and cell current, leading to substantial thermal gradients. However, to fully capture the output behavior, interconnection resistance, state of charge gradients and the effect of the temperature on parameter values must also be considered. Additionally, module design configurations, particularly cell location, exacerbate thermal gradients, accelerating long-term module degradation. This study also offers insights into optimizing cell arrangement during module design to reduce thermal gradients and enhance overall battery performance and longevity. Simulation results with four cells indicate a reduction of 51.8% in thermal gradients, leading to a 5.2% decrease in long-term energy loss.

Authors:Sebastián Espinel-Ríos, River Walser, Dongda Zhang
Title: Reinforcement learning for robust dynamic metabolic control
Abstract:
Dynamic metabolic control allows key metabolic fluxes to be modulated in real time, enhancing bioprocess flexibility and expanding available optimization degrees of freedom. This is achieved, e.g., via targeted modulation of metabolic enzyme expression. However, identifying optimal dynamic control policies is challenging due to the generally high-dimensional solution space and the need to manage metabolic burden and cytotoxic effects arising from inducible enzyme expression. The task is further complicated by stochastic dynamics, which reduce bioprocess reproducibility. We propose a reinforcement learning framework} to derive optimal policies by allowing an agent (the controller) to interact with a surrogate dynamic model. To promote robustness, we apply domain randomization, enabling the controller to generalize across uncertainties. When transferred to an experimental system, the agent can in principle continue fine-tuning the policy. Our framework provides an alternative to conventional model-based control such as model predictive control, which requires model differentiation with respect to decision variables; often impractical for complex stochastic, nonlinear, stiff, and piecewise-defined dynamics. In contrast, our approach relies on forward integration of the model, thereby simplifying the task. We demonstrate the framework in two $\textit{Escherichia coli}$ bioprocesses: dynamic control of acetyl-CoA carboxylase for fatty-acid synthesis and of adenosine triphosphatase for lactate synthesis.

Authors:Youngchae Cho, Insoon Yang, Takayuki Ishizaki
Title: Robust Continuous-Time Generation Scheduling under Power Demand Uncertainty: An Affine Decision Rule Approach
Abstract:
Most existing generation scheduling models for power systems under demand uncertainty rely on energy-based formulations with a finite number of time periods, which may fail to ensure that power supply and demand are balanced continuously over time. To address this issue, we propose a robust generation scheduling model in a continuous-time framework, employing a decision rule approach. First, for a given set of demand trajectories, we formulate a general robust generation scheduling problem to determine a decision rule that maps these demand trajectories and time points to the power outputs of generators. Subsequently, we derive a surrogate of it as our model by carefully designing a class of decision rules that are affine in the current demand, with coefficients invariant over time and constant terms that are continuous piecewise affine functions of time. As a result, our model can be recast as a finite-dimensional linear program to determine the coefficients and the function values of the constant terms at each breakpoint, solvable via the cutting-plane method. Our model is non-anticipative unlike most existing continuous-time models, which use Bernstein polynomials, making it more practical. We also provide illustrative numerical examples.

Authors:Julius Beerwerth, Bassam Alrifaee
Title: Less is More: Contextual Sampling for Nonlinear Data-Enabled Predictive Control
Abstract:
Data-enabled Predictive Control (DeePC) is a powerful data-driven approach for predictive control without requiring an explicit system model. However, its high computational cost limits its applicability to real-time robotic systems. For robotic applications such as motion planning and trajectory tracking, real-time control is crucial. Nonlinear DeePC either relies on large datasets or learning the nonlinearities to ensure predictive accuracy, leading to high computational complexity. This work introduces contextual sampling, a novel data selection strategy to handle nonlinearities for DeePC by dynamically selecting the most relevant data at each time step. By reducing the dataset size while preserving prediction accuracy, our method improves computational efficiency, of DeePC for real-time robotic applications. We validate our approach for autonomous vehicle motion planning. For a dataset size of 100 sub-trajectories, Contextual sampling DeePC reduces tracking error by 53.2 % compared to Leverage Score sampling. Additionally, Contextual sampling reduces max computation time by 87.2 % compared to using the full dataset of 491 sub-trajectories while achieving comparable tracking performance. These results highlight the potential of Contextual sampling to enable real-time, data-driven control for robotic systems.

Authors:Leonardo Pedroso, Pedro Batista, W. P. M. H. Heemels
Title: Distributed Design of Ultra Large-Scale Control Systems: Progress, Challenges, and Prospects
Abstract:
The transition from large centralized complex control systems to distributed configurations that rely on a network of a very large number of interconnected simpler subsystems is ongoing and inevitable in many applications. It is attributed to the quest for resilience, flexibility, and scalability in a multitude of engineering fields with far-reaching societal impact. Although many design methods for distributed and decentralized control systems are available, most of them rely on a centralized design procedure requiring some form of global information of the whole system. Clearly, beyond a certain scale of the network, these centralized design procedures for distributed controllers are no longer feasible and we refer to the corresponding systems as ultra large-scale systems (ULSS). For these ULSS, design algorithms are needed that are distributed themselves among the subsystems and are subject to stringent requirements regarding communication, computation, and memory usage of each subsystem. In this paper, a set of requirements is provided that assures a feasible real-time implementation of all phases of a control solution on an ultra large scale. State-of-the-art approaches are reviewed in the light of these requirements and the challenges hampering the development of befitting control algorithms are pinpointed. Comparing the challenges with the current progress leads to the identification and motivation of promising research directions.

Authors:Shuting Wu, Yifei Wang, Jingzhe Wang, Apostolos I. Rikos, Xu Du
Title: A Time Splitting Based Optimization Method for Nonlinear MHE
Abstract:
Moving Horizon Estimation~(MHE) is essentially an optimization-based approach designed to estimate the states of dynamic systems within a moving time horizon. Traditional MHE solutions become computationally prohibitive due to the \textit{curse of dimensionality} arising from increasing problem complexity and growing length of time horizon. To address this issue, we propose novel computationally efficient algorithms for solving nonlinear MHE problems. Specifically, we first introduce a distributed reformulation utilizing a time-splitting technique. Leveraging this reformulation, we develop the Efficient Gauss-Newton Augmented Lagrangian Alternating Direction Inexact Newton (ALADIN) to achieve computational efficiency. Additionally, to accommodate limited computational capabilities inherent in some sub-problem solvers, we propose the Efficient Sensitivity Assisted ALADIN, which enables sub-problems to be solved inexactly without hindering computational efficiency. Furthermore, recognizing scenarios where sub-problem solvers possess no computational power, we propose a Distributed Sequential Quadratic Programming (SQP) that relies solely on first- and second-order information of local objective functions. We demonstrate the performance and advantages of our proposed methods through numerical experiments on differential drive robots case, a practical nonlinear MHE problem. Our results demonstrate that the three proposed algorithms achieve computational efficiency while preserving high accuracy, thereby satisfying the real-time requirements of MHE.

Authors:Huiwen Yan, Mushuang Liu
Title: Markov Potential Game Construction and Multi-Agent Reinforcement Learning with Applications to Autonomous Driving
Abstract:
Markov games (MGs) serve as the mathematical foundation for multi-agent reinforcement learning (MARL), enabling self-interested agents to learn their optimal policies while interacting with others in a shared environment. However, due to the complexities of an MG problem, seeking (Markov perfect) Nash equilibrium (NE) is often very challenging for a general-sum MG. Markov potential games (MPGs), which are a special class of MGs, have appealing properties such as guaranteed existence of pure NEs and guaranteed convergence of gradient play algorithms, thereby leading to desirable properties for many MARL algorithms in their NE-seeking processes. However, the question of how to construct MPGs has been open. This paper provides sufficient conditions on the reward design and on the Markov decision process (MDP), under which an MG is an MPG. Numerical results on autonomous driving applications are reported.

Authors:Alberto Padoan, Jeremy Coulson
Title: Distances between finite-horizon linear behaviors
Abstract:
The paper introduces a class of distances for linear behaviors over finite time horizons. These distances allow for comparisons between finite-horizon linear behaviors represented by matrices of possibly different dimensions. They remain invariant under coordinate changes, rotations, and permutations, ensuring independence from input-output partitions. Moreover, they naturally encode complexity-misfit trade-offs for Linear Time-Invariant (LTI) behaviors, providing a principled solution to a longstanding puzzle in behavioral systems theory. The resulting framework characterizes modeling as a minimum distance problem, identifying the Most Powerful Unfalsified Model (MPUM) as optimal among all systems unfalsified by a given dataset. Finally, we illustrate the value of these metrics in a time series anomaly detection task, where their finer resolution yields superior performance over existing distances.

Authors:Samuel I. Akinwande, Chelsea Sidrane, Mykel J. Kochenderfer, Clark Barrett
Title: Verifying Nonlinear Neural Feedback Systems using Polyhedral Enclosures
Abstract:
As dynamical systems equipped with neural network controllers (neural feedback systems) become increasingly prevalent, it is critical to develop methods to ensure their safe operation. Verifying safety requires extending control theoretic analysis methods to these systems. Although existing techniques can efficiently handle linear neural feedback systems, relatively few scalable methods address the nonlinear case. We propose a novel algorithm for forward reachability analysis of nonlinear neural feedback systems. The approach leverages the structure of the nonlinear transition functions of the systems to compute tight polyhedral enclosures (i.e., abstractions). These enclosures, combined with the neural controller, are then encoded as a mixed-integer linear program (MILP). Optimizing this MILP yields a sound over-approximation of the forward-reachable set. We evaluate our algorithm on representative benchmarks and demonstrate an order of magnitude improvement over the current state of the art.

Authors:Muhammad Abdullah Soomro, Adeel Nasrullah, Fatima Muhammad Anwar
Title: Poster Abstract: Time Attacks using Kernel Vulnerabilities
Abstract:
Timekeeping is a fundamental component of modern computing; however, the security of system time remains an overlooked attack surface, leaving critical systems vulnerable to manipulation.

Authors:Siavash Mahmoudi, Amirreza Davar, Dongyi Wang
Title: Data-Driven Contact-Aware Control Method for Real-Time Deformable Tool Manipulation: A Case Study in the Environmental Swabbing
Abstract:
Deformable Object Manipulation (DOM) remains a critical challenge in robotics due to the complexities of developing suitable model-based control strategies. Deformable Tool Manipulation (DTM) further complicates this task by introducing additional uncertainties between the robot and its environment. While humans effortlessly manipulate deformable tools using touch and experience, robotic systems struggle to maintain stability and precision. To address these challenges, we present a novel State-Adaptive Koopman LQR (SA-KLQR) control framework for real-time deformable tool manipulation, demonstrated through a case study in environmental swab sampling for food safety. This method leverages Koopman operator-based control to linearize nonlinear dynamics while adapting to state-dependent variations in tool deformation and contact forces. A tactile-based feedback system dynamically estimates and regulates the swab tool's angle, contact pressure, and surface coverage, ensuring compliance with food safety standards. Additionally, a sensor-embedded contact pad monitors force distribution to mitigate tool pivoting and deformation, improving stability during dynamic interactions. Experimental results validate the SA-KLQR approach, demonstrating accurate contact angle estimation, robust trajectory tracking, and reliable force regulation. The proposed framework enhances precision, adaptability, and real-time control in deformable tool manipulation, bridging the gap between data-driven learning and optimal control in robotic interaction tasks.

Authors:Joy Carpio, Sulaiman Almatrudi, Nour Khoudari, Zhe Fu, Kenneth Butts, Jonathan Lee, Benjamin Seibold, Alexandre Bayen
Title: Validation and Calibration of Energy Models with Real Vehicle Data from Chassis Dynamometer Experiments
Abstract:
Accurate estimation of vehicle fuel consumption typically requires detailed modeling of complex internal powertrain dynamics, often resulting in computationally intensive simulations. However, many transportation applications-such as traffic flow modeling, optimization, and control-require simplified models that are fast, interpretable, and easy to implement, while still maintaining fidelity to physical energy behavior. This work builds upon a recently developed model reduction pipeline that derives physics-like energy models from high-fidelity Autonomie vehicle simulations. These reduced models preserve essential vehicle dynamics, enabling realistic fuel consumption estimation with minimal computational overhead. While the reduced models have demonstrated strong agreement with their Autonomie counterparts, previous validation efforts have been confined to simulation environments. This study extends the validation by comparing the reduced energy model's outputs against real-world vehicle data. Focusing on the MidSUV category, we tune the baseline Autonomie model to closely replicate the characteristics of a Toyota RAV4. We then assess the accuracy of the resulting reduced model in estimating fuel consumption under actual drive conditions. Our findings suggest that, when the reference Autonomie model is properly calibrated, the simplified model produced by the reduction pipeline can provide reliable, semi-principled fuel rate estimates suitable for large-scale transportation applications.

Authors:Mohammad Javad Najafirad, Shirantha Welikala
Title: Dissipativity-Based Distributed Control and Communication Topology Co-Design for DC Microgrids with ZIP Loads
Abstract:
This paper presents a novel dissipativity-based distributed droop-free control and communication topology co-design approach for voltage regulation and current sharing in DC microgrids (DC MGs) with generic ``ZIP'' loads. While ZIP loads accurately capture the varied nature of the consumer loads, its constant power load (CPL) component is particularly challenging (and destabilizing) due to its non-linear form. Moreover, ensuring simultaneous voltage regulation and current sharing and co-designing controllers and topology are also challenging when designing control solutions for DC MGs. To address these three challenges, we model the DC MG as a networked system comprised of distributed generators (DGs), ZIP loads, and lines interconnected according to a static interconnection matrix. Next, we equip each DG with a local controller and a distributed global controller (over an arbitrary topology) to derive the error dynamic model of the DC MG as a networked ``error'' system, including disturbance inputs and performance outputs. Subsequently, to co-design the controllers and the topology ensuring robust (dissipative) voltage regulation and current sharing performance, we use the dissipativity and sector boundedness properties of the involved subsystems and formulate Linear Matrix Inequality (LMI) problems to be solved locally and globally. To support the feasibility of the global LMI problem, we identify and embed several crucial necessary conditions in the corresponding local LMI problems, thus providing a one-shot approach (as opposed to iterative schemes) to solve the LMI problems. Overall, the proposed approach in this paper provides a unified framework for designing DC MGs. The effectiveness of the proposed solution was verified by simulating an islanded DC MG under different scenarios, demonstrating superior performance compared to traditional control approaches.

Authors:Johannes Lips, Hendrik Lens
Title: Insights from Game Theory into the Impact of Smart Balancing on Power System Stability
Abstract:
Smart balancing, also called passive balancing, is the intentional introduction of active power schedule deviations by balance responsible parties (BRPs) to receive a remuneration through the imbalance settlement mechanism. From a system perspective, smart balancing is meant to reduce the need for, and costs of, frequency restoration reserves (FRR), but it can also cause large oscillations in the FRR and jeopardize the system stability. Using a dynamic control area model, this work defines a 2x2 game in which two BRPs can choose to perform smart balancing. We study the impact of time delay, ramp rates, and pricing mechanisms on Nash equilibria and Experience-weighted Attraction (EWA) learning. It is found that, even in an idealized setting, a significant fraction of games in a learned equilibrium results in an overreaction relative to the baseline disturbance, creating an imbalance in the opposite direction. This suggests that the system stability risks are inherent to smart balancing and not a question of implementation. Recommendations are given for implementation choices that can reduce (but not eliminate) the risk of overreactions.

Authors:Johannes Lips, Boyana Georgieva, Dominik Schlipf, Hendrik Lens
Title: Agent-Based Analysis of the Impact of Near Real-Time Data and Smart Balancing on the Frequency Stability of Power Systems
Abstract:
Single imbalance pricing provides an incentive to balance responsible parties (BRPs) to intentionally introduce power schedule deviations in order to reduce the control area imbalance and receive a remuneration through the imbalance settlement mechanism. This is called smart balancing or passive balancing and is actively encouraged in, e.g., the Netherlands and Belgium through the publication of near real-time (NRT) data on the control area imbalance by the transmission system operator. It is known that under certain conditions, smart balancing can deteriorate the frequency stability of the power system. This paper examines how the publication of different types of NRT data affects smart balancing and the frequency stability. A Monte-Carlo simulation of a dynamic multi-agent model is performed to analyse the effects of smart balancing with different parameters for the agents and the environment, using historical time series of the power imbalance of the German control block as a basis. It is found that smart balancing can significantly reduce the amount and cost of frequency restoration reserve activation, but leads to a general increase of the frequency variability. Depending on the type of NRT data and agent parameters, the frequency stability margins are also reduced. The negative effects on the frequency stability are stronger when NRT data is published using large bins and with long delays.

Authors:Alexandra Watkins, Ritam Ghosh, Evan Chow, Nilanjan Sarkar
Title: Immersive and Wearable Thermal Rendering for Augmented Reality
Abstract:
In augmented reality (AR), where digital content is overlaid onto the real world, realistic thermal feedback has been shown to enhance immersion. Yet current thermal feedback devices, heavily influenced by the needs of virtual reality, often hinder physical interactions and are ineffective for immersion in AR. To bridge this gap, we have identified three design considerations relevant for AR thermal feedback: indirect feedback to maintain dexterity, thermal passthrough to preserve real-world temperature perception, and spatiotemporal rendering for dynamic sensations. We then created a unique and innovative thermal feedback device that satisfies these criteria. Human subject experiments assessing perceptual sensitivity, object temperature matching, spatial pattern recognition, and moving thermal stimuli demonstrated the impact of our design, enabling realistic temperature discrimination, virtual object perception, and enhanced immersion. These findings demonstrate that carefully designed thermal feedback systems can bridge the sensory gap between physical and virtual interactions, enhancing AR realism and usability.

Authors:Can Kutlu Yüksel, Tomáš Vyhlídal, Jaroslav Bušek, Martin Hromčík, Silviu-Iulian Niculescu
Title: A Spectrum-based Filter Design for Periodic Control of Systems with Time Delay
Abstract:
A fully analytical controller design is proposed to tackle a periodic control problem for stable linear systems with an input delay. Applying the internal model control scheme, the controller design reduces to designing a filter, which is done through the placement of poles and zeros. The zeros are placed to compensate for the harmonics and to achieve the desired degree of properness for the filter. For placing the poles, a quasi-optimal procedure is proposed utilizing the standard LQR method. Given the high-dimensionality of the filter due to targeting a large number of harmonics, the design, as well as controller implementation, is performed over a state-space representation. A thorough experimental case study is included to demonstrate both the practical feasibility and effectiveness of the proposed control design. The experimental validation is performed on a physical system, the goal of which is to reject periodic vibrations acting on a mass-spring-damper setup where the sensor and the actuator are non-collocated.

Authors:Gabriel Malmer, Arvid Rolander, Emil Hillberg, Olof Samuelsson, Susanne Ackeby, Lars Nordström
Title: Nordic perspective on System Integrity Protection Schemes in relation to capacity allocation
Abstract:
The urgent need to address climate change prompts societies worldwide to adopt carbon neutral energy and electrification. To facilitate this, a range of technologies and policies will be needed. Alternatives to traditional power grid reinforcement, such as grid-enhancing technologies and system automation, are particularly attractive due to their potentially low cost and fast deployment time. One alternative is System Integrity Protection Schemes (SIPS) - automatic and curative remedial actions (RAs) which can boost grid transfer capacities without compromising with reliability since they can act faster than manual control. The use of SIPS however is scattered, with limited coordination between countries, and the full potential of using SIPS for capacity enhancement is not yet realized. The aim of this paper is to provide a case study and comparison of SIPS in the Nordic countries, particularly in relation to capacity allocation. It also seeks to harmonize terminology relating to ancillary services, RAs, and SIPS. Finally, it examines and compares the inclusion of RAs and SIPS in different Capacity Calculation Methodologies (CCMs). In both main EU CCMs - Net Transfer Capacity (NTC) and Flow-Based (FB) - RAs play a pronounced role. The paper is based on a survey and interviews with Nordic stakeholders, along with a literature review and analysis of public data. The results indicate a large variation in SIPS use across the Nordics. Regarding terminology, we suggest that SIPS is a subcategory of RAs which overlaps with ancillary services. Concerning CCMs, NTC is unable to fully represent capacity constraints in meshed AC systems, which in turn hinders systematic capacity enhancement using RAs. FB on the other hand explicitly includes RAs in the capacity domain. A lower bound for the economic value of RAs can be calculated, amounting to 11.5 million EUR in the Nordics in Nov and Dec 2024.

Authors:K. S. Vikrant, Prosanto Biswas, S. O. Reza Moheimani
Title: A three-axis Nanopositioner based on Near-Field Acoustic Levitation and Electromagnetic Actuation
Abstract:
Near-field acoustic levitation (NFAL) enables nanometer-scale positioning resolution and bandwidth exceeding several hundred hertz specifically along the vertical (Z) direction, owing to its high acoustic stiffness and squeeze film damping. However, its application to horizontal (XY) positioning is limited by significantly lower acoustic stiffness and insufficient damping in horizontal directions, resulting in reduced resolution and bandwidth. Moreover, NFAL-based positioning systems typically lack multi-axis actuation capabilities due to challenges in generating multi-directional acoustic forces. This work presents a hybrid positioning approach that overcomes the mentioned limitations by integrating NFAL with electromagnetic actuation. A planar magnetic platform is acoustically levitated, while a coplanar current-carrying coil provides horizontal trapping stiffness more than three orders of magnitude higher than that achievable with acoustic forces alone. Additionally, the coil generates three-dimensional electromagnetic forces, enabling multi-axis positioning capability. Eddy currents induced in a thin copper sheet integrated with the coil enhance horizontal damping by 52 times. We experimentally demonstrate precise 3-axis linear motion with a root mean square (RMS) positioning resolution better than 20 nm along all axes. The system achieves an in-plane motion range of 1.42 mm with a bandwidth of 16 Hz and a Z-axis motion range of 40 micrometers with a positioning bandwidth of 171 Hz.

Authors:Liya Huang, Georgios Tzounas
Title: Matrix Pencil-Based Analysis of Multirate Simulation Schemes
Abstract:
This paper focuses on multirate time-domain simulations of power system models. It proposes a matrix pencil-based approach to evaluate the spurious numerical deformation introduced into power system dynamics by a given multirate integration scheme. Moreover, it considers the problem of multirate partitioning and discusses a strategy for allocating state and algebraic variables to fast and slow subsystems based on modal participation factors (PFs). The suitability and features of the proposed approach are illustrated through numerical simulations that assess the accuracy effects of interfacing, as well as of various prediction and solution methods.

Authors:Vishnudatta Thota, Swati Priya, Twinkle Tripathy
Title: Dominant Groups and Asymmetric Polarization in Generalized Quasi-Structurally Balanced Networks
Abstract:
The paper focuses on the phenomenon of asymmetric polarization arising in the presence of a dominant group in the network. The existing works in the literature analyze polarization primarily in structurally and quasi-structurally balanced networks. In this work, we introduce generalized quasi-structurally balanced (GQSB) networks, which include both of these networks as special cases. In the presence of a dominant group, a GQSB network has a unique bipartition: the dominant group (and its allies) and the remaining agents. The dominant group's superior influence results in an asymmetry in how the inter-subset antagonistic interactions are perceived by both of the subsets. This, in turn, leads to asymmetry in the final polarized opinions. To model this behavior, we propose a generalized Laplacian flow for undirected GQSB networks with a dominant group and establish necessary and sufficient conditions for achieving asymmetric polarization. The theoretical results presented in this paper are validated through numerical simulations on the Highland Tribes real-world dataset.

Authors:Ítalo Romani de Oliveira, Samet Ayhan, Glaucia Balvedi, Michael Biglin, Pablo Costas, Euclides C. Pinto Neto, Alexandre Leite, Felipe C. F. de Azevedo
Title: A Predictive Services Architecture for Efficient Airspace Operations
Abstract:
Predicting air traffic congestion and flow management is essential for airlines and Air Navigation Service Providers (ANSP) to enhance operational efficiency. Accurate estimates of future airport capacity and airspace density are vital for better airspace management, reducing air traffic controller workload and fuel consumption, ultimately promoting sustainable aviation. While existing literature has addressed these challenges, data management and query processing remain complex due to the vast volume of high-rate air traffic data. Many analytics use cases require a common pre-processing infrastructure, as ad-hoc approaches are insufficient. Additionally, linear prediction models often fall short, necessitating more advanced techniques. This paper presents a data processing and predictive services architecture that ingests large, uncorrelated, and noisy streaming data to forecast future airspace system states. The system continuously collects raw data, periodically compresses it, and stores it in NoSQL databases for efficient query processing. For prediction, the system learns from historical traffic by extracting key features such as airport arrival and departure events, sector boundary crossings, weather parameters, and other air traffic data. These features are input into various regression models, including linear, non-linear, and ensemble models, with the best-performing model selected for predictions. We evaluate this infrastructure across three prediction use cases in the US National Airspace System (NAS) and a segment of European airspace, using extensive real operations data, confirming that our system can predict future system states efficiently and accurately.

Authors:Haoran Li, Yingxue Zhao, Haosu Zhou, Tobias Pfaff, Nan Li
Title: A new graph-based surrogate model for rapid prediction of crashworthiness performance of vehicle panel components
Abstract:
During the design cycle of safety critical vehicle components such as B-pillars, crashworthiness performance is a key metric for passenger protection assessment in vehicle accidents. Traditional finite element simulations for crashworthiness analysis involve complex modelling, leading to an increased computational demand. Although a few machine learning-based surrogate models have been developed for rapid predictions for crashworthiness analysis, they exhibit limitations in detailed representation of complex 3D components. Graph Neural Networks (GNNs) have emerged as a promising solution for processing data with complex structures. However, existing GNN models often lack sufficient accuracy and computational efficiency to meet industrial demands. This paper proposes Recurrent Graph U-Net (ReGUNet), a new graph-based surrogate model for crashworthiness analysis of vehicle panel components. ReGUNet adoptes a U-Net architecture with multiple graph downsampling and upsampling layers, which improves the model's computational efficiency and accuracy; the introduction of recurrence enhances the accuracy and stability of temporal predictions over multiple time steps. ReGUNet is evaluated through a case study of side crash testing of a B-pillar component with variation in geometric design. The trained model demonstrates great accuracy in predicting the dynamic behaviour of previously unseen component designs within a relative error of 0.74% for the maximum B-pillar intrusion. Compared to the baseline models, ReGUNet can reduce the averaged mean prediction error of the component's deformation by more than 51% with significant improvement in computational efficiency. Provided enhanced accuracy and efficiency, ReGUNet shows greater potential in accurate predictions of large and complex graphs compared to existing models.

Authors:Marius Furter, Yujun Huang, Gioele Zardini
Title: Composable Uncertainty in Symmetric Monoidal Categories for Design Problems (Extended Version)
Abstract:
Applied category theory often studies symmetric monoidal categories (SMCs) whose morphisms represent open systems. These structures naturally accommodate complex wiring patterns, leveraging (co)monoidal structures for splitting and merging wires, or compact closed structures for feedback. A key example is the compact closed SMC of design problems (DP), which enables a compositional approach to co-design in engineering. However, in practice, the systems of interest may not be fully known. Recently, Markov categories have emerged as a powerful framework for modeling uncertain processes. In this work, we demonstrate how to integrate this perspective into the study of open systems while preserving consistency with the underlying SMC structure. To this end, we employ the change-of-base construction for enriched categories, replacing the morphisms of a symmetric monoidal $\mathcal{V}$-category $\mathcal{C}$ with parametric maps $A \to \mathcal{C}(X,Y)$ in a Markov category induced by a symmetric monoidal monad. This results in a symmetric monoidal 2-category $N_*\mathcal{C}$ with the same objects as $\mathcal{C}$ and reparametrization 2-cells. By choosing different monads, we capture various types of uncertainty. The category underlying $\mathcal{C}$ embeds into $N_*\mathcal{C}$ via a strict symmetric monoidal functor, allowing (co)monoidal and compact closed structures to be transferred. Applied to DP, this construction leads to categories of practical relevance, such as parametrized design problems for optimization, and parametrized distributions of design problems for decision theory and Bayesian learning.

Authors:Longsen Gao, Claus Danielson, Andrew Kwas, Rafael Fierro
Title: Safe On-Orbit Dislodging of Deployable Structures via Robust Adaptive MPC
Abstract:
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We consider the scenario where a servicer, equipped with a robot arm, must dislodge a client, a time-varying system composed of an underpowered jammed solar panel with a hybrid hinge system on a space station. Our approach leverages online set-membership identification to reduce the uncertainty to provide robust safety guarantees during dislodging despite bounded disturbances while balancing exploration and exploitation effectively in the parameter space. The feasibility of the developed robust adaptive MPC method is also examined through dislodging simulations and hardware experiments in zero-gravity and gravity environments, respectively. In addition, the advantages of our method are shown through comparison experiments with several state-of-the-art control schemes for both accuracy of parameter estimation and control performance.

Authors:Xiong Zeng, Jing Yu, Necmiye Ozay
Title: System Identification Under Bounded Noise: Optimal Rates Beyond Least Squares
Abstract:
System identification is a fundamental problem in control and learning, particularly in high-stakes applications where data efficiency is critical. Classical approaches, such as the ordinary least squares estimator (OLS), achieve an $O(1/\sqrt{T})$ convergence rate under Gaussian noise assumptions, where $T$ is the number of samples. This rate has been shown to match the lower bound. However, in many practical scenarios, noise is known to be bounded, opening the possibility of improving sample complexity. In this work, we establish the minimax lower bound for system identification under bounded noise, proving that the $O(1/T)$ convergence rate is indeed optimal. We further demonstrate that OLS remains limited to an $Ω(1/\sqrt{T})$ convergence rate, making it fundamentally suboptimal in the presence of bounded noise. Finally, we instantiate two natural variations of OLS that obtain the optimal sample complexity.

Authors:Ziyi Zhang, Yorie Nakahira, Guannan Qu
Title: Stabilizing Linear Systems under Partial Observability: Sample Complexity and Fundamental Limits
Abstract:
We study the problem of stabilizing an unknown partially observable linear time-invariant (LTI) system. For fully observable systems, leveraging an unstable/stable subspace decomposition approach, state-of-art sample complexity is independent from system dimension $n$ and only scales with respect to the dimension of the unstable subspace. However, it remains open whether such sample complexity can be achieved for partially observable systems because such systems do not admit a uniquely identifiable unstable subspace. In this paper, we propose LTS-P, a novel technique that leverages compressed singular value decomposition (SVD) on the ''lifted'' Hankel matrix to estimate the unstable subsystem up to an unknown transformation. Then, we design a stabilizing controller that integrates a robust stabilizing controller for the unstable mode and a small-gain-type assumption on the stable subspace. We show that LTS-P stabilizes unknown partially observable LTI systems with state-of-the-art sample complexity that is dimension-free and only scales with the number of unstable modes, which significantly reduces data requirements for high-dimensional systems with many stable modes.

Authors:Bum Geun Park, Taeho Lee, Donghwan Lee
Title: Deep Q-Learning with Gradient Target Tracking
Abstract:
This paper introduces Q-learning with gradient target tracking, a novel reinforcement learning framework that provides a learned continuous target update mechanism as an alternative to the conventional hard update paradigm. In the standard deep Q-network (DQN), the target network is a copy of the online network's weights, held fixed for a number of iterations before being periodically replaced via a hard update. While this stabilizes training by providing consistent targets, it introduces a new challenge: the hard update period must be carefully tuned to achieve optimal performance. To address this issue, we propose two gradient-based target update methods: DQN with asymmetric gradient target tracking (AGT2-DQN) and DQN with symmetric gradient target tracking (SGT2-DQN). These methods replace the conventional hard target updates with continuous and structured updates using gradient descent, which effectively eliminates the need for manual tuning. We provide a theoretical analysis proving the convergence of these methods in tabular settings. Additionally, empirical evaluations demonstrate their advantages over standard DQN baselines, which suggest that gradient-based target updates can serve as an effective alternative to conventional target update mechanisms in Q-learning.

Authors:Baturalp Yalcin, Javad Lavaei
Title: Subgradient Method for System Identification with Non-Smooth Objectives
Abstract:
This paper investigates a subgradient-based algorithm to solve the system identification problem for linear time-invariant systems with non-smooth objectives. This is essential for robust system identification in safety-critical applications. While existing work provides theoretical exact recovery guarantees using optimization solvers, the design of fast learning algorithms with convergence guarantees for practical use remains unexplored. We analyze the subgradient method in this setting where the optimization problems to be solved change over time as new measurements are taken, and we establish linear convergence results for both the best and Polyak step sizes after a burn-in period. Additionally, we characterize the asymptotic convergence of the best average sub-optimality gap under diminishing and constant step sizes. Finally, we compare the time complexity of standard solvers with the subgradient algorithm and support our findings with experimental results. This is the first work to analyze subgradient algorithms for system identification with non-smooth objectives.

Authors:Shobhit Singhal, Marta Fochesato, Liviu Aolaritei, Florian Dörfler
Title: Learn to Bid as a Price-Maker Wind Power Producer
Abstract:
Wind power producers (WPPs) participating in short-term power markets face significant imbalance costs due to their non-dispatchable and variable production. While some WPPs have a large enough market share to influence prices with their bidding decisions, existing optimal bidding methods rarely account for this aspect. Price-maker approaches typically model bidding as a bilevel optimization problem, but these methods require complex market models, estimating other participants' actions, and are computationally demanding. To address these challenges, we propose an online learning algorithm that leverages contextual information to optimize WPP bids in the price-maker setting. We formulate the strategic bidding problem as a contextual multi-armed bandit, ensuring provable regret minimization. The algorithm's performance is evaluated against various benchmark strategies using a numerical simulation of the German day-ahead and real-time markets.

Authors:Matheus F. Reis, José P. Carvalho, A. Pedro Aguiar
Title: A Unified Stability Analysis of Safety-Critical Control using Multiple Control Barrier Functions
Abstract:
Ensuring liveness and safety of autonomous and cyber-physical systems remains a fundamental challenge, particularly when multiple safety constraints are present. This letter advances the theoretical foundations of safety-filter Quadratic Programs (QP) and Control Lyapunov Function (CLF)-Control Barrier Function (CBF) controllers by establishing a unified analytical framework for studying their stability properties. We derive sufficient feasibility conditions for QPs with multiple CBFs and formally characterize the conditions leading to undesirable equilibrium points at possible intersecting safe set boundaries. Additionally, we introduce a stability criterion for equilibrium points, providing a systematic approach to identifying conditions under which they can be destabilized or eliminated. Our analysis extends prior theoretical results, deepening the understanding of the conditions of feasibility and stability of CBF-based safety filters and the CLF-CBF QP framework.

Authors:Ying Shuai Quan, Mohammad Jeddi, Francesco Prignoli, Paolo Falcone
Title: Priority-driven Constraints Softening in Safe MPC for Perturbed Systems
Abstract:
This paper presents a safe model predictive control (SMPC) framework designed to ensure the satisfaction of hard constraints for systems perturbed by an external disturbance. Such safety guarantees are ensured, despite the disturbance, by online softening a subset of adjustable constraints defined by the designer. The selection of the constraints to be softened is made online based on a predefined priority assigned to each adjustable constraint. The design of a learning-based algorithm enables real-time computation while preserving the original safety properties. Simulations results, obtained from an automated driving application, show that the proposed approach provides guarantees of collision-avoidance hard constraints despite the unpredicted behaviors of the surrounding environment.

Authors:Shaohui Yang, Toshiyuki Ohtsuka, Colin N. Jones
Title: Brunovsky Riccati Recursion for Linear Model Predictive Control
Abstract:
In almost all algorithms for Model Predictive Control (MPC), the most time-consuming step is to solve some form of Linear Quadratic (LQ) Optimal Control Problem (OCP) repeatedly. The commonly recognized best option for this is a Riccati recursion based solver, which has a time complexity of $\mathcal{O}(N(n_x^3 + n_x^2 n_u + n_x n_u^2 + n_u^3))$. In this paper, we propose a novel \textit{Brunovsky Riccati Recursion} algorithm to solve LQ OCPs for Linear Time Invariant (LTI) systems. The algorithm transforms the system into Brunovsky form, formulates a new LQ cost (and constraints, if any) in Brunovsky coordinates, performs the Riccati recursion there, and converts the solution back. Due to the sparsity (block-diagonality and zero-one pattern per block) of Brunovsky form and the data parallelism introduced in the cost, constraints, and solution transformations, the time complexity of the new method is greatly reduced to $\mathcal{O}(n_x^3 + N(n_x^2 n_u + n_x n_u^2 + n_u^3))$ if $N$ threads/cores are available for parallel computing.

Authors:Shaohui Yang, Toshiyuki Ohtsuka, Brian Plancher, Colin N. Jones
Title: Polynomial and Parallelizable Preconditioning for Block Tridiagonal Positive Definite Matrices
Abstract:
The efficient solution of moderately large-scale linear systems arising from the KKT conditions in optimal control problems (OCPs) is a critical challenge in robotics. With the stagnation of Moore's law, there is growing interest in leveraging GPU-accelerated iterative methods, and corresponding parallel preconditioners, to overcome these computational challenges. To improve the performance of such solvers, we introduce a parallel-friendly, parametrized multi-splitting polynomial preconditioner framework. We first construct and prove the optimal parametrization theoretically in terms of the least amount of distinct eigenvalues and the narrowest spectrum range. We then compare the theoretical time complexity of solving the linear system directly or iteratively. We finally show through numerical experiments how much the preconditioning improves the convergence of OCP linear systems solves.

Authors:Gaya Cocca, Paolo Frasca, Chiara Ravazzi
Title: A Coupled Friedkin-Johnsen Model of Popularity Dynamics in Social Media
Abstract:
Popularity dynamics in social media depend on a complex interplay of social influence between users and popularity-based recommendations that are provided by the platforms. In this work, we introduce a discrete-time dynamical system to model the evolution of popularity on social media. Our model generalizes the well-known Friedkin-Johnsen model to a set of influencers vying for popularity. We study the asymptotic behavior of this model and illustrate it with numerical examples. Our results highlight the interplay of social influence, past popularity, and content quality in determining the popularity of influencers.

Authors:Yidan Wu, Yu Yu, Jianan Zhang, Li Jin
Title: Semi-Gradient SARSA Routing with Theoretical Guarantee on Traffic Stability and Weight Convergence
Abstract:
We consider the traffic control problem of dynamic routing over parallel servers, which arises in a variety of engineering systems such as transportation and data transmission. We propose a semi-gradient, on-policy algorithm that learns an approximate optimal routing policy. The algorithm uses generic basis functions with flexible weights to approximate the value function across the unbounded state space. Consequently, the training process lacks Lipschitz continuity of the gradient, boundedness of the temporal-difference error, and a prior guarantee on ergodicity, which are the standard prerequisites in existing literature on reinforcement learning theory. To address this, we combine a Lyapunov approach and an ordinary differential equation-based method to jointly characterize the behavior of traffic state and approximation weights. Our theoretical analysis proves that the training scheme guarantees traffic state stability and ensures almost surely convergence of the weights to the approximate optimum. We also demonstrate via simulations that our algorithm attains significantly faster convergence than neural network-based methods with an insignificant approximation error.

Authors:Enrico Tosi, Panwei Hu, Aleksandar Ichkov, Marina Petrova, Ljiljana Simić
Title: Cross-Environment Transfer Learning for Location-Aided Beam Prediction in 5G and Beyond Millimeter-Wave Networks
Abstract:
Millimeter-wave (mm-wave) communications requirebeamforming and consequent precise beam alignmentbetween the gNodeB (gNB) and the user equipment (UE) toovercome high propagation losses. This beam alignment needs tobe constantly updated for different UE locations based on beamsweepingradio frequency measurements, leading to significantbeam management overhead. One potential solution involvesusing machine learning (ML) beam prediction algorithms thatleverage UE position information to select the serving beamwithout the overhead of beam sweeping. However, the highlysite-specific nature of mm-wave propagation means that MLmodels require training from scratch for each scenario, whichis inefficient in practice. In this paper, we propose a robustcross-environment transfer learning solution for location-aidedbeam prediction, whereby the ML model trained on a referencegNB is transferred to a target gNB by fine-tuning with a limiteddataset. Extensive simulation results based on ray-tracing in twourban environments show the effectiveness of our solution forboth inter- and intra-city model transfer. Our results show thatby training the model on a reference gNB and transferring themodel by fine-tuning with only 5% of the target gNB dataset,we can achieve 80% accuracy in predicting the best beamfor the target gNB. Importantly, our approach improves thepoor generalization accuracy of transferring the model to newenvironments without fine-tuning by around 75 percentage points.This demonstrates that transfer learning enables high predictionaccuracy while reducing the computational and training datasetcollection burden of ML-based beam prediction, making itpractical for 5G-and-beyond deployments.

Authors:Oksana Moryakova, Thomas Eriksson, HÃ¥kan Johansson
Title: Modeling, Analysis, and Optimization of Cascaded Power Amplifiers
Abstract:
This paper deals with modeling, analysis, and optimization of power amplifiers (PAs) placed in a cascaded structure, particularly the effect of cascaded nonlinearities is studied by showing potential ways to minimize the total nonlinearities. The nonlinear least-squares algorithm is proposed to optimize the PA parameters along with the input power level, and thereby minimize the total nonlinearities in the cascaded structure. The simulation results demonstrate that the performance of the optimized configurations for up to five PAs using the proposed framework can improve the linearity properties of the overall cascade.

Authors:Yanxin Zhang, Chengpu Yu, Filippo Fabiani
Title: Identification of non-causal systems with random switching modes (Extended Version)
Abstract:
We consider the identification of non-causal systems with random switching modes (NCSRSM), a class of models essential for describing typical power load management and department store inventory dynamics. The simultaneous identification of causal-andanticausal subsystems, along with the presence of random switching sequences, however, make the overall identification problem particularly challenging. To this end, we develop an expectation-maximization (EM) based system identification technique, where the E-step proposes a modified Kalman filter (KF) to estimate the states and switching sequences of causal-and-anticausal subsystems, while the M-step consists in a switching least-squares algorithm to estimate the parameters of individual subsystems. We establish the main convergence features of the proposed identification procedure, also providing bounds on the parameter estimation errors under mild conditions. Finally, the effectiveness of our identification method is validated through two numerical simulations.

Authors:Lauren Streitmatter, Trager Joswig-Jones, Baosen Zhang
Title: Geometry of the Feasible Output Regions of Grid-Interfacing Inverters with Current Limits
Abstract:
Many resources in the grid connect to power grids via programmable grid-interfacing inverters that can provide grid services and offer greater control flexibility and faster response times compared to synchronous generators. However, the current through the inverter needs to be limited to protect the semiconductor components. Existing controllers are designed using somewhat ad hoc methods, for example, by adding current limiters to preexisting control loops, which can lead to stability issues or overly conservative operations. In this paper, we study the geometry of the feasible output region of a current-limited inverter. We show that under a commonly used model, the feasible region is convex. We provide an explicit characterization of this region, which allows us to efficiently find the optimal operating points of the inverter. We demonstrate how knowing the feasible set and its convexity allows us to improve upon existing grid-forming inverters such that their steady-state currents always remain within the current magnitude limit, whereas standard grid-forming controllers can lead to instabilities and violations.

Authors:William H. Reinhardt, Marc Z. Miskin
Title: Artificial Spacetimes for Reactive Control of Resource-Limited Robots
Abstract:
Field-based reactive control provides a minimalist, decentralized route to guiding robots that lack onboard computation. Such schemes are well suited to resource-limited machines like microrobots, yet implementation artifacts, limited behaviors, and the frequent lack of formal guarantees blunt adoption. Here, we address these challenges with a new geometric approach called artificial spacetimes. We show that reactive robots navigating control fields obey the same dynamics as light rays in general relativity. This surprising connection allows us to adopt techniques from relativity and optics for constructing and analyzing control fields. When implemented, artificial spacetimes guide robots around structured environments, simultaneously avoiding boundaries and executing tasks like rallying or sorting, even when the field itself is static. We augment these capabilities with formal tools for analyzing what robots will do and provide experimental validation with silicon-based microrobots. Combined, this work provides a new framework for generating composed robot behaviors with minimal overhead.

Authors:Till M. Blaha, Mike M. Kuijper, Radu Pop, Ewoud J. J. Smeur
Title: Rapid and Inexpensive Inertia Tensor Estimation from a Single Object Throw
Abstract:
The inertia tensor is an important parameter in many engineering fields, but measuring it can be cumbersome and involve multiple experiments or accurate and expensive equipment. We propose a method to measure the moment of inertia tensor of a rigid body from a single spinning throw, by attaching a small and inexpensive stand-alone measurement device consisting of a gyroscope, accelerometer and a reaction wheel. The method includes a compensation for the increase of moment of inertia due to adding the measurement device to the body, and additionally obtains the location of the centre of gravity of the body as an intermediate result. Experiments performed with known rigid bodies show that the mean accuracy is around 2%.

Authors:Jarne Van Mulders, Gilles Callebaut
Title: Designing RF-Powered Battery-Less Electronic Shelf Labels With COTS Components
Abstract:
This paper presents a preliminary study exploring the feasibility of designing batteryless electronic shelf labels (ESLs) powered by radio frequency wireless power transfer using commercial off-the-shelf components. The proposed ESL design is validated through a dedicated testbed and involves a detailed analysis of design choices, including energy consumption, energy conversion, and storage solutions. A leaded aluminium electrolytic capacitor is selected as the primary energy storage element, balancing cost and performance while maintaining compactness. Experimental evaluations demonstrate that an ESL can update its display within 4 to 120 minutes, depending on input power and RF frequency, with harvester efficiencies reaching up to 30 %. Challenges such as low harvester efficiency, extended update times, and hardware constraints are identified, highlighting opportunities for future optimizations. This work provides valuable insights into system design considerations for RF-powered ESLs and establishes a foundation for further research in energy-neutral Internet of Things applications.

Authors:Alessandro Catania, Michele Bertozzi, Nikita J. Greenidge, Benjamin Calme, Gabriele Bandini, Christian Sbrana, Roberto Cecchi, Alice Buffi, Massimo Macucci, Sebastiano Strangio, Pietro Valdastri, Giuseppe Iannaccone
Title: In vivo validation of Wireless Power Transfer System for Magnetically Controlled Robotic Capsule Endoscopy
Abstract:
This paper presents the in vivo validation of an inductive wireless power transfer (WPT) system integrated for the first time into a magnetically controlled robotic capsule endoscopy platform. The proposed system enables continuous power delivery to the capsule without the need for onboard batteries, thus extending operational time and reducing size constraints. The WPT system operates through a resonant inductive coupling mechanism, based on a transmitting coil mounted on the end effector of a robotic arm that also houses an external permanent magnet and a localization coil for precise capsule manipulation. To ensure robust and stable power transmission in the presence of coil misalignment and rotation, a 3D receiving coil is integrated within the capsule. Additionally, a closed-loop adaptive control system, based on load-shift keying (LSK) modulation, dynamically adjusts the transmitted power to optimize efficiency while maintaining compliance with specific absorption rate (SAR) safety limits. The system has been extensively characterized in laboratory settings and validated through in vivo experiments using a porcine model, demonstrating reliable power transfer and effective robotic navigation in realistic gastrointestinal conditions: the average received power was 110 mW at a distance of 9 cm between the coils, with variable capsule rotation angles. The results confirm the feasibility of the proposed WPT approach for autonomous, battery-free robotic capsule endoscopy, paving the way for enhanced diagnostic in gastrointestinal medicine.

Authors:Roozbeh Siyadatzadeh, Mohsen Ansari, Muhammad Shafique, Alireza Ejlali
Title: RL-TIME: Reinforcement Learning-based Task Replication in Multicore Embedded Systems
Abstract:
Embedded systems power many modern applications and must often meet strict reliability, real-time, thermal, and power requirements. Task replication can improve reliability by duplicating a task's execution to handle transient and permanent faults, but blindly applying replication often leads to excessive overhead and higher temperatures. Existing design-time methods typically choose the number of replicas based on worst-case conditions, which can waste resources under normal operation. In this paper, we present RL-TIME, a reinforcement learning-based approach that dynamically decides the number of replicas according to actual system conditions. By considering both the reliability target and a core-level Thermal Safe Power (TSP) constraint at run-time, RL-TIME adapts the replication strategy to avoid unnecessary overhead and overheating. Experimental results show that, compared to state-of-the-art methods, RL-TIME reduces power consumption by 63%, increases schedulability by 53%, and respects TSP 72% more often.

Authors:Myisha A. Chowdhury, Qiugang Lu
Title: Equivalent-Circuit Thermal Model for Batteries with One-Shot Parameter Identification
Abstract:
Accurate state of temperature (SOT) estimation for batteries is crucial for regulating their temperature within a desired range to ensure safe operation and optimal performance. The existing measurement-based methods often generate noisy signals and cannot scale up for large-scale battery packs. The electrochemical model-based methods, on the contrary, offer high accuracy but are computationally expensive. To tackle these issues, inspired by the equivalentcircuit voltage model for batteries, this paper presents a novel equivalent-circuit electro-thermal model (ECTM) for modeling battery surface temperature. By approximating the complex heat generation inside batteries with data-driven nonlinear (polynomial) functions of key measurable parameters such as state-of-charge (SOC), current, and terminal voltage, our ECTM is simplified into a linear form that admits rapid solutions. Such simplified ECTM can be readily identified with one single (one-shot) cycle data. The proposed model is extensively validated with benchmark NASA, MIT, and Oxford battery datasets. Simulation results verify the accuracy of the model, despite being identified with one-shot cycle data, in predicting battery temperatures robustly under different battery degradation status and ambient conditions.

Authors:Jiaqi Wu, Jingyi Yuan, Yang Weng, Guangwen Wang
Title: A Unified Approach to Enforce Non-Negativity Constraint in Neural Network Approximation for Optimal Voltage Regulation (preprint)
Abstract:
Power system voltage regulation is crucial to maintain power quality while integrating intermittent renewable resources in distribution grids. However, the system model on the grid edge is often unknown, making it difficult to model physical equations for optimal control. Therefore, previous work proposes structured data-driven methods like input convex neural networks (ICNN) for "optimal" control without relying on a physical model. While ICNNs offer theoretical guarantees based on restrictive assumptions of non-negative neural network parameters, can one improve the approximation power with an extra step on negative duplication of inputs? We show that such added mirroring step fails to improve accuracy, as a linear combination of the original input and duplicated input is equivalent to a linear operation of ICNN's input without duplication. While this design can not improve performance, we propose a unified approach to embed the non-negativity constraint as a regularized optimization of the neural network, contrary to the existing methods, which added a loosely integrated second step for post-processing on parameter negation. Our integration directly ties back-propagation to simultaneously minimizing the approximation error while enforcing the convexity constraints. Numerical experiments validate the issues of the mirroring method and show that our integrated objective can avoid problems such as unstable training and non-convergence existing in other methods for optimal control.

Authors:Myisha A. Chowdhury, Gift Modekwe, Qiugang Lu
Title: Lithium-ion Battery Capacity Prediction via Conditional Recurrent Generative Adversarial Network-based Time-Series Regeneration
Abstract:
Accurate capacity prediction is essential for the safe and reliable operation of batteries by anticipating potential failures beforehand. The performance of state-of-the-art capacity prediction methods is significantly hindered by the limited availability of training data, primarily attributed to the expensive experimentation and data sharing restrictions. To tackle this issue, this paper presents a recurrent conditional generative adversarial network (RCGAN) scheme to enrich the limited battery data by adding high-fidelity synthetic ones to improve the capacity prediction. The proposed RCGAN scheme consists of a generator network to generate synthetic samples that closely resemble the true data and a discriminator network to differentiate real and synthetic samples. Long shortterm memory (LSTM)-based generator and discriminator are leveraged to learn the temporal and spatial distributions in the multivariate time-series battery data. Moreover, the generator is conditioned on the capacity value to account for changes in battery dynamics due to the degradation over usage cycles. The effectiveness of the RCGAN is evaluated across six batteries from two benchmark datasets (NASA and MIT). The raw data is then augmented with synthetic samples from the RCGAN to train LSTM and gate recurrent unit (GRU) models for capacity prediction. Simulation results show that the models trained with augmented datasets significantly outperform those trained with the original datasets in capacity prediction.

Authors:Yue Ju, Bo Wahlberg, HÃ¥kan Hjalmarsson
Title: Excess Mean Squared Error of Empirical Bayes Estimators
Abstract:
Empirical Bayes estimators are based on minimizing the average risk with the hyper-parameters in the weighting function being estimated from observed data. The performance of an empirical Bayes estimator is typically evaluated by its mean squared error (MSE). However, the explicit expression for its MSE is generally unavailable for finite sample sizes. To address this issue, we define a high-order analytical criterion: the excess MSE. It quantifies the performance difference between the maximum likelihood and empirical Bayes estimators. An explicit expression for the excess MSE of an empirical Bayes estimator employing a general data-dependent hyper-parameter estimator is derived. As specific instances, we provide excess MSE expressions for kernel-based regularized estimators using the scaled empirical Bayes, Stein unbiased risk estimation, and generalized cross-validation hyper-parameter estimators. Moreover, we propose a modification to the excess MSE expressions for regularized estimators for moderate sample sizes and show its improvement on accuracy in numerical simulations.

Authors:Benjamin Chung, Kazuya Echigo, Behçet Açıkmeşe
Title: Ignition Point Reachability for Aerodynamically-Controlled Reusable Launch Vehicles
Abstract:
We describe a successive convex programming (Sequential Convex Programming (SCP)) based approach for estimate the set of points where a 5-degree of freedom (5-DoF) reusable launch vehicle (RLV) returning to a landing site can transition from aerodynamic to propulsive descent. Determining the set of feasible ignition points that a RLV can use and then safely land is important for mission planning and range safety. However, past trajectory optimization approaches for RLVs consider substantially simplified versions of the vehicle dynamics. Furthermore, prior reachability analysis methods either do not extend to the full constraint set needed for an RLV or are too beset by the curse of dimensionality to handle the full 5-DoF dynamics. To solve this problem, we describe an algorithm that approximates the projection of a high dimensional reachable set onto a low dimensional space. Instead of computing all parts of the reachable space, we only calculate reachability in the projected space of interest by using repeated trajectory optimization to sample the reachable polytope in the reduced space. The optimization can take into account initial and terminal constraints as well as state and control constraints. We show that our algorithm is able to compute the projection of a reachable set into a low dimensional space by calculating the feasible ignition points for a two-phase aerodynamic/propulsive RLV landing trajectory, while also demonstrating the aerodynamic divert enabled by our body and fin actuator model.

Authors:Yue Ju, Bo Wahlberg, HÃ¥kan Hjalmarsson
Title: Bayes and Biased Estimators Without Hyper-parameter Estimation: Comparable Performance to the Empirical-Bayes-Based Regularized Estimator
Abstract:
Regularized system identification has become a significant complement to more classical system identification. It has been numerically shown that kernel-based regularized estimators often perform better than the maximum likelihood estimator in terms of minimizing mean squared error (MSE). However, regularized estimators often require hyper-parameter estimation. This paper focuses on ridge regression and the regularized estimator by employing the empirical Bayes hyper-parameter estimator. We utilize the excess MSE to quantify the MSE difference between the empirical-Bayes-based regularized estimator and the maximum likelihood estimator for large sample sizes. We then exploit the excess MSE expressions to develop both a family of generalized Bayes estimators and a family of closed-form biased estimators. They have the same excess MSE as the empirical-Bayes-based regularized estimator but eliminate the need for hyper-parameter estimation. Moreover, we conduct numerical simulations to show that the performance of these new estimators is comparable to the empirical-Bayes-based regularized estimator, while computationally, they are more efficient.

Authors:Daniele Masti, Davide Grande, Andrea Peruffo, Filippo Fabiani
Title: Fault-tolerant control of nonlinear systems: An inductive synthesis approach
Abstract:
Actuator faults heavily affect the performance and stability of control systems, an issue that is even more critical for systems required to operate autonomously under adverse environmental conditions, such as unmanned vehicles. To this end, passive fault-tolerant control (PFTC) systems can be employed, namely fixed-gain control laws that guarantee stability both in the nominal case and in the event of faults. In this paper, we propose a counterexample guided inductive synthesis (CEGIS)-based approach to design reliable PFTC policies for nonlinear control systems affected by partial, or total, actuator faults. Our approach enjoys finite-time convergence guarantees and extends available techniques by considering nonlinear dynamics with possible fault conditions. Extensive numerical simulations illustrate how the proposed method can be applied to realistic operational scenarios involving the velocity and heading control of autonomous underwater vehicles (AUVs). Our PFTC technique exhibits comparatively low synthesis time (i.e. minutes) and minimal computational requirements, which render it is suitable for embedded applications with limited availability of energy and onboard power resources.

Authors:Zhexian Li, Ketan Savla
Title: Adaptive model predictive control for traffic signal timing with unknown demand and parameters
Abstract:
This paper designs traffic signal control policies for a network of signalized intersections without knowing the demand and parameters. Within a model predictive control (MPC) framework, control policies consist of an algorithm that estimates parameters and a one-step MPC that computes control inputs using estimated parameters. The algorithm switches between different terminal sets of the MPC to explore different regions of the state space, where different parameters are identifiable. The one-step MPC minimizes a cost that approximates the sum of squares of all the queue lengths within a constant and does not require demand information. We show that the algorithm can estimate parameters exactly in finite time, and the one-step MPC renders maximum throughput in terms of input-to-state practical stability. Simulations indicate better transient performance regarding queue lengths under our proposed policies than existing ones.

Authors:Moad Abudia, Joel A. Rosenfeld, Rushikesh Kamalapurkar
Title: On Dynamic Mode Decomposition of Control-affine Systems
Abstract:
This paper builds on the theoretical foundations for dynamic mode decomposition (DMD) of control-affine dynamical systems by leveraging the theory of vector-valued reproducing kernel Hilbert spaces (RKHSs). Specifically, control Liouville operators and control occupation kernels are used to separate the drift dynamics from the input dynamics. A provably convergent finite-rank estimation of a compact control Liouville operator is obtained, provided sufficiently rich data are available. A matrix representation of the finite-rank operator is used to construct a data-driven representation of its singular values, left singular functions, and right singular functions. The singular value decomposition is used to generate a data-driven model of the control-affine nonlinear system. The developed method generates a model that can be used to predict the trajectories of the system in response to any admissible control input. Numerical experiments are included to demonstrate the efficacy of the developed technique.

Authors:Yanxin Zhang, Chengpu Yu, Filippo Fabiani
Title: Neural network-based identification of state-space switching nonlinear systems
Abstract:
We design specific neural networks (NNs) for the identification of switching nonlinear systems in the state-space form, which explicitly model the switching behavior and address the inherent coupling between system parameters and switching modes. This coupling is specifically addressed by leveraging the expectation-maximization (EM) framework. In particular, our technique will combine a moving window approach in the E-step to efficiently estimate the switching sequence, together with an extended Kalman filter (EKF) in the M-step to train the NNs with a quadratic convergence rate. Extensive numerical simulations, involving both academic examples and a battery charge management system case study, illustrate that our technique outperforms available ones in terms of parameter estimation accuracy, model fitting, and switching sequence identification.

Authors:Charles Baylis, Douglas Sicker, Austin Egbert, Andrew Clegg, Tom Brooks, Casey Latham, Robert J. Marks
Title: Growing Into an Adaptive and Reconfigurable Paradigm for Spectrum Sharing
Abstract:
A significant movement from rigid use of the wireless spectrum toward adaptive and reconfigurable spectrum use has been prompted by increasing spectral crowding. Some bands have moved to an adaptive sharing model, and proposals are growing for this approach to be applied to additional bands. The process of moving from a fixed, rigid spectrum paradigm to adaptive and reconfigurable use involves maturation of policy and technology at multiple levels within the system of systems. Using the concept of Bloom's Taxonomy from the education discipline, this paper examines the development of a policy and technology progression toward a mature, adaptive and reconfigurable paradigm.

Authors:Yilun Ge, Shuyao Liao, Shengqian Han, Chenyang Yang
Title: Precoder Learning by Leveraging Unitary Equivariance Property
Abstract:
Incorporating mathematical properties of a wireless policy to be learned into the design of deep neural networks (DNNs) is effective for enhancing learning efficiency. Multi-user precoding policy in multi-antenna system, which is the mapping from channel matrix to precoding matrix, possesses a permutation equivariance property, which has been harnessed to design the parameter sharing structure of the weight matrix of DNNs. In this paper, we study a stronger property than permutation equivariance, namely unitary equivariance, for precoder learning. We first show that a DNN with unitary equivariance designed by further introducing parameter sharing into a permutation equivariant DNN is unable to learn the optimal precoder. We proceed to develop a novel non-linear weighting process satisfying unitary equivariance and then construct a joint unitary and permutation equivariant DNN. Simulation results demonstrate that the proposed DNN not only outperforms existing learning methods in learning performance and generalizability but also reduces training complexity.

Authors:Anqi Dong, Karl H. Johansson, Johan Karlsson
Title: Task Allocation for Multi-agent Systems via Unequal-dimensional Optimal Transport
Abstract:
We consider a probabilistic model for large-scale task allocation problems for multi-agent systems, aiming to determine an optimal deployment strategy that minimizes the overall transport cost. Specifically, we assign transportation agents to delivery tasks with given pick-up and drop-off locations, pairing the spatial distribution of transport resources with the joint distribution of task origins and destinations. This aligns with the optimal mass transport framework where the problem and is in the unequal-dimensional setting. The task allocation problem can be thus seen as a linear programming problem that minimizes a quadratic transport cost functional, optimizing the energy of all transport units. The problem is motivated by time-sensitive medical deliveries using drones, such as emergency equipment and blood transport. In this paper, we establish the existence, uniqueness, and smoothness of the optimal solution, and illustrate its properties through numerical simulations.

Authors:Yuanbo Nie, Eric C. Kerrigan
Title: Reliable Solution to Dynamic Optimization Problems using Integrated Residual Regularized Direct Collocation
Abstract:
Direct collocation is a widely used method for solving dynamic optimization problems (DOPs), but its implementation simplicity and computational efficiency are limited for challenging problems like those involving singular arcs. In this paper, we introduce the direct transcription method of integrated residual regularized direct collocation (IRR-DC). This method enforces dynamic constraints through a combination of explicit constraints and penalty terms within discretized DOPs. This method retains the implementation simplicity of direct collocation while significantly improving both solution accuracy and efficiency, particularly for challenging problem types. Through the examples, we demonstrate that for difficult problems where traditional direct collocation results in excessive fluctuations or large errors between collocation points, IRR-DC effectively suppresses oscillations and yields solutions with greater accuracy (several magnitudes lower in various error metrics) compared to other regularization alternatives.

Authors:Zifeng Wang, Xiaoning Jin
Title: High-Precision Overlay Registration via Spatial-Terminal Iterative Learning in Roll-to-Roll Manufacturing
Abstract:
Roll-to-roll (R2R) printing technologies are promising for high-volume continuous production of substrate-based electronic products. One of the major challenges in R2R flexible electronics printing is achieving tight alignment tolerances, as specified by the device resolution (usually at the micro-meter level), for multi-layer printed electronics. The alignment of the printed patterns in different layers is known as registration. Conventional registration control methods rely on real-time feedback controllers, such as PID control, to regulate the web tension and the web speed. However, those methods may lose effectiveness in compensating for recurring disturbances and supporting effective mitigation of registration errors. In this paper, we propose a Spatial-Terminal Iterative Learning Control (STILC) method integrated with PID control to iteratively learn and reduce registration error cycle-by-cycle, converging it to zero. This approach enables unprecedented precision in the creation, integration, and manipulation of multi-layer microstructures in R2R processes. We theoretically prove the convergence of the proposed STILC-PID hybrid approach and validate its effectiveness through a simulated registration error scenario caused by axis mismatch between roller and motor, a common issue in R2R systems. The results demonstrate that the STILC-PID hybrid control method can fully eliminate the registration error after a feasible number of iterations. Additionally, we analyze the impact of different learning gains on the convergence performance of STILC.

Authors:Andreas Katsanikakis, Nikolaos Bekiaris-Liberis
Title: Input Delay Compensation for a Class of Switched Linear Systems via Averaging Exact Predictor Feedbacks
Abstract:
The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact that dwell time may be arbitrary. In the present paper, we resolve these challenges developing a new predictor-based control law that is, essentially, an average of exact predictor feedbacks, each one corresponding to an exact predictor-feedback law for a system that operates only in a single mode. Because the predictor state in our control design does not correspond to an exact predictor, stability can be guaranteed under a restriction on the differences among the system's matrices and controller's gains. This is an unavoidable limitation, for a switching signal whose future values may be unavailable, when no constraint is imposed on the values of delay and dwell time (as it is the case here). We establish (uniform) stability of the closed-loop system employing a Lyapunov functional. The key step in the stability proof is constructive derivation of an estimate of the mismatch between an exact predictor feedback and the average of predictor feedbacks constructed. We illustrate the performance of the proposed predictor-based control law in simulation, including comparisons with alternative, predictor-based control laws.

Authors:Farooq Aslam, Muhammad Farooq Haydar, Suhail Akhtar
Title: Geometric Nonlinear Filtering with Almost Global Convergence for Attitude and Bias Estimation on the Special Orthogonal Group
Abstract:
This paper proposes a novel geometric nonlinear filter for attitude and bias estimation on the Special Orthogonal Group $SO(3)$ using matrix measurements. The structure of the proposed filter is similar to that of the continuous-time deterministic multiplicative extended Kalman filter (MEKF). The main difference with the MEKF is the inclusion of curvature correction terms in both the filter gain and gain update equations. These terms ensure that the proposed filter, named the Generalized $SO(3)$-MEKF, renders the desired equilibrium of the estimation error system to be almost globally uniformly asymptotically stable (AGUAS). More precisely, the attitude and bias estimation errors converge uniformly asymptotically to zero for almost all initial conditions except those where the initial angular estimation error equals $π$ radians. Moreover, in the case of small estimation errors, the proposed generalized $SO(3)$-MEKF simplifies to the standard $SO(3)$-MEKF with matrix measurements. Simulation results indicate that the proposed filter has similar performance compared to the latter. Thus, the main advantage of the proposed filter over the MEKF is the guarantee of (almost) global uniform asymptotic stability.

Authors:Ruixiao Yang, Gulai Shen, Ahmed S. Alahmed, Chuchu Fan
Title: Co-Optimizing Distributed Energy Resources under Demand Charges and Bi-Directional Power Flow
Abstract:
We address the co-optimization of behind-the-meter (BTM) distributed energy resources (DER), including flexible demands, renewable distributed generation (DG), and battery energy storage systems (BESS) under net energy metering (NEM) frameworks with demand charges. We formulate the problem as a stochastic dynamic program that accounts for renewable generation uncertainty and operational surplus maximization. Our theoretical analysis reveals that the optimal policy follows a threshold structure. Finally, we show that even a simple algorithm leveraging this threshold structure performs well in simulation, emphasizing its importance in developing near-optimal algorithms. These findings provide crucial insights for implementing prosumer energy management systems under complex tariff structures.

Authors:Qasim Khadim, Peter Manzl, Emil Kurvinen, Aki Mikkola, Grzegorz Orzechowski, Johannes Gerstmayr
Title: Real-Time Structural Deflection Estimation in Hydraulically Actuated Systems Using 3D Flexible Multibody Simulation and DNNs
Abstract:
The precision, stability, and performance of lightweight high-strength steel structures in heavy machinery is affected by their highly nonlinear dynamics. This, in turn, makes control more difficult, simulation more computationally intensive, and achieving real-time autonomy, using standard approaches, impossible. Machine learning through data-driven, physics-informed and physics-inspired networks, however, promises more computationally efficient and accurate solutions to nonlinear dynamic problems. This study proposes a novel framework that has been developed to estimate real-time structural deflection in hydraulically actuated three-dimensional systems. It is based on SLIDE, a machine-learning-based method to estimate dynamic responses of mechanical systems subjected to forced excitations.~Further, an algorithm is introduced for the data acquisition from a hydraulically actuated system using randomized initial configurations and hydraulic pressures.~The new framework was tested on a hydraulically actuated flexible boom with various sensor combinations and lifting various payloads. The neural network was successfully trained in less time using standard parameters from PyTorch, ADAM optimizer, the various sensor inputs, and minimal output data. The SLIDE-trained neural network accelerated deflection estimation solutions by a factor of $10^7$ in reference to flexible multibody simulation batches and provided reasonable accuracy. These results support the studies goal of providing robust, real-time solutions for control, robotic manipulators, structural health monitoring, and automation problems.

Authors:Zeinab Ebrahimi, Mohammad Deghat
Title: Distributed Pose Graph Optimization using the Splitting Method based on the Alternating Direction Method of Multipliers
Abstract:
Distributed optimization aims to leverage the local computation and communication capabilities of each agent to achieve a desired global objective. This paper addresses the distributed pose graph optimization (PGO) problem under non-convex constraints, with the goal of approximating the rotation and translation of each pose given relevant noisy measurements. To achieve this goal, the splitting method based on the concepts of the alternating direction method of multipliers (ADMM) and Bregman iteration are applied to solve the rotation subproblems. The proposed approach enables the iterative resolution of constrained problems, achieved through solving unconstrained problems and orthogonality-constrained quadratic problems that have analytical solutions. The performance of the proposed algorithm is compared against two practical methods in pose graph optimization: the Distributed Gauss-Seidel (DGS) algorithm and the centralized pose graph optimizer with an optimality certificate (SE-Sync). The efficiency of the proposed method is verified through its application to several simulated and real-world pose graph datasets. Unlike the DGS method, our approach attempts to solve distributed PGO problems without relaxing the non-convex constraints.

Authors:Kai Ren, Heejin Ahn, Maryam Kamgarpour
Title: Chance-Constrained Trajectory Planning with Multimodal Environmental Uncertainty
Abstract:
We tackle safe trajectory planning under Gaussian mixture model (GMM) uncertainty. Specifically, we use a GMM to model the multimodal behaviors of obstacles' uncertain states. Then, we develop a mixed-integer conic approximation to the chance-constrained trajectory planning problem with deterministic linear systems and polyhedral obstacles. When the GMM moments are estimated via finite samples, we develop a tight concentration bound to ensure the chance constraint with a desired confidence. Moreover, to limit the amount of constraint violation, we develop a Conditional Value-at-Risk (CVaR) approach corresponding to the chance constraints and derive a tractable approximation for known and estimated GMM moments. We verify our methods with state-of-the-art trajectory prediction algorithms and autonomous driving datasets.

Authors:Taosha Guo, Fabio Pasqualetti
Title: Transfer Learning for LQR Control
Abstract:
In this paper, we study a transfer learning framework for Linear Quadratic Regulator (LQR) control, where (i) the dynamics of the system of interest (target system) are unknown and only a short trajectory of impulse responses from the target system is provided, and (ii) impulse responses are available from $N$ source systems with different dynamics. We show that the LQR controller can be learned from a sufficiently long trajectory of impulse responses. Further, a transferable mode set can be identified using the available data from source systems and the target system, enabling the reconstruction of the target system's impulse responses for controller design. By leveraging data from source systems, we show that the sample complexity for synthesizing the LQR controller can be reduced by $50 \%$. Algorithms and numerical examples are provided to demonstrate the implementation of the proposed transfer control framework.

Authors:Stephane Ngnepiepaye Wembe, Vincent Rousseau, Johann Laconte, Roland Lenain
Title: A Novel Control Strategy for Offset Points Tracking in the Context of Agricultural Robotics
Abstract:
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and efficient operations, replacing humans in arduous tasks while reducing the use of chemicals. Traditionnaly, path_following algorithms are designed to guide the vehicle's center along a predefined trajetory. However, since the actual agronomic task is performed by the implement, it is essential to control a specific point on the implement itself rather than vehicle's center. As such, we present in this paper two approaches for achieving the control of an offset point on the robot. The first approach adapts existing control laws, initially inteded for rear axle's midpoint, to manage the desired lateral deviation. The second approach employs backstepping control techniques to create a control law that directly targets the implement. We conduct real-world experiments, highlighting the limitations of traditional approaches for offset points control, and demonstrating the strengths and weaknesses of the proposed methods.

Authors:Tiancheng Li, Jingyuan Wang, Guchong Li, Dengwei Gao
Title: From Target Tracking to Targeting Track -- Part III: Stochastic Process Modeling and Online Learning
Abstract:
This is the third part of a series of studies that model the target trajectory, which describes the target state evolution over continuous time, as a sample path of a stochastic process (SP). By adopting a deterministic-stochastic decomposition framework, we decompose the learning of the trajectory SP into two sequential stages: the first fits the deterministic trend of the trajectory using a curve function of time, while the second estimates the residual stochastic component through parametric learning of either a Gaussian process (GP) or Student's-$t$ process (StP). This leads to a Markov-free data-driven tracking approach that produces the continuous-time trajectory with minimal prior knowledge of the target dynamics. Notably, our approach explicitly models both the temporal correlations of the state sequence and of measurement noises through the SP framework. It does not only take advantage of the smooth trend of the target but also makes use of the long-term temporal correlation of both the data noise and the model fitting error. Simulations in four maneuvering target tracking scenarios have demonstrated its effectiveness and superiority in comparison with existing approaches.

Authors:Daniel Larby, Joshua Kershaw, Matthew Allen, Fulvio Forni
Title: Collaborative Drill Alignment in Surgical Robotics
Abstract:
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic system designed to assist in surgical procedures by implementing a virtual drill guide. The system integrates virtual-fixture functionality using a novel virtual-mechanism controller with additional visual feedback. The controller constrains the tool to the desired axis, while allowing axial motion to remain under the surgeon's control. Compared to prior virtual-fixture approaches -- which primarily perform pure energy-shaping and damping injection with linear springs and dampers -- our controller uses a virtual prismatic joint to which the robot is constrained by nonlinear springs, allowing us to easily shape the dynamics of the system. We detail the calibration procedures required to achieve sufficient precision, and describe the implementation of the controller. We apply this system to a veterinary procedure: drilling for transcondylar screw placement in dogs. The results of the trials on 3D-printed bone models demonstrate sufficient precision to perform the procedure and suggest improved angular accuracy and reduced exit translation errors compared to patient specific guides (PSG). Discussion and future improvements follow.

Authors:Giona Fieni, Marc-Philippe Neumann, Francesca Furia, Alessandro Caucino, Alberto Cerofolini, Vittorio Ravaglioli, Christopher H. Onder
Title: Game Theory in Formula 1: Multi-agent Physical and Strategical Interactions
Abstract:
This paper presents an optimization framework to model Formula 1 racing dynamics, where multiple cars interact physically and strategically. Aerodynamic wake effects, trajectory optimization, and energy management are integrated by means of physical models. We describe the minimum lap time problem with two agents as either a Nash or a Stackelberg game, and by employing the Karush-Kuhn-Tucker conditions during the problem formulation, we recover the structure of a nonlinear program. In addition, we introduce an algorithm to refine local Stackelberg solutions, using the Nash costs as upper bounds. The resulting strategies are analyzed through case studies. We examine the impact of slipstreaming on trajectory selection in corners, straights, and high-speed sections, while also identifying optimal overtaking locations based on energy allocation strategies. Exploiting the structural similarities of the game formulations, we are able to compare symmetric and hierarchical strategies to analyze competitive racing dynamics. By incorporating a physically accurate interaction model and accounting for the optimal responses of competing agents, our approach reveals typical Formula 1 strategic behaviors. The proposed methodology closes the gap between theoretical game theory and real-world racing, with potential applications in motorsport engineering and autonomous racing.

Authors:Mehdi Davoudi, Mingyu Chen, Junjie Qin
Title: Extended Version: Non-Preemptive Scheduling of Flexible Loads in Smart Grids via Convex Optimization
Abstract:
This paper studies the scheduling of a large population of non-preemptive flexible electric loads, each of which has a flexible starting time but once started will follow a fixed load shape until completion. We first formulate the scheduling problem as a mixed-integer convex program (MICP), then propose an efficient polynomial time relaxation-adjustment-rounding algorithm for solving the problem. The key novelty of the proposed method lies in its adjustment step, which uses a graph-based algorithm to navigate within the set of optimal points of the convex relaxation while reducing the number of fractional entries in the solution. We establish mathematically that our algorithm yields solutions that are near optimal for a finite number of loads and with its sub-optimality independent of the number of loads. Consequently, the proposed method is asymptotically optimal in a per-load cost sense when the number of loads increases. Despite the gap between the MICP and its convex relaxation, we establish that the solution of the proposed algorithm can be decentralized by marginal prices of the convex relaxation. We also develop and analyze variants of the proposed algorithm for settings with uncertainty and with time-varying realistic load shapes. Finally, we numerically evaluate the proposed algorithm in a case study for the non-preemptive scheduling of electric vehicles charging loads.

Authors:Mohammad Javad Najafirad, Shirantha Welikala
Title: Dissipativity-Based Distributed Control and Communication Topology Co-Design for Voltage Regulation and Current Sharing in DC Microgrids
Abstract:
This paper presents a novel dissipativity-based distributed droop-free control approach for voltage regulation and current sharing in DC microgrids (MGs) comprised of an interconnected set of distributed generators (DGs), loads, and power lines. First, we describe the closed-loop DC MG as a networked system where the DGs and lines (i.e., subsystems) are interconnected via a static interconnection matrix. This interconnection matrix demonstrates how the inputs, outputs, and disturbances of DGs and lines are connected in a DC MG. Each DG has a local controller and a distributed global controller. To design the controllers, we use the dissipativity properties of the subsystems and formulate a linear matrix inequality (LMI) problem. To support the feasibility of this problem, we identify a set of necessary local and global conditions to enforce in a specifically developed LMI-based local controller design process. In contrast to existing DC MG control solutions, our approach proposes a unified framework for co-designing the distributed controller and communication topology. As the co-design process is LMI-based, it can be efficiently implemented and evaluated using existing convex optimization tools. The effectiveness of the proposed solution is verified by simulating an islanded DC MG in a MATLAB/Simulink environment under different scenarios, such as load changes and topological constraint changes, and then comparing the performance with the droop control algorithm.

Authors:Daniel R. Bayer, Felix Haag, Marco Pruckner, Konstantin Hopf
Title: Electricity Demand Forecasting in Future Grid States: A Digital Twin-Based Simulation Study
Abstract:
Short-term forecasting of residential electricity demand is an important task for utilities. Yet, many small and medium-sized utilities still use simple forecasting approaches such as Synthesized Load Profiles, which treat residential households similarly and neither account for renewable energy installations nor novel large consumers (e.g., heat pumps, electric vehicles). The effectiveness of such "one-fits-all" approaches in future grid states--where decentral generation and sector coupling increases--are questionable. Our study challenges these forecasting practices and investigates whether Machine Learning (ML) approaches are suited to predict electricity demand in today's and in future grid states. We use real smart meter data from 3,511 households in Germany over 34 months. We extrapolate this data with future grid states (i.e., increased decentral generation and storage) based on a digital twin of a local energy system. Our results show that Long Short-Term Memory (LSTM) approaches outperform SLPs as well as simple benchmark estimators with up to 68.5% lower Root Mean Squared Error for a day-ahead forecast, especially in future grid states. Nevertheless, all prediction approaches perform worse in future grid states. Our findings therefore reinforce the need (a) for utilities and grid operators to employ ML approaches instead of traditional demand prediction methods in future grid states and (b) to prepare current ML methods for future grid states.

Authors:Davide Tebaldi, Dario Onfiani, Luigi Biagiotti
Title: On the Analysis of Stability, Sensitivity and Transparency in Variable Admittance Control for pHRI Enhanced by Virtual Fixtures
Abstract:
The interest in Physical Human-Robot Interaction (pHRI) has significantly increased over the last two decades thanks to the availability of collaborative robots that guarantee user safety during force exchanges. For this reason, stability concerns have been addressed extensively in the literature while proposing new control schemes for pHRI applications. Because of the nonlinear nature of robots, stability analyses generally leverage passivity concepts. On the other hand, the proposed algorithms generally consider ideal models of robot manipulators. For this reason, the primary objective of this paper is to conduct a detailed analysis of the sources of instability for a class of pHRI control schemes, namely proxy-based constrained admittance controllers, by considering parasitic effects such as transmission elasticity, motor velocity saturation, and actuation delay. Next, a sensitivity analysis supported by experimental results is carried out, in order to identify how the control parameters affect the stability of the overall system. Finally, an adaptation technique for the proxy parameters is proposed with the goal of maximizing transparency in pHRI. The proposed adaptation method is validated through both simulations and experimental tests.

Authors:Paulina Quintanilla, Francisco Fernández, Cristóbal Mancilla, Matías Rojas, Daniel Navia
Title: Digital twin with automatic disturbance detection for an expert-controlled SAG mill
Abstract:
This study presents the development and validation of a digital twin for a semi-autogenous grinding (SAG) mill controlled by an expert system. The digital twin integrates three key components of the closed-loop operation: (1) fuzzy logic for expert control, (2) a state-space model for regulatory control, and (3) a recurrent neural network to simulate the SAG mill process. The digital twin is combined with a statistical framework for automatically detecting process disturbances (or critical operations), which triggers model retraining only when deviations from expected behaviour are identified, ensuring continuous updates with new data to enhance the SAG supervision. The model was trained with 68 hours of operational industrial data and validated with an additional 8 hours, allowing it to predict mill behaviour within a 2.5-minute horizon at 30-second intervals with errors smaller than 5%.

Authors:Alexandre Alouadi, Baptiste Barreau, Laurent Carlier, Huyên Pham
Title: Robust time series generation via Schrödinger Bridge: a comprehensive evaluation
Abstract:
We investigate the generative capabilities of the Schrödinger Bridge (SB) approach for time series. The SB framework formulates time series synthesis as an entropic optimal interpolation transport problem between a reference probability measure on path space and a target joint distribution. This results in a stochastic differential equation over a finite horizon that accurately captures the temporal dynamics of the target time series. While the SB approach has been largely explored in fields like image generation, there is a scarcity of studies for its application to time series. In this work, we bridge this gap by conducting a comprehensive evaluation of the SB method's robustness and generative performance. We benchmark it against state-of-the-art (SOTA) time series generation methods across diverse datasets, assessing its strengths, limitations, and capacity to model complex temporal dependencies. Our results offer valuable insights into the SB framework's potential as a versatile and robust tool for time series generation.

Authors:Jingyu Liu, Xiaoting Wang, Xiaozhe Wang
Title: Efficient Sampling and Sensitivity Analysis of Rare Transient Instability Events via Subset Simulation
Abstract:
Assessing the risk of low-probability high-impact transient instability (TI) events is crucial for ensuring robust and stable power system operation under high uncertainty. However, direct Monte Carlo (DMC) simulation for rare TI event sampling is computationally intensive. This paper proposes a subset simulation-based method for efficient small TI probability estimation, rare TI events sampling, and subsequent sensitivity analysis. Numerical studies on the modified WSCC 9-bus system demonstrate the efficiency of the proposed method over DMC. Additionally, targeted stability enhancement strategies are designed to eliminate rare TI events and enhance the system's robustness to specific transient faults.

Authors:Matthias Burkhardt, Tobias Schmähling, Michael Layh, Tobias Windisch
Title: Active Alignments of Lens Systems with Reinforcement Learning
Abstract:
Aligning a lens system relative to an imager is a critical challenge in camera manufacturing. While optimal alignment can be mathematically computed under ideal conditions, real-world deviations caused by manufacturing tolerances often render this approach impractical. Measuring these tolerances can be costly or even infeasible, and neglecting them may result in suboptimal alignments. We propose a reinforcement learning (RL) approach that learns exclusively in the pixel space of the sensor output, eliminating the need to develop expert-designed alignment concepts. We conduct an extensive benchmark study and show that our approach surpasses other methods in speed, precision, and robustness. We further introduce relign, a realistic, freely explorable, open-source simulation utilizing physically based rendering that models optical systems with non-deterministic manufacturing tolerances and noise in robotic alignment movement. It provides an interface to popular machine learning frameworks, enabling seamless experimentation and development. Our work highlights the potential of RL in a manufacturing environment to enhance efficiency of optical alignments while minimizing the need for manual intervention.

Authors:Erfan Mehdipour Abadi, Hamid Varmazyari, Masoud H. Nazari
Title: Detecting Unobservable Contingencies in Active Distribution Systems Using a Stochastic Hybrid Systems Approach
Abstract:
This paper introduces a distributed contingency detection algorithm for detecting unobservable contingencies in power distribution systems using stochastic hybrid system (SHS) models. We aim to tackle the challenge of limited measurement capabilities in distribution networks that restrict the ability to detect contingencies promptly. We incorporate the dynamics of distribution network connections, load feeders, PV, and battery energy storage system (BESS) hybrid resources into a fully correlated SHS model representing the distribution system as a randomly switching system between different structures during contingency occurrence. We show that jumps in the SHS model correspond to contingencies in the physical power grid. We propose a probing approach based on magnitude-modulation inputs (MaMI) to make contingencies detectable. The effectiveness of the proposed approach is validated through simulations on a sample distribution system.

Authors:Daniel Baker, Sean Phillips
Title: Levels of Spacecraft Autonomy
Abstract:
As autonomous systems are being developed in multiple industries it has been recognized that a phased approach is needed both for technical development and user acceptance. Partially in response, the automotive and aircraft industries have published five or six Levels of Autonomy in an attempt to broadly characterize the amount of autonomy technology that is present in any particular vehicle. We have developed a similar six Levels of Spacecraft Autonomy for similar purposes. Here, we propose extending these ideas to spacecraft constellations, clusters, swarms, ground stations for spacecraft, and strategic collaboration among space and ground assets. We intend these levels of autonomy to be used to characterize and describe high-level capabilities for any given satellite for education and communication with lawmakers, government officials, and the general public. All of the proposed levels mimic those of the automotive and aircraft levels in an attempt to maintain consistency and a common understanding with our intended audiences.

Authors:Hongteng Wang, Haichuan Li, Yijia Xin, Weizhen Chen, Haogen Liu, Ying Chen, Yaofei Chen, Lei Chen, Yunhan Luo, Zhe Chen, Gui-Shi Liu
Title: Patterning Silver Nanowire Network via the Gibbs-Thomson Effect
Abstract:
As transparent electrodes, patterned silver nanowire (AgNW) networks suffer from noticeable pattern visibility, which is an unsettled issue for practical applications such as display. Here, we introduce a Gibbs-Thomson effect (GTE)-based patterning method to effectively reduce pattern visibility. Unlike conventional top-down and bottom-up strategies that rely on selective etching, removal, or deposition of AgNWs, our approach focuses on fragmenting nanowires primarily at the junctions through the GTE. This is realized by modifying AgNWs with a compound of diphenyliodonium nitrate and silver nitrate, which aggregates into nanoparticles at the junctions of AgNWs. These nanoparticles can boost the fragmentation of nanowires at the junctions under an ultralow temperature (75°C), allow pattern transfer through a photolithographic masking operation, and enhance plasmonic welding during UV exposure. The resultant patterned electrodes have trivial differences in transmittance (ΔT = 1.4%) and haze (ΔH = 0.3%) between conductive and insulative regions, with high-resolution patterning size down to 10 μm. To demonstrate the practicality of this novel method, we constructed a highly transparent, optoelectrical interactive tactile e-skin using the patterned AgNW electrodes.

Authors:Patrick Halder, Hannes Homburger, Lothar Kiltz, Johannes Reuter, Matthias Althoff
Title: Trajectory Planning with Signal Temporal Logic Costs using Deterministic Path Integral Optimization
Abstract:
Formulating the intended behavior of a dynamic system can be challenging. Signal temporal logic (STL) is frequently used for this purpose due to its suitability in formalizing comprehensible, modular, and versatile spatiotemporal specifications. Due to scaling issues with respect to the complexity of the specifications and the potential occurrence of non-differentiable terms, classical optimization methods often solve STL-based problems inefficiently. Smoothing and approximation techniques can alleviate these issues but require changing the optimization problem. This paper proposes a novel sampling-based method based on model predictive path integral control to solve optimal control problems with STL cost functions. We demonstrate the effectiveness of our method on benchmark motion planning problems and compare its performance with state-of-the-art methods. The results show that our method efficiently solves optimal control problems with STL costs.

Authors:Daniel Baker, Sean Phillips
Title: Spacecraft Autonomy Levels
Abstract:
As autonomous systems are being developed in multiple industries it has been recognized that a phased approach is needed both for technical development and user acceptance. Partially in response, the automotive and aircraft industries have published five or six Levels of Autonomy in an attempt to broadly characterize the amount of autonomy technology that is present in any particular vehicle. We propose six Spacecraft Autonomy Levels to characterize and describe the high-level autonomous capabilities for any given satellite. Our proposed spacecraft autonomy levels parallel those of the automotive and aircraft levels in an attempt to maintain consistency and a common understanding. We see these autonomy levels as useful in education and communication with lawmakers, government officials, and the general public.

Authors:Le Zheng, Jiajie Zheng, Lei Chen, Chongru Liu
Title: Extended Impedance Modal Analysis of Internal Dynamics in Grid-Following Inverters
Abstract:
As the penetration of Grid-Following inverters (GFL) in power systems continues to increase, the dynamic characteristics of power systems undergo significant transformations. Recently, modal analysis based on the impedance model (MAI) has been utilized to evaluate the interaction between GFLs and the power grid through impedance/admittance participation factors (PF). However, MAI relies on the impedance model that characterizes the input-output behavior of the ports, treating the GFL as a single integrated entity. This approach limits its ability to reveal the complex dynamic coupling mechanism between different control loops inside the GFL. In this paper, we propose an extended impedance modal analysis (EMAI) method. Firstly, the equivalent dynamics of the GFL are decomposed into two components: the synchronous dynamic dominated by the phase-locked loop (PLL) and the electromagnetic dynamic dominated by the current control loop (CCL). The PF and participation ratios (PR) of these two dynamic components are then calculated to identify the dominant dynamics of the system. Building on this, we introduce the explicit parameter participation factors (PPF) to further pinpoint the key parameters of the dominant control loop, which provides a way for enhancing system stability. Finally, the effectiveness of the proposed method is validated through the simulation of the modified 14-bus and 68-bus systems. The EMAI method enables the analysis of the dynamic characteristics of each control loop in the GFL based on the impedance model. It can effectively identify the critical control loops influencing system stability without requiring the construction of a full state-space model, demonstrating its broad applicability and value.

Authors:Feng Guo, Luis D. Couto, Khiem Trad, Grietus Mulder, Keivan Haghverdi, Guillaume Thenaisie
Title: Optimizing Parameter Estimation for Electrochemical Battery Model: A Comparative Analysis of Operating Profiles on Computational Efficiency and Accuracy
Abstract:
Parameter estimation in electrochemical models remains a significant challenge in their application. This study investigates the impact of different operating profiles on electrochemical model parameter estimation to identify the optimal conditions. In particular, the present study is focused on Nickel Manganese Cobalt Oxide(NMC) lithium-ion batteries. Based on five fundamental current profiles (C/5, C/2, 1C, Pulse, DST), 31 combinations of conditions were generated and used for parameter estimation and validation, resulting in 961 evaluation outcomes. The Particle Swarm Optimization is employed for parameter identification in electrochemical models, specifically using the Single Particle Model (SPM). The analysis considered three dimensions: model voltage output error, parameter estimation error, and time cost. Results show that using all five profiles (C/5, C/2, 1C, Pulse, DST) minimizes voltage output error, while {C/5, C/2, Pulse, DST} minimizes parameter estimation error. The shortest time cost is achieved with {1C}. When considering both model voltage output and parameter errors, {C/5, C/2, 1C, DST} is optimal. For minimizing model voltage output error and time cost, {C/2, 1C} is best, while {1C} is ideal for parameter error and time cost. The comprehensive optimal condition is {C/5, C/2, 1C, DST}. These findings provide guidance for selecting current conditions tailored to specific needs.

Authors:Lihan Lian, Uduak Inyang-Udoh
Title: Co-state Neural Network for Real-time Nonlinear Optimal Control with Input Constraints
Abstract:
In this paper, we propose a method to solve nonlinear optimal control problems (OCPs) with constrained control input in real-time using neural networks (NNs). We introduce what we have termed co-state Neural Network (CoNN) that learns the mapping from any given state value to its corresponding optimal co-state trajectory based on the Pontryagin's Minimum (Maximum) Principle (PMP). In essence, the CoNN parameterizes the Two-Point Boundary Value Problem (TPBVP) that results from the PMP for various initial states. The CoNN is trained using data generated from numerical solutions of TPBVPs for unconstrained OCPs to learn the mapping from a state to its corresponding optimal co-state trajectory. For better generalizability, the CoNN is also trained to respect the first-order optimality conditions (system dynamics). The control input constraints are satisfied by solving a quadratic program (QP) given the predicted optimal co-states. We demonstrate the effectiveness of our CoNN-based controller in a feedback scheme for numerical examples with both unconstrained and constrained control input. We also verify that the controller can handle unknown disturbances effectively.

Authors:Manuel Baltieri, Martin Biehl, Matteo Capucci, Nathaniel Virgo
Title: A Bayesian Interpretation of the Internal Model Principle
Abstract:
The internal model principle, originally proposed in the theory of control of linear systems, nowadays represents a more general class of results in control theory and cybernetics. The central claim of these results is that, under suitable assumptions, if a system (a controller) can regulate against a class of external inputs (from the environment), it is because the system contains a model of the system causing these inputs, which can be used to generate signals counteracting them. Similar claims on the role of internal models appear also in cognitive science, especially in modern Bayesian treatments of cognitive agents, often suggesting that a system (a human subject, or some other agent) models its environment to adapt against disturbances and perform goal-directed behaviour. It is however unclear whether the Bayesian internal models discussed in cognitive science bear any formal relation to the internal models invoked in standard treatments of control theory. Here, we first review the internal model principle and present a precise formulation of it using concepts inspired by categorical systems theory. This leads to a formal definition of ``model'' generalising its use in the internal model principle. Although this notion of model is not a priori related to the notion of Bayesian reasoning, we show that it can be seen as a special case of possibilistic Bayesian filtering. This result is based on a recent line of work formalising, using Markov categories, a notion of ``interpretation'', describing when a system can be interpreted as performing Bayesian filtering on an outside world in a consistent way.

Authors:Alessandro Riccardi, Luca Laurenti, Bart De Schutter
Title: A general partitioning strategy for non-centralized control
Abstract:
Partitioning is a fundamental challenge for non-centralized control of large-scale systems, such as hierarchical, decentralized, distributed, and coalitional strategies. The problem consists of finding a decomposition of a network of dynamical systems into system units for which local controllers can be designed. Unfortunately, despite its critical role, a generalized approach to partitioning applicable to every system is still missing from the literature. This paper introduces a novel partitioning framework that integrates an algorithmic selection of fundamental system units (FSUs), considered indivisible entities, with an aggregative procedure, either algorithmic or optimization-based, to select composite system units (CSUs) made of several FSUs. A key contribution is the introduction of a global network metric, the partition index, which quantitatively balances intra- and inter-CSU interactions, with a granularity parameter accounting for the size of CSUs, allowing for their selection at different levels of aggregation. The proposed method is validated through case studies in distributed model predictive control (DMPC) for linear and hybrid systems, showing significant reductions in computation time and cost while maintaining or improving control performance w.r.t. conventional strategies.

Authors:Hamed Taghavian, Jens Sjölund
Title: Minimal positive Markov realizations
Abstract:
Finding a positive state-space realization with the minimum dimension for a given transfer function is an open problem in control theory. In this paper, we focus on positive realizations in Markov form and propose a linear programming approach that computes them with a minimum dimension. Such minimum dimension of positive Markov realizations is an upper bound of the minimal positive realization dimension. However, we show that these two dimensions are equal for certain systems.

Authors:Lingxiao Jin, Zinuo Cai, Zebin Chen, Hongyu Zhao, Ruhui Ma
Title: AARC: Automated Affinity-aware Resource Configuration for Serverless Workflows
Abstract:
Serverless computing is increasingly adopted for its ability to manage complex, event-driven workloads without the need for infrastructure provisioning. However, traditional resource allocation in serverless platforms couples CPU and memory, which may not be optimal for all functions. Existing decoupling approaches, while offering some flexibility, are not designed to handle the vast configuration space and complexity of serverless workflows. In this paper, we propose AARC, an innovative, automated framework that decouples CPU and memory resources to provide more flexible and efficient provisioning for serverless workloads. AARC is composed of two key components: Graph-Centric Scheduler, which identifies critical paths in workflows, and Priority Configurator, which applies priority scheduling techniques to optimize resource allocation. Our experimental evaluation demonstrates that AARC achieves substantial improvements over state-of-the-art methods, with total search time reductions of 85.8% and 89.6%, and cost savings of 49.6% and 61.7%, respectively, while maintaining SLO compliance.

Authors:Mohammadreza Iranpour, Mohammad Rasoul Narimani
Title: Leveraging Convex Relaxation to Identify the Feasibility of Conducting AC False Data Injection Attack in Power Systems
Abstract:
FDI (False Data Injection) attacks are critical to address as they can compromise the integrity and reliability of data in cyber-physical systems, leading to potentially severe consequences in sectors such as power systems. The feasibility of FDI attacks has been extensively studied from various perspectives, including access to measurements and sensors, knowledge of the system, and design considerations using residual-based detection methods. Most research has focused on DC-based FDI attacks; however, designing AC FDI attacks involves solving a nonlinear optimization problem, presenting additional challenges in assessing their feasibility. Specifically, it is often unclear whether the infeasibility of some designed AC FDI attacks is due to the nonconvexity and nonlinearity inherent to AC power flows or if it stems from inherent infeasibility in specific cases, with local solvers returning infeasibility. This paper addresses this issue by leveraging the principle that if a convexified AC FDI attack design problem is infeasible, the attack design itself is infeasible, irrespective of nonlinear solution challenges. We propose an AC FDI attack design based on convexified power flow equations and assess the feasibility of the proposed attack by examining the extent of the attackable region. This approach utilizes a Quadratic Convex (QC) relaxation technique to convexify AC power flows. To evaluate the proposed method, we implement it on the IEEE 118-bus test system and assess the feasibility of an AC FDI attack across various attack zones.

Authors:Leopoldo Agorio, Sean Van Alen, Santiago Paternain, Miguel Calvo-Fullana, Juan Andres Bazerque
Title: Cooperative Multi-Agent Assignment over Stochastic Graphs via Constrained Reinforcement Learning
Abstract:
Constrained multi-agent reinforcement learning offers the framework to design scalable and almost surely feasible solutions for teams of agents operating in dynamic environments to carry out conflicting tasks. We address the challenges of multi-agent coordination through an unconventional formulation in which the dual variables are not driven to convergence but are free to cycle, enabling agents to adapt their policies dynamically based on real-time constraint satisfaction levels. The coordination relies on a light single-bit communication protocol over a network with stochastic connectivity. Using this gossiped information, agents update local estimates of the dual variables. Furthermore, we modify the local dual dynamics by introducing a contraction factor, which lets us use finite communication buffers and keep the estimation error bounded. Under this model, we provide theoretical guarantees of almost sure feasibility and corroborate them with numerical experiments in which a team of robots successfully patrols multiple regions, communicating under a time-varying ad-hoc network.

Authors:Feng Guo, Luis D. Couto
Title: Comparative Performance Analysis of Numerical Discretization Methods for Electrochemical Models of Lithium-ion Batteries
Abstract:
This study evaluates numerical discretization methods for the Single Particle Model (SPM) used in electrochemical modeling. The methods include the Finite Difference Method (FDM), spectral methods, Padé approximation, and parabolic approximation. Evaluation criteria are accuracy, execution time, and memory usage, aiming to guide method selection for electrochemical models. Under constant current conditions, the FDM explicit Euler and Runge-Kutta methods show significant errors, while the FDM implicit Euler method improves accuracy with more nodes. The spectral method achieves the best accuracy and convergence with as few as five nodes. The Padé approximation exhibits increasing errors with higher current, and the parabolic approximation shows higher errors than the converged spectral and FDM implicit Euler methods. Under dynamic conditions, frequency domain analysis indicates that the FDM, spectral, and Padé approximation methods improve high-frequency response by increasing node count or method order. In terms of execution time, the parabolic method is fastest, followed by the Padé approximation. The spectral method is faster than FDM, while the FDM implicit Euler method is the slowest. Memory usage is lowest for the parabolic and Padé methods, moderate for FDM, and highest for the spectral method. These findings provide practical guidance for selecting discretization methods under different operating scenarios.

Authors:Ioannis Dimanidis, Tolga Ok, Peyman Mohajerin Esfahani
Title: Offline Reinforcement Learning via Inverse Optimization
Abstract:
Inspired by the recent successes of Inverse Optimization (IO) across various application domains, we propose a novel offline Reinforcement Learning (ORL) algorithm for continuous state and action spaces, leveraging the convex loss function called ``sub-optimality loss" from the IO literature. To mitigate the distribution shift commonly observed in ORL problems, we further employ a robust and non-causal Model Predictive Control (MPC) expert steering a nominal model of the dynamics using in-hindsight information stemming from the model mismatch. Unlike the existing literature, our robust MPC expert enjoys an exact and tractable convex reformulation. In the second part of this study, we show that the IO hypothesis class, trained by the proposed convex loss function, enjoys ample expressiveness and achieves competitive performance comparing with the state-of-the-art (SOTA) methods in the low-data regime of the MuJoCo benchmark while utilizing three orders of magnitude fewer parameters, thereby requiring significantly fewer computational resources. To facilitate the reproducibility of our results, we provide an open-source package implementing the proposed algorithms and the experiments.

Authors:Panpan Zhou, Yueyue Xu, Yibei Li, Bo Wahlberg, Xiaoming Hu
Title: A differential game approach to intrinsic encirclement control
Abstract:
This paper investigates the encirclement control problem involving two groups using a non-cooperative differential game approach. The active group seeks to chase and encircle the passive group, while the passive group responds by fleeing cooperatively and simultaneously encircling the active group. Instead of prescribing an expected radius or a predefined path for encirclement, we focus on the whole formation manifold of the desired relative configuration, two concentric circles, by allowing permutation, rotation, and translation of players. The desired relative configurations arise as the steady state resulting from Nash equilibrium strategies and are achieved in an intrinsic way by designing the interaction graphs and weight function of each edge. Furthermore, the asymptotic convergence to the desired manifold is guaranteed. Finally, numerical simulations demonstrate encirclement and counter-encirclement scenarios, verifying the effectiveness of our strategies.

Authors:Gerardo Tapia-Otaegui, Jorge A. Solsona, Sebastian Gomez Jorge, Ana Susperregui, Claudio A. Busada, M. Itsaso Martínez
Title: A Complex-Valued Feedback Linearization-Based Controller for a Voltage Source Inverter Tied to the Grid via a Second-Order Filter
Abstract:
In this document, a nonlinear control law for a grid-tied converter is introduced. The converter topology consists of a voltage source inverter (VSI) linked to the grid through an inductive-capacitive second-order filter, its input being connected to a capacitive DC-link supplied by a renewable energy-based input power source. In order to achieve good performance in presence of large state excursions caused mainly by substantial set-point modifications and/or considerable disturbances, a nonlinear control law based on a complex-valued feedback linearization strategy is designed. Specifically, a flat output is adopted, which is given by the summation of the energy stored in the DC-link capacitor and in the output filter's inductor and capacitor, as well as by the reactive energy at the output. After linearizing the system through a pertinent coordinate transformation and a nonlinear feedback, a linear trajectory tracking control law is implemented. The performance of the system controlled by applying the proposed strategy is tested via simulation for a very weak grid of unity X/R ratio, yielding satisfactory results.

Authors:Gustavo Boré, Vicente Sufán, Sebastián Rodríguez-Martínez, Giancarlo Troni
Title: Toward 6-DOF Autonomous Underwater Vehicle Energy-Aware Position Control based on Deep Reinforcement Learning: Preliminary Results
Abstract:
The use of autonomous underwater vehicles (AUVs) for surveying, mapping, and inspecting unexplored underwater areas plays a crucial role, where maneuverability and power efficiency are key factors for extending the use of these platforms, making six degrees of freedom (6-DOF) holonomic platforms essential tools. Although Proportional-Integral-Derivative (PID) and Model Predictive Control controllers are widely used in these applications, they often require accurate system knowledge, struggle with repeatability when facing payload or configuration changes, and can be time-consuming to fine-tune. While more advanced methods based on Deep Reinforcement Learning (DRL) have been proposed, they are typically limited to operating in fewer degrees of freedom. This paper proposes a novel DRL-based approach for controlling holonomic 6-DOF AUVs using the Truncated Quantile Critics (TQC) algorithm, which does not require manual tuning and directly feeds commands to the thrusters without prior knowledge of their configuration. Furthermore, it incorporates power consumption directly into the reward function. Simulation results show that the TQC High-Performance method achieves better performance to a fine-tuned PID controller when reaching a goal point, while the TQC Energy-Aware method demonstrates slightly lower performance but consumes 30% less power on average.

Authors:Stella Dumenčić, Luka Lanča, Karlo Jakac, Stefan Ivić
Title: Experimental validation of UAV search and detection system in real wilderness environment
Abstract:
Search and rescue (SAR) missions require reliable search methods to locate survivors, especially in challenging or inaccessible environments. This is why introducing unmanned aerial vehicles (UAVs) can be of great help to enhance the efficiency of SAR missions while simultaneously increasing the safety of everyone involved in the mission. Motivated by this, we design and experiment with autonomous UAV search for humans in a Mediterranean karst environment. The UAVs are directed using Heat equation-driven area coverage (HEDAC) ergodic control method according to known probability density and detection function. The implemented sensing framework consists of a probabilistic search model, motion control system, and computer vision object detection. It enables calculation of the probability of the target being detected in the SAR mission, and this paper focuses on experimental validation of proposed probabilistic framework and UAV control. The uniform probability density to ensure the even probability of finding the targets in the desired search area is achieved by assigning suitably thought-out tasks to 78 volunteers. The detection model is based on YOLO and trained with a previously collected ortho-photo image database. The experimental search is carefully planned and conducted, while as many parameters as possible are recorded. The thorough analysis consists of the motion control system, object detection, and the search validation. The assessment of the detection and search performance provides strong indication that the designed detection model in the UAV control algorithm is aligned with real-world results.

Authors:Jikang Deng, Hui Zhou, Mohamed-Slim Alouini
Title: Distributed Coordination for Heterogeneous Non-Terrestrial Networks
Abstract:
To guarantee global coverage and ubiquitous connectivity, the Non-terrestrial Network (NTN) technology has been regarded as a key enabling technology in the Six Generation (6G) network, which consists of the unmanned aerial vehicle (UAV), high-altitude platform (HAP), and satellite. It is noted that the unique characteristics of various NTN platforms directly impact the design and implementation of NTNs, which results in highly dynamic and heterogeneous networks. Even within the same tier, such as the space tier, the NTNs are developed based on different platforms including Low Earth Orbit (LEO), Medium Earth Orbit (MEO), and Geostationary Earth Orbit (GEO). Therefore, distributed coordination among heterogeneous NTNs remains an important challenge. Although distributed learning framework finds a wide range of applications by leveraging rich distributed data and computation resources. The explicit and systematic analysis of the individual layers' challenges, and corresponding distributed coordination solutions in heterogeneous NTNs has not been proposed yet. In this article, we first summarize the unique characteristics of each NTN platform, and analyze the corresponding impact on the design and implementation of the NTN. We then identify the communication challenges of heterogeneous NTNs in individual layers, where the potential coordinated solutions are identified. We further illustrate the multi-agent deep reinforcement learning (MADRL) algorithms tailored for coordinated solutions in heterogeneous NTNs. Last but not least, we present a case study of the user scheduling optimization problem in heterogeneous UAVs-based cellular networks, where the multi-agent deep deterministic policy gradient (MADDPG) technique is developed to validate the effectiveness of distributed coordination in heterogeneous NTNs.

Authors:Thomas I. Strasser, Filip Pröstl Andrén
Title: Engineering and Validating Cyber-Physical Energy Systems: Needs, Status Quo, and Research Trends
Abstract:
A driving force for the realization of a sustainable energy supply is the integration of renewable energy resources. Due to their stochastic generation behaviour, energy utilities are confronted with a more complex operation of the underlying power grids. Additionally, due to technology developments, controllable loads, integration with other energy sources, changing regulatory rules, and the market liberalization, the systems operation needs adaptation. Proper operational concepts and intelligent automation provide the basis to turn the existing power system into an intelligent entity, a cyber-physical energy system. The electric energy system is therefore moving from a single system to a system of systems. While reaping the benefits with new intelligent behaviors, it is expected that system-level developments, architectural concepts, advanced automation and control as well as the validation and testing will play a significantly larger role in realizing future solutions and technologies. The implementation and deployment of these complex systems of systems are associated with increasing engineering complexity resulting also in increased engineering costs. Proper engineering and validation approaches, concepts, and tools are partly missing until now. Therefore, this paper discusses and summarizes the main needs and requirements as well as the status quo in research and development related to the engineering and validation of cyber-physical energy systems. Also research trends and necessary future activities are outlined.

Authors:Jikang Deng, Fatma Benkhelifa, Mohamed-Slim Alouini
Title: Orthogonality Analysis in LoRa Uplink Satellite Communications Affected by Doppler Effect
Abstract:
This paper provides, for the first time, analytical expressions for the Long-Range (LoRa) waveform and cross-correlation in both continuous and discrete time domains under the Doppler effect in satellite communication. We propose the concept and formulas of the shared visibility window for satellites toward two ground devices. Our analysis covers cross-correlation results with varying spreading factors (SF) for no-Doppler and with-Doppler cases. We find the maximum cross-correlation with different SFs and the mean cross-correlation are immune to the Doppler effect. However, the maximum cross-correlation with the same SFs is only immune to high Doppler shift, with its value fluctuating between 0.6 and 1 under high Doppler rate. We interpret this fluctuation by introducing the relationship between transmission start time and cross-correlation. We provide a parameter analysis for orbit height, ground device distance, and inclination angle. Additionally, we analyze the bit error rate (BER) for LoRa signals and observe worse performance under high Doppler shift or interference with same SF. Increasing the SNR or the SIR improves the BER only when Doppler effect is below a frequency threshold. Notably, under Doppler effect, the performance behaviors of BER no longer align with those of maximum cross-correlation. Finally, our results lead to two recommendations: 1) To mitigate Doppler impact on cross-correlation, we recommend utilizing low SFs, high orbit height, short ground device distance, and the transmission start time with high Doppler shift; 2) To mitigate Doppler impact on BER, we recommend employing low SFs, high bandwidth, and transmission start time with high Doppler rate. These conflicting recommendations regarding transmission start time highlight the necessity of Doppler shift compensation techniques to help operate LoRa in space properly.

Authors:Hui Wang, Xufeng Zhang, Xiaoyu Zhang, Zhenhuan Ding, Chaoxu Mu
Title: TSS GAZ PTP: Towards Improving Gumbel AlphaZero with Two-stage Self-play for Multi-constrained Electric Vehicle Routing Problems
Abstract:
Recently, Gumbel AlphaZero~(GAZ) was proposed to solve classic combinatorial optimization problems such as TSP and JSSP by creating a carefully designed competition model~(consisting of a learning player and a competitor player), which leverages the idea of self-play. However, if the competitor is too strong or too weak, the effectiveness of self-play training can be reduced, particularly in complex CO problems. To address this problem, we further propose a two-stage self-play strategy to improve the GAZ method~(named TSS GAZ PTP). In the first stage, the learning player uses the enhanced policy network based on the Gumbel Monte Carlo Tree Search~(MCTS), and the competitor uses the historical best trained policy network~(acts as a greedy player). In the second stage, we employ Gumbel MCTS for both players, which makes the competition fiercer so that both players can continuously learn smarter trajectories. We first investigate the performance of our proposed TSS GAZ PTP method on TSP since it is also used as a test problem by the original GAZ. The results show the superior performance of TSS GAZ PTP. Then we extend TSS GAZ PTP to deal with multi-constrained Electric Vehicle Routing Problems~(EVRP), which is a recently well-known real application research topic and remains challenging as a complex CO problem. Impressively, the experimental results show that the TSS GAZ PTP outperforms the state-of-the-art Deep Reinforcement Learning methods in all types of instances tested and outperforms the optimization solver in tested large-scale instances, indicating the importance and promising of employing more dynamic self-play strategies for complex CO problems.

Authors:Victor Geadah, Juncal Arbelaiz, Harrison Ritz, Nathaniel D. Daw, Jonathan D. Cohen, Jonathan W. Pillow
Title: Inferring System and Optimal Control Parameters of Closed-Loop Systems from Partial Observations
Abstract:
We consider the joint problem of system identification and inverse optimal control for discrete-time stochastic Linear Quadratic Regulators. We analyze finite and infinite time horizons in a partially observed setting, where the state is observed noisily. To recover closed-loop system parameters, we develop inference methods based on probabilistic state-space model (SSM) techniques. First, we show that the system parameters exhibit non-identifiability in the infinite-horizon from closed-loop measurements, and we provide exact and numerical methods to disentangle the parameters. Second, to improve parameter identifiability, we show that we can further enhance recovery by either (1) incorporating additional partial measurements of the control signals or (2) moving to the finite-horizon setting. We further illustrate the performance of our methodology through numerical examples.

Authors:Michael Doherty, Alejandra Beghelli
Title: Reinforcement Learning with Graph Attention for Routing and Wavelength Assignment with Lightpath Reuse
Abstract:
Many works have investigated reinforcement learning (RL) for routing and spectrum assignment on flex-grid networks but only one work to date has examined RL for fixed-grid with flex-rate transponders, despite production systems using this paradigm. Flex-rate transponders allow existing lightpaths to accommodate new services, a task we term routing and wavelength assignment with lightpath reuse (RWA-LR). We re-examine this problem and present a thorough benchmarking of heuristic algorithms for RWA-LR, which are shown to have 6% increased throughput when candidate paths are ordered by number of hops, rather than total length. We train an RL agent for RWA-LR with graph attention networks for the policy and value functions to exploit the graph-structured data. We provide details of our methodology and open source all of our code for reproduction. We outperform the previous state-of-the-art RL approach by 2.5% (17.4 Tbps mean additional throughput) and the best heuristic by 1.2% (8.5 Tbps mean additional throughput). This marginal gain highlights the difficulty in learning effective RL policies on long horizon resource allocation tasks.

Authors:Rebecca Perriment, Vasco Mergulhao, Volkan Kumtepeli, Priti Parikh, Malcolm McCulloch, David Howey
Title: Understanding long-term energy use in off-grid solar home systems in sub-Saharan Africa
Abstract:
Solar home systems provide low-cost electricity access for rural off-grid communities. As access to them increases, more long-term data becomes available on how these systems are used throughout their lifetime. This work analyses a dataset of 1,000 systems across sub-Saharan Africa. Dynamic time warping clustering was applied to the load demand data from the systems, identifying five distinct archetypal daily load profiles and their occurrence across the dataset. Temporal analysis reveals a general decline in daily energy consumption over time, with 77% of households reducing their usage compared to the start of ownership. On average, there is a 33% decrease in daily consumption by the end of the second year compared to the peak demand, which occurs on the 96th day. Combining the load demand analysis with payment data shows that this decrease in energy consumption is observed even in households that are not experiencing economic hardship, indicating there are reasons beyond financial constraints for decreasing energy use once energy access is obtained.

Authors:Gilhyun Ryou, Lukas Lao Beyer, Sertac Karaman
Title: Real-Time Sampling-based Online Planning for Drone Interception
Abstract:
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for uncertainty from environmental changes. To address these challenges, we propose a sampling-based online planning algorithm that leverages neural network inference to replace time-consuming nonlinear trajectory optimization, enabling rapid exploration of multiple trajectory options under uncertainty. The proposed method is applied to the drone interception problem, where a defense drone must intercept a target while avoiding collisions and handling imperfect target predictions. The algorithm efficiently generates trajectories toward multiple potential target drone positions in parallel. It then assesses trajectory reachability by comparing traversal times with the target drone's predicted arrival time, ultimately selecting the minimum-time reachable trajectory. Through extensive validation in both simulated and real-world environments, we demonstrate our method's capability for high-rate online planning and its adaptability to unpredictable movements in unstructured settings.

Authors:Avinash N. Madavan, Nathan Dahlin, Subhonmesh Bose, Lang Tong
Title: Risk-Sensitive Security-Constrained Economic Dispatch: Pricing and Algorithm Design
Abstract:
We propose a risk-sensitive security-constrained economic dispatch (R-SCED) formulation capturing the tradeoff between dispatch cost and resilience against potential line failures, where risk is modeled via the conditional value at risk (CVaR). In the context of our formulation, we analyze revenue adequacy and side payments of two pricing models, one based on nominal generation costs, and another based on total marginal cost including contingencies. In particular, we prove that the system operator's (SO) merchandising surplus (MS) and total revenue are nonnegative under the latter, while under the former the same does not hold in general. We demonstrate that the proposed R-SCED formulation is amenable to decomposition and describe a Benders' decomposition algorithm to solve it. In numerical examples, we illustrate the differences in MS and total revenue under the considered pricing schemes, and the computational efficiency of our decomposition approach.

Authors:Yifan Zhao, Mowei Lu, Ting Chen, Heyuan Li, Xiang Gao, Zhenbin Zhang, Minfan Fu, Stefan M. Goetz
Title: Conveniently Identify Coils in Inductive Power Transfer System Using Machine Learning
Abstract:
High-frequency inductive power transfer (IPT) has garnered significant attention in recent years due to its long transmission distance and high efficiency. The inductance values L and quality factors Q of the transmitting and receiving coils greatly influence the system's operation. Traditional methods involved impedance analyzers or network analyzers for measurement, which required bulky and costly equipment. Moreover, disassembling it for re-measurement is impractical once the product is packaged. Alternatively, simulation software such as HYSS can serve for the identification. Nevertheless, in the case of very high frequencies, the simulation process consumes a significant amount of time due to the skin and proximity effects. More importantly, obtaining parameters through simulation software becomes impractical when the coil design is more complex. This paper firstly employs a machine learning approach for the identification task. We simply input images of the coils and operating frequency into a well-trained model. This method enables rapid identification of the coil's L and Q values anytime and anywhere, without the need for expensive machinery or coil disassembly.

Authors:Yifan Zhao, Mowei Lu, Heyuan Li, Zhenbin Zhang, Minfan Fu, Stefan M. Goetz
Title: Class E/EF Inductive Power Transfer to Achieve Stable Output under Variable Low Coupling
Abstract:
This paper develops an inductive power transfer(IPT)system with stable output power based on a Class E/EF inverter. Load-independent design of Class E/EF inverter has recently attracted widespread interest. However, applying this design to IPT systems has proven challenging when the coupling coefficient is weak. To solve this issue, this paper uses an expanded impedance model and substitutes the secondary side's perfect resonance with a detuned design. Therefore, the system can maintain stable output even under a low coupling coefficient. A 400 kHz experimental prototype validates these findings. The experimental results indicate that the output power fluctuation remains within 15% as the coupling coefficient varies from 0.04 to 0.07. The peak power efficiency achieving 91%

Authors:Maximilian Bloor, Ehecatl Antonio Del Rio Chanona, Calvin Tsay
Title: Hierarchical RL-MPC for Demand Response Scheduling
Abstract:
This paper presents a hierarchical framework for demand response optimization in air separation units (ASUs) that combines reinforcement learning (RL) with linear model predictive control (LMPC). We investigate two control architectures: a direct RL approach and a control-informed methodology where an RL agent provides setpoints to a lower-level LMPC. The proposed RL-LMPC framework demonstrates improved sample efficiency during training and better constraint satisfaction compared to direct RL control. Using an industrial ASU case study, we show that our approach successfully manages operational constraints while optimizing electricity costs under time-varying pricing. Results indicate that the RL-LMPC architecture achieves comparable economic performance to direct RL while providing better robustness and requiring fewer training samples to converge. The framework offers a practical solution for implementing flexible operation strategies in process industries, bridging the gap between data-driven methods and traditional control approaches.

Authors:Michael Doherty, Robin Matzner, Rasoul Sadeghi, Polina Bayvel, Alejandra Beghelli
Title: Reinforcement Learning for Dynamic Resource Allocation in Optical Networks: Hype or Hope?
Abstract:
The application of reinforcement learning (RL) to dynamic resource allocation in optical networks has been the focus of intense research activity in recent years, with almost 100 peer-reviewed papers. We present a review of progress in the field, and identify significant gaps in benchmarking practices and reproducibility. To determine the strongest benchmark algorithms, we systematically evaluate several heuristics across diverse network topologies. We find that path count and sort criteria for path selection significantly affect the benchmark performance. We meticulously recreate the problems from five landmark papers and apply the improved benchmarks. Our comparisons demonstrate that simple heuristics consistently match or outperform the published RL solutions, often with an order of magnitude lower blocking probability. Furthermore, we present empirical lower bounds on network blocking using a novel defragmentation-based method, revealing that potential improvements over the benchmark heuristics are limited to 19-36% increased traffic load for the same blocking performance in our examples. We make our simulation framework and results publicly available to promote reproducible research and standardized evaluation https://doi.org/10.5281/zenodo.12594495.

Authors:Dinesh Kumar, Amin Ghorbanpour, Kin Yen, Iman Soltani
Title: Design and Implementation of a Dual Uncrewed Surface Vessel Platform for Bathymetry Research under High-flow Conditions
Abstract:
Bathymetry, the study of underwater topography, relies on sonar mapping of submerged structures. These measurements, critical for infrastructure health monitoring, often require expensive instrumentation. The high financial risk associated with sensor damage or vessel loss creates a reluctance to deploy uncrewed surface vessels (USVs) for bathymetry. However, the crewed-boat bathymetry operations, are costly, pose hazards to personnel, and frequently fail to achieve the stable conditions necessary for bathymetry data collection, especially under high currents. Further research is essential to advance autonomous control, navigation, and data processing technologies, with a particular focus on bathymetry. There is a notable lack of accessible hardware platforms that allow for integrated research in both bathymetry-focused autonomous control and navigation, as well as data evaluation and processing. This paper addresses this gap through the design and implementation of two complementary USV systems tailored for uncrewed bathymetry research. This includes a low-cost USV for Navigation And Control research (NAC-USV) and a second, high-end USV equipped with a high-resolution multi-beam sonar and the associated hardware for Bathymetry data quality Evaluation and Post-processing research (BEP-USV). The NAC-USV facilitates the investigation of autonomous, fail-safe navigation and control, emphasizing the stability requirements for high-quality bathymetry data collection while minimizing the risk to equipment. The BEP-USV, which mirrors the NAC-USV hardware, is then used for additional control validation and in-depth exploration of bathymetry data evaluation and post-processing methodologies. We detail the design and implementation of both systems, and open source the design. Furthermore, we demonstrate the system's effectiveness in a range of operational scenarios.

Authors:Tingna Wang, Sikai Zhang, Mingming Song, Limin Sun
Title: Dictionary-Learning-Based Data Pruning for System Identification
Abstract:
System identification is normally involved in augmenting time series data by time shifting and nonlinearisation (e.g., polynomial basis), both of which introduce redundancy in features and samples. Many research works focus on reducing redundancy feature-wise, while less attention is paid to sample-wise redundancy. This paper proposes a novel data pruning method, called mini-batch FastCan, to reduce sample-wise redundancy based on dictionary learning. Time series data is represented by some representative samples, called atoms, via dictionary learning. The useful samples are selected based on their correlation with the atoms. The method is tested on one simulated dataset and two benchmark datasets. The R-squared between the coefficients of models trained on the full datasets and the coefficients of models trained on pruned datasets is adopted to evaluate the performance of data pruning methods. It is found that the proposed method significantly outperforms the random pruning method.

Authors:Zhang Minghao, Yang Xiaojun, Wang Zhihe, Wang Liang
Title: Real Time Control of Tandem-Wing Experimental Platform Using Concerto Reinforcement Learning
Abstract:
This paper introduces the CRL2RT algorithm, an advanced reinforcement learning method aimed at improving the real-time control performance of the Direct-Drive Tandem-Wing Experimental Platform (DDTWEP). Inspired by dragonfly flight, DDTWEP's tandem wing structure causes nonlinear and unsteady aerodynamic interactions, leading to complex load behaviors during pitch, roll, and yaw maneuvers. These complexities challenge stable motion control at high frequencies (2000 Hz). To overcome these issues, we developed the CRL2RT algorithm, which combines classical control elements with reinforcement learning-based controllers using a time-interleaved architecture and a rule-based policy composer. This integration ensures finite-time convergence and single-life adaptability. Experimental results under various conditions, including different flapping frequencies and yaw disturbances, show that CRL2RT achieves a control frequency surpassing 2500 Hz on standard CPUs. Additionally, when integrated with classical controllers like PID, Adaptive PID, and Model Reference Adaptive Control (MRAC), CRL2RT enhances tracking performance by 18.3% to 60.7%. These findings demonstrate CRL2RT's broad applicability and superior performance in complex real-time control scenarios, validating its effectiveness in overcoming existing control strategy limitations and advancing robust, efficient real-time control for biomimetic aerial vehicles.

Authors:Donggu Lee, Ozgur Ozdemir, Asokan Ram, Ismail Guvenc
Title: Analysis and Prediction of Coverage and Channel Rank for UAV Networks in Rural Scenarios with Foliage
Abstract:
Unmanned aerial vehicles (UAVs) are expected to play a key role in 6G-enabled vehicular-to-everything (V2X) communications requiring high data rates, low latency, and reliable connectivity for mission-critical applications. Multi-input multi-output (MIMO) technology is essential for meeting these demands. However, UAV link performance is significantly affected by environmental factors such as signal attenuation, multipath propagation, and blockage from obstacles, particularly dense foliage in rural areas. In this paper, we investigate RF coverage and channel rank over UAV channels in foliage-dominated rural environments using ray tracing (RT) simulations. We conduct RT-based channel rank and RF coverage analysis over Lake Wheeler Field Labs at NC State University to examine the impact on UAV links. Custom-modeled trees are integrated into the RT simulations using NVIDIA Sionna, Blender, and Open Street Map (OSM) database to capture realistic blockage effects. Results indicate that tree-induced blockage impacts RF coverage and channel rank at lower UAV altitudes. We also propose a Kriging interpolation-based 3D channel rank interpolation scheme, leveraging the observed spatial correlation of channel rank in the given environments. The accuracy of the proposed scheme is evaluated using the mean absolute error (MAE) metric and compared against baseline interpolation methods. Finally, we compare the RT-based received signal strength (RSS) and channel rank results with real-world measurements from the NSF AERPAW testbed demonstrating reasonable consistency between simulation results and the measurements.

Authors:Thomas Swarts, Jalal Kazempour, Wouter van den Akker, Johan Morren, Arjan van Voorden, Han Slootweg
Title: Contracting Strategies for Electrolyzers to Secure Grid Connection: The Dutch Case
Abstract:
In response to increasing grid congestion in the Netherlands, non-firm connection and transport agreements (CTAs) and capacity restriction contracts (CRCs) have been introduced, allowing consumer curtailment in exchange for grid tariff discounts or per-MW compensations. This study examines the interaction between an electrolyzer project, facing sizing and contracting decisions, and a network operator, responsible for contract activations and determining grid connection capacity, under the new Dutch regulations. The interaction is modeled using two bilevel optimization problems with alternating leader-follower roles. Results highlight a trade-off between CRC income and non-firm CTA tariff discounts, showing that voluntary congestion management by the network operator increases electrolyzer profitability at CRC prices below 10 euro per MW but reduces it at higher prices. Furthermore, the network operator benefits more from reacting to the electrolyzer owner's CTA decisions than from leading the interaction at CRC prices above 10 euro per MW. Ignoring the other party's optimization problem overestimates profits for both the network operator and the electrolyzer owner, emphasizing the importance of coordinated decision-making.

Authors:Jefferson Silveira, Kleber Cabral, Sidney Givigi, Joshua A. Marshall
Title: Real-Time Fast Marching Tree for Mobile Robot Motion Planning in Dynamic Environments
Abstract:
This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks for the global solution and, in the meantime, generates local paths that can be used by the robot to start execution faster. In addition, our algorithm constantly rewires the tree to keep branches from forming inside the dynamic obstacles and to maintain the tree root near the robot, which allows the tree to be reused multiple times for different goals. Our algorithm is based on the planners Fast Marching Tree (FMT*) and Real-time Rapidly-Exploring Random Tree (RT-RRT*). We show via simulations that RT-FMT outperforms RT- RRT* in both execution cost and arrival time, in most cases. Moreover, we also demonstrate via simulation that it is worthwhile taking the local path before the global path is available in order to reduce arrival time, even though there is a small possibility of taking an inferior path.

Authors:Rodrigo Aldana-Lopez, David Gomez-Gutierrez, Elio Usai, Hernan Haimovich
Title: Exact Leader Estimation: A New Approach for Distributed Differentiation
Abstract:
A novel strategy aimed at cooperatively differentiating a signal among multiple interacting agents is introduced, where none of the agents needs to know which agent is the leader, i.e. the one producing the signal to be differentiated. Every agent communicates only a scalar variable to its neighbors; except for the leader, all agents execute the same algorithm. The proposed strategy can effectively obtain derivatives up to arbitrary $m$-th order in a finite time under the assumption that the $(m+1)$-th derivative is bounded. The strategy borrows some of its structure from the celebrated homogeneous robust exact differentiator by A. Levant, inheriting its exact differentiation capability and robustness to measurement noise. Hence, the proposed strategy can be said to perform robust exact distributed differentiation. In addition, and for the first time in the distributed leader-observer literature, sampled-data communication and bounded measurement noise are considered, and corresponding steady-state worst-case accuracy bounds are derived. The effectiveness of the proposed strategy is verified numerically for second- and fourth-order systems, i.e., for estimating derivatives of up to first and third order, respectively.

Authors:Ahmad Farooq, Kamran Iqbal
Title: A Survey of Reinforcement Learning for Optimization in Automation
Abstract:
Reinforcement Learning (RL) has become a critical tool for optimization challenges within automation, leading to significant advancements in several areas. This review article examines the current landscape of RL within automation, with a particular focus on its roles in manufacturing, energy systems, and robotics. It discusses state-of-the-art methods, major challenges, and upcoming avenues of research within each sector, highlighting RL's capacity to solve intricate optimization challenges. The paper reviews the advantages and constraints of RL-driven optimization methods in automation. It points out prevalent challenges encountered in RL optimization, including issues related to sample efficiency and scalability; safety and robustness; interpretability and trustworthiness; transfer learning and meta-learning; and real-world deployment and integration. It further explores prospective strategies and future research pathways to navigate these challenges. Additionally, the survey includes a comprehensive list of relevant research papers, making it an indispensable guide for scholars and practitioners keen on exploring this domain.

Authors:Ruizhe Yang, Zhongkai Yi, Ying Xu, Guiyu Chen, Haojie Yang, Rong Yi, Tongqing Li, Miaozhe ShenJin Li, Haoxiang Gao, Hongyu Duan
Title: Adaptive Multi-Objective Bayesian Optimization for Capacity Planning of Hybrid Heat Sources in Electric-Heat Coupling Systems of Cold Regions
Abstract:
The traditional heat-load generation pattern of combined heat and power generators has become a problem leading to renewable energy source (RES) power curtailment in cold regions, motivating the proposal of a planning model for alternative heat sources. The model aims to identify non-dominant capacity allocation schemes for heat pumps, thermal energy storage, electric boilers, and combined storage heaters to construct a Pareto front, considering both economic and sustainable objectives. The integration of various heat sources from both generation and consumption sides enhances flexibility in utilization. The study introduces a novel optimization algorithm, the adaptive multi-objective Bayesian optimization (AMBO). Compared to other widely used multi-objective optimization algorithms, AMBO eliminates predefined parameters that may introduce subjectivity from planners. Beyond the algorithm, the proposed model incorporates a noise term to account for inevitable simulation deviations, enabling the identification of better-performing planning results that meet the unique requirements of cold regions. What's more, the characteristics of electric-thermal coupling scenarios are captured and reflected in the operation simulation model to make sure the simulation is close to reality. Numerical simulation verifies the superiority of the proposed approach in generating a more diverse and evenly distributed Pareto front in a sample-efficient manner, providing comprehensive and objective planning choices.

Authors:Vishnu N Moothedath, Sangwon Seo, Neda Petreska, Bernhard Kloiber, James Gross
Title: Delay Analysis of 5G HARQ in the Presence of Decoding and Feedback Latencies
Abstract:
The growing demand for stringent quality of service (QoS) guarantees in 5G networks requires accurate characterisation of delay performance, often measured using Delay Violation Probability (DVP) for a given target delay. Widely used retransmission schemes like Automatic Repeat reQuest (ARQ) and Hybrid ARQ (HARQ) improve QoS through effective feedback, incremental redundancy (IR), and parallel retransmission processes. However, existing works to quantify the DVP under these retransmission schemes overlook practical aspects such as decoding complexity, feedback delays, and the resulting need for multiple parallel ARQ/HARQ processes that enable packet transmissions without waiting for previous feedback, thus exploiting valuable transmission opportunities. This work proposes a comprehensive multi-server delay model for ARQ/HARQ that incorporates these aspects. Using a finite blocklength error model, we derive closed-form expressions and algorithms for accurate DVP evaluation under realistic 5G configurations aligned with 3GPP standards. Our numerical evaluations demonstrate notable improvements in DVP accuracy over the state-of-the-art, highlight the impact of parameter tuning and resource allocation, and reveal how DVP affects system throughput.

Authors:Babak Abdolmaleki, Gilbert Bergna-Diaz
Title: Optimal Steady-State Secondary Control of MT-HVdc Grids with Reduced Communications
Abstract:
In this paper, we propose a centralized secondary control for the real-time steady-state optimization of multi-terminal HVdc grids under voltage and current limits. First, we present the dynamic models of the grid components, including the modular multilevel converter (MMC) stations and their different control layers. We also derive the quasi-static input-output model of the system, which is suitable for the steady-state control design. Second, we formulate a general optimization problem using this quasi-static model and find the Karush-Kuhn-Tucker optimality conditions of its solutions. Third, we propose a secondary control based on primal-dual dynamics to adjust the voltage setpoints of the dispatchable MMCs, with which the system asymptotically converges to a steady state that satisfies these optimality conditions. Fourth, we provide a communication triggering mechanism to reduce the communication traffic between the secondary control unit and the MMC stations. Finally, we verify our proposal for different case studies by adapting it to an offshore multi-terminal HVdc grid composed of heterogeneous MMC stations simulated in the MATLAB/Simulink environment. The problems of proportional current minimization and loss reduction are two special case studies.

Authors:Hongwei Cui, Soung Chang Liew
Title: Optical Wireless Ether: Enabling Controlled Dynamic Signal Propagation in OWC Systems
Abstract:
Optical wireless communication (OWC) leverages the terahertz-scale optical spectrum to enable ultra-fast data transfer, offering a compelling alternative to often-congested radio frequency systems. However, the highly directional nature of optical signals and their susceptibility to obstruction inherently limit coverage and reliability, particularly in dynamic indoor environments. To overcome these limitations, we propose optical wireless ether (OWE), a novel framework that transforms indoor spaces into a dynamically controllable optical propagation medium. OWE employs a distributed network of ether amplifiers (EAs), which act as optical amplifiers with programmable gain values to extend coverage through diffuse reflections while compensating for signal attenuation. A key challenge in OWE is preventing amplifier saturation from feedback loops. We rigorously derive stability constraints to guarantee system robustness. Beyond coverage extension, OWE dynamically adjusts EA gains in response to user locations and channel conditions, enhancing signal-to-noise ratio, balancing resource allocation, and suppressing interference. As the first framework to harness diffuse reflection for controllable optical propagation, we validate OWE's effectiveness through analytical modeling, simulations, and prototyping. Our work lays the foundation for robust, high-speed indoor OWC networks.

Authors:Antoine Vivien, Thomas Chaffre, Matthew Stephenson, Eva Artusi, Paulo Santos, Benoit Clement, Karl Sammut
Title: Towards Bio-inspired Heuristically Accelerated Reinforcement Learning for Adaptive Underwater Multi-Agents Behaviour
Abstract:
This paper describes the problem of coordination of an autonomous Multi-Agent System which aims to solve the coverage planning problem in a complex environment. The considered applications are the detection and identification of objects of interest while covering an area. These tasks, which are highly relevant for space applications, are also of interest among various domains including the underwater context, which is the focus of this study. In this context, coverage planning is traditionally modelled as a Markov Decision Process where a coordinated MAS, a swarm of heterogeneous autonomous underwater vehicles, is required to survey an area and search for objects. This MDP is associated with several challenges: environment uncertainties, communication constraints, and an ensemble of hazards, including time-varying and unpredictable changes in the underwater environment. MARL algorithms can solve highly non-linear problems using deep neural networks and display great scalability against an increased number of agents. Nevertheless, most of the current results in the underwater domain are limited to simulation due to the high learning time of MARL algorithms. For this reason, a novel strategy is introduced to accelerate this convergence rate by incorporating biologically inspired heuristics to guide the policy during training. The PSO method, which is inspired by the behaviour of a group of animals, is selected as a heuristic. It allows the policy to explore the highest quality regions of the action and state spaces, from the beginning of the training, optimizing the exploration/exploitation trade-off. The resulting agent requires fewer interactions to reach optimal performance. The method is applied to the MSAC algorithm and evaluated for a 2D covering area mission in a continuous control environment.

Authors:Qianhao Sun, Jingwei Meng, Ruofan Li, Mingchao Xia, Qifang Chen, Jiejie Zhou, Meiqi Fan, Peiqian Guo
Title: Exploiting the Hidden Capacity of MMC Through Accurate Quantification of Modulation Indices
Abstract:
The modular multilevel converter (MMC) has become increasingly important in voltage-source converter-based high-voltage direct current (VSC-HVDC) systems. Direct and indirect modulation are widely used as mainstream modulation techniques in MMCs. However, due to the challenge of quantitatively evaluating the operation of different modulation schemes, the academic and industrial communities still hold differing opinions on their performance. To address this controversy, this paper employs the state-of-the-art computational methods and quantitative metrics to compare the performance among different modulation schemes. The findings indicate that direct modulation offers superior modulation potential for MMCs, highlighting its higher ac voltage output capability and broader linear PQ operation region. Conversely, indirect modulation is disadvantaged in linear modulation, which indicates inferior output voltage capability. Furthermore, this paper delves into the conditions whereby direct and indirect modulation techniques become equivalent in steady-state. The study findings suggest that the modulation capability of direct modulation is the same as that of indirect modulation in steady-state when additional controls, including closed-loop capacitor voltage control and circulating current suppression control (CCSC), are simultaneously active. Simulation and experiments verify the correctness and validity.

Authors:Qianhao Sun, Ruofan Li, Jichen Wang, Mingchao Xia, Qifang Chen, Meiqi Fan, Gen Li, Xuebo Qiao
Title: A Grid-Forming HVDC Series Tapping Converter Using Extended Techniques of Flex-LCC
Abstract:
This paper discusses an extension technology for the previously proposed Flexible Line-Commutated Converter (Flex LCC) [1]. The proposed extension involves modifying the arm internal-electromotive-force control, redesigning the main-circuit parameters, and integrating a low-power coordination strategy. As a result, the Flex-LCC transforms from a grid-forming (GFM) voltage source converter (VSC) based on series-connected LCC and FBMMC into a novel GFM HVDC series tapping converter, referred to as the Extended Flex-LCC (EFLCC). The EFLCC provides dc characteristics resembling those of current source converters (CSCs) and ac characteristics resembling those of GFM VSCs. This makes it easier to integrate relatively small renewable energy sources (RESs) that operate in islanded or weak-grid supported conditions with an existing LCC-HVDC. Meanwhile, the EFLCC distinguishes itself by requiring fewer full-controlled switches and less energy storage, resulting in lower losses and costs compared to the FBMMC HVDC series tap solution. In particular, the reduced capacity requirement and the wide allowable range of valve-side ac voltages in the FBMMC part facilitate the matching of current-carrying capacities between full-controlled switches and thyristors. The application scenario, system-level analysis, implementation, converter-level operation, and comparison of the EFLCC are presented in detail in this paper. The theoretical analysis is confirmed by experimental and simulation results.

Authors:Xiang Huo, Shining Sun, Khandaker Akramul Haque, Leen Al Homoud, Ana E. Goulart, Katherine R. Davis
Title: Cooperative Optimization of Grid-Edge Cyber and Physical Resources for Resilient Power System Operation
Abstract:
The cooperative operation of grid-edge power and energy resources is crucial to improving the resilience of power systems during contingencies. However, given the complex cyber-physical nature of power grids, it is hard to respond timely with limited costs for deploying additional cyber and/or phyiscal resources, such as during a high-impact low-frequency cyber-physical event. Therefore, the paper examines the design of cooperative cyber-physical resource optimization solutions to control grid-tied cyber and physical resources. First, the operation of a cyber-physical power system is formulated into a constrained optimization problem, including the cyber and physical objectives and constraints. Then, a bi-level solution is provided to obtain optimal cyber and physical actions, including the reconfiguration of cyber topology (e.g., activation of communication links) in the cyber layer and the control of physical resources (e.g., energy storage systems) in the physical layer. The developed method improves grid resilience during cyberattacks and can provide guidance on the control of coupled physical side resources. Numerical simulation on a modified IEEE 14-bus system demonstrates the effectiveness of the proposed approach.

Authors:Xutao Ma, Chao Ning, Wenli Du, Yang Shi
Title: Data-Driven Distributionally Robust Mixed-Integer Control through Lifted Control Policy
Abstract:
This paper investigates the finite-horizon distributionally robust mixed-integer control (DRMIC) of uncertain linear systems. However, deriving an optimal causal feedback control policy to this DRMIC problem is computationally formidable for most ambiguity sets. To address the computational challenge, we propose a novel distributionally robust lifted control policy (DR-LCP) method to derive a high-quality approximate solution to this DRMIC problem for a rich class of Wasserstein metric-based ambiguity sets, including the Wasserstein ambiguity set and its variants. In theory, we analyze the asymptotic performance and establish a tight non-asymptotic bound of the proposed method. In numerical experiments, the proposed DR-LCP method empirically demonstrates superior performance compared with existing methods in the literature.

Authors:Juntao Yu, Jiaquan Yu, Dedai Wei, Xinye Sha, Shengwei Fu, Miuyu Qiu, Yurun Jin, Kaichen Ouyang
Title: Multi-Objective Mobile Damped Wave Algorithm (MOMDWA): A Novel Approach For Quantum System Control
Abstract:
In this paper, we introduce a novel multi-objective optimization algorithm, the Multi-Objective Mobile Damped Wave Algorithm (MOMDWA), specifically designed to address complex quantum control problems. Our approach extends the capabilities of the original Mobile Damped Wave Algorithm (MDWA) by incorporating multiple objectives, enabling a more comprehensive optimization process. We applied MOMDWA to three quantum control scenarios, focusing on optimizing the balance between control fidelity, energy consumption, and control smoothness. The results demonstrate that MOMDWA significantly enhances quantum control efficiency and robustness, achieving high fidelity while minimizing energy use and ensuring smooth control pulses. This advancement offers a valuable tool for quantum computing and other domains requiring precise, multi-objective control.

Authors:Xuan Mu, Xiaorui Liu, Shuai Guo, Wenzheng Chi, Wei Wang, Shuzhi Sam Ge
Title: Online Robot Motion Planning Methodology Guided by Group Social Proxemics Feature
Abstract:
Nowadays robot is supposed to demonstrate human-like perception, reasoning and behavior pattern in social or service application. However, most of the existing motion planning methods are incompatible with above requirement. A potential reason is that the existing navigation algorithms usually intend to treat people as another kind of obstacle, and hardly take the social principle or awareness into consideration. In this paper, we attempt to model the proxemics of group and blend it into the scenario perception and navigation of robot. For this purpose, a group clustering method considering both social relevance and spatial confidence is introduced. It can enable robot to identify individuals and divide them into groups. Next, we propose defining the individual proxemics within magnetic dipole model, and further established the group proxemics and scenario map through vector-field superposition. On the basis of the group clustering and proxemics modeling, we present the method to obtain the optimal observation positions (OOPs) of group. Once the OOPs grid and scenario map are established, a heuristic path is employed to generate path that guide robot cruising among the groups for interactive purpose. A series of experiments are conducted to validate the proposed methodology on the practical robot, the results have demonstrated that our methodology has achieved promising performance on group recognition accuracy and path-generation efficiency. This concludes that the group awareness evolved as an important module to make robot socially behave in the practical scenario.

Authors:Mostafaali Ayubirad, Hamid R. Ossareh
Title: A Neural Network-based Multi-timestep Command Governor for Nonlinear Systems with Constraints
Abstract:
The multi-timestep command governor (MCG) is an add-on algorithm that enforces constraints by modifying, at each timestep, the reference command to a pre-stabilized control system. The MCG can be interpreted as a Model-Predictive Control scheme operating on the reference command. The implementation of MCG on nonlinear systems carries a heavy computational burden as it requires solving a nonlinear program with multiple decision variables at each timestep. This paper proposes a less computationally demanding alternative, based on approximating the MCG control law using a neural network (NN) trained on offline data. However, since the NN output may not always be constraint-admissible due to training errors, its output is adjusted using a sensitivity-based method. We thus refer to the resulting control strategy as the neural network-based MCG (NN-MCG). As validation, the proposed controller is applied as a load governor for constraint management in an automotive fuel cell system. It is shown that the proposed strategy is significantly more computationally efficient than the traditional MCG, while achieving nearly identical performance if the NN is well-trained.

Authors:Gabriel Malmer, Arvid Rolander, Emil Hillberg, Olof Samuelsson, Susanne Ackeby, Lars Nordström
Title: System Integrity Protection Schemes in the Nordics -- a comparative analysis
Abstract:
To increase the utilisation rate of the power system and accelerate electrification while providing a high degree of security and reliability, System Integrity Protection Schemes (SIPS) are of great importance. SIPS functions are automatic remedial actions, detecting abnormal conditions or contingencies in the system and taking control action to mitigate these conditions. Design, implementation, maintenance and coordination of SIPS are all important aspects for desired operation. However, different actors have chosen different approaches to using SIPS for capacity enhancement, and there are discrepancies in how capacity is valued in relation to for example complexity, reliability and risk. Additionally, definitions often vary between countries. This paper reports on a joint survey and interview study on SIPS with stakeholders and experts in the Nordic countries - including TSOs, DSOs and industry. Combined with a literature review, a comparison and analysis of how SIPS are used in the Nordics is performed, particularly in relation to ENTSO-E capacity allocation.

Authors:Hyeonho Noh, Byonghyo Shim, Hyun Jong Yang
Title: Adaptive Resource Allocation Optimization Using Large Language Models in Dynamic Wireless Environments
Abstract:
Deep learning (DL) has made notable progress in addressing complex radio access network control challenges that conventional analytic methods have struggled to solve. However, DL has shown limitations in solving constrained NP-hard problems often encountered in network optimization, such as those involving quality of service (QoS) or discrete variables like user indices. Current solutions rely on domain-specific architectures or heuristic techniques, and a general DL approach for constrained optimization remains undeveloped. Moreover, even minor changes in communication objectives demand time-consuming retraining, limiting their adaptability to dynamic environments where task objectives, constraints, environmental factors, and communication scenarios frequently change. To address these challenges, we propose a large language model for resource allocation optimizer (LLM-RAO), a novel approach that harnesses the capabilities of LLMs to address the complex resource allocation problem while adhering to QoS constraints. By employing a prompt-based tuning strategy to flexibly convey ever-changing task descriptions and requirements to the LLM, LLM-RAO demonstrates robust performance and seamless adaptability in dynamic environments without requiring extensive retraining. Simulation results reveal that LLM-RAO achieves up to a 40% performance enhancement compared to conventional DL methods and up to an $80$\% improvement over analytical approaches. Moreover, in scenarios with fluctuating communication objectives, LLM-RAO attains up to 2.9 times the performance of traditional DL-based networks.

Authors:Hannes Homburger, Stefan Wirtensohn, Patrick Hoher, Tim Baur, Dennis Griesser, Moritz Diehl, Johannes Reuter
Title: Solgenia -- A Test Vessel Toward Energy-Efficient Autonomous Water Taxi Applications
Abstract:
Autonomous surface vessels are a promising building block of the future's transport sector and are investigated by research groups worldwide. This paper presents a comprehensive and systematic overview of the autonomous research vessel Solgenia including the latest investigations and recently presented methods that contributed to the fields of autonomous systems, applied numerical optimization, nonlinear model predictive control, multi-extended-object-tracking, computer vision, and collision avoidance. These are considered to be the main components of autonomous water taxi applications. Autonomous water taxis have the potential to transform the traffic in cities close to the water into a more efficient, sustainable, and flexible future state. Regarding this transformation, the test platform Solgenia offers an opportunity to gain new insights by investigating novel methods in real-world experiments. An established test platform will strongly reduce the effort required for real-world experiments in the future.

Authors:Liang Zhao, Kunming Shao, Fengshi Tian, Tim Kwang-Ting Cheng, Chi-Ying Tsui, Yi Zou
Title: A Flexible Precision Scaling Deep Neural Network Accelerator with Efficient Weight Combination
Abstract:
Deploying mixed-precision neural networks on edge devices is friendly to hardware resources and power consumption. To support fully mixed-precision neural network inference, it is necessary to design flexible hardware accelerators for continuous varying precision operations. However, the previous works have issues on hardware utilization and overhead of reconfigurable logic. In this paper, we propose an efficient accelerator for 2~8-bit precision scaling with serial activation input and parallel weight preloaded. First, we set two loading modes for the weight operands and decompose the weight into the corresponding bitwidths, which extends the weight precision support efficiently. Then, to improve hardware utilization of low-precision operations, we design the architecture that performs bit-serial MAC operation with systolic dataflow, and the partial sums are combined spatially. Furthermore, we designed an efficient carry save adder tree supporting both signed and unsigned number summation across rows. The experiment result shows that the proposed accelerator, synthesized with TSMC 28nm CMOS technology, achieves peak throughput of 4.09TOPS and peak energy efficiency of 68.94TOPS/W at 2/2-bit operations.

Authors:Khashayar Ghanizadegan, Hashim A. Hashim
Title: DeepUKF-VIN: Adaptively-tuned Deep Unscented Kalman Filter for 3D Visual-Inertial Navigation based on IMU-Vision-Net
Abstract:
This paper addresses the challenge of estimating the orientation, position, and velocity of a vehicle operating in three-dimensional (3D) space with six degrees of freedom (6-DoF). A Deep Learning-based Adaptation Mechanism (DLAM) is proposed to adaptively tune the noise covariance matrices of Kalman-type filters for the Visual-Inertial Navigation (VIN) problem, leveraging IMU-Vision-Net. Subsequently, an adaptively tuned Deep Learning Unscented Kalman Filter for 3D VIN (DeepUKF-VIN) is introduced to utilize the proposed DLAM, thereby robustly estimating key navigation components, including orientation, position, and linear velocity. The proposed DeepUKF-VIN integrates data from onboard sensors, specifically an inertial measurement unit (IMU) and visual feature points extracted from a camera, and is applicable for GPS-denied navigation. Its quaternion-based design effectively captures navigation nonlinearities and avoids the singularities commonly encountered with Euler-angle-based filters. Implemented in discrete space, the DeepUKF-VIN facilitates practical filter deployment. The filter's performance is evaluated using real-world data collected from an IMU and a stereo camera at low sampling rates. The results demonstrate filter stability and rapid attenuation of estimation errors, highlighting its high estimation accuracy. Furthermore, comparative testing against the standard Unscented Kalman Filter (UKF) in two scenarios consistently shows superior performance across all navigation components, thereby validating the efficacy and robustness of the proposed DeepUKF-VIN. Keywords: Deep Learning, Unscented Kalman Filter, Adaptive tuning, Estimation, Navigation, Unmanned Aerial Vehicle, Sensor-fusion.

Authors:Xiuzhen Ye, Wentao Tang
Title: Process Resilience under Optimal Data Injection Attacks
Abstract:
In this paper, we study the resilience of process systems in an {\it information-theoretic framework}, from the perspective of an attacker capable of optimally constructing data injection attacks. The attack aims to distract the stationary distributions of process variables and stay stealthy, simultaneously. The problem is formulated as designing a multivariate Gaussian distribution to maximize the Kullback-Leibler divergence between the stationary distributions of states and state estimates under attacks and without attacks, while minimizing that between the distributions of sensor measurements. When the attacker has limited access to sensors, sparse attacks are proposed by incorporating a sparsity constraint. {We conduct theoretical analysis on the convexity of the attack construction problem and present a greedy algorithm, which enables systematic assessment of measurement vulnerability, thereby offering insights into the inherent resilience of process systems. We numerically evaluate the performance of proposed constructions on a two-reactor process.

Authors:Thomas Lautenbacher, Ali Rajaei, Davide Barbieri, Jan Viebahn, Jochen L. Cremer
Title: Multi-Objective Reinforcement Learning for Power Grid Topology Control
Abstract:
Transmission grid congestion increases as the electrification of various sectors requires transmitting more power. Topology control, through substation reconfiguration, can reduce congestion but its potential remains under-exploited in operations. A challenge is modeling the topology control problem to align well with the objectives and constraints of operators. Addressing this challenge, this paper investigates the application of multi-objective reinforcement learning (MORL) to integrate multiple conflicting objectives for power grid topology control. We develop a MORL approach using deep optimistic linear support (DOL) and multi-objective proximal policy optimization (MOPPO) to generate a set of Pareto-optimal policies that balance objectives such as minimizing line loading, topological deviation, and switching frequency. Initial case studies show that the MORL approach can provide valuable insights into objective trade-offs and improve Pareto front approximation compared to a random search baseline. The generated multi-objective RL policies are 30% more successful in preventing grid failure under contingencies and 20% more effective when training budget is reduced - compared to the common single objective RL policy.

Authors:Yassine El Manyari, Anton R. Fuxjager, Stefan Zahlner, Joost Van Dijk, Alberto Castagna, Davide Barbieri, Jan Viebahn, Marcel Wasserer
Title: Towards Efficient Multi-Objective Optimisation for Real-World Power Grid Topology Control
Abstract:
Power grid operators face increasing difficulties in the control room as the increase in energy demand and the shift to renewable energy introduce new complexities in managing congestion and maintaining a stable supply. Effective grid topology control requires advanced tools capable of handling multi-objective trade-offs. While Reinforcement Learning (RL) offers a promising framework for tackling such challenges, existing Multi-Objective Reinforcement Learning (MORL) approaches fail to scale to the large state and action spaces inherent in real-world grid operations. Here we present a two-phase, efficient and scalable Multi-Objective Optimisation (MOO) method designed for grid topology control, combining an efficient RL learning phase with a rapid planning phase to generate day-ahead plans for unseen scenarios. We validate our approach using historical data from TenneT, a European Transmission System Operator (TSO), demonstrating minimal deployment time, generating day-ahead plans within 4-7 minutes with strong performance. These results underline the potential of our scalable method to support real-world power grid management, offering a practical, computationally efficient, and time-effective tool for operational planning. Based on current congestion costs and inefficiencies in grid operations, adopting our approach by TSOs could potentially save millions of euros annually, providing a compelling economic incentive for its integration in the control room.

Authors:Majid Dashtbani, Ladan Tahvildari
Title: STaleX: A Spatiotemporal-Aware Adaptive Auto-scaling Framework for Microservices
Abstract:
While cloud environments and auto-scaling solutions have been widely applied to traditional monolithic applications, they face significant limitations when it comes to microservices-based architectures. Microservices introduce additional challenges due to their dynamic and spatiotemporal characteristics, which require more efficient and specialized auto-scaling strategies. Centralized auto-scaling for the entire microservice application is insufficient, as each service within a chain has distinct specifications and performance requirements. Therefore, each service requires its own dedicated auto-scaler to address its unique scaling needs effectively, while also considering the dependencies with other services in the chain and the overall application. This paper presents a combination of control theory, machine learning, and heuristics to address these challenges. We propose an adaptive auto-scaling framework, STaleX, for microservices that integrates spatiotemporal features, enabling real-time resource adjustments to minimize SLO violations. STaleX employs a set of weighted Proportional-Integral-Derivative (PID) controllers for each service, where weights are dynamically adjusted based on a supervisory unit that integrates spatiotemporal features. This supervisory unit continuously monitors and adjusts both the weights and the resources allocated to each service. Our framework accounts for spatial features, including service specifications and dependencies among services, as well as temporal variations in workload, ensuring that resource allocation is continuously optimized. Through experiments on a microservice-based demo application deployed on a Kubernetes cluster, we demonstrate the effectiveness of our framework in improving performance and reducing costs compared to traditional scaling methods like Kubernetes Horizontal Pod Autoscaler (HPA) with a 26.9% reduction in resource usage.

Authors:Yu Luo, Lina Pu, Aijun Song
Title: Multilayered Intelligent Reflecting Surface for Long-Range Underwater Acoustic Communication
Abstract:
This article introduces a multilayered acoustic reconfigurable intelligent surface (ML-ARIS) architecture designed for the next generation of underwater communications. ML-ARIS incorporates multiple layers of piezoelectric material in each acoustic reflector, with the load impedance of each layer independently adjustable via a control circuit. This design increases the flexibility in generating reflected signals with desired amplitudes and orthogonal phases, enabling passive in-phase and quadrature (IQ) modulation using a single acoustic reflector. Such a feature enables precise beam steering, enhancing sound levels in targeted directions while minimizing interference in surrounding environments. Extensive simulations and tank experiments were conducted to verify the feasibility of ML-ARIS. The experimental results indicate that implementing IQ modulation with a multilayer structure is indeed practical in real-world scenarios, making it possible to use a single reflection unit to generate reflected waves with high-resolution amplitudes and phases.

Authors:Victor Nan Fernandez-Ayala, Shankar A. Deka, Dimos V. Dimarogonas
Title: Estimating unknown dynamics and cost as a bilinear system with Koopman-based Inverse Optimal Control
Abstract:
In this work, we address the challenge of approximating unknown system dynamics and costs by representing them as a bilinear system using Koopman-based Inverse Optimal Control (IOC). Using optimal trajectories, we construct a bilinear control system in transformed state variables through a modified Extended Dynamic Mode Decomposition with control (EDMDc) that maintains exact dynamical equivalence with the original nonlinear system. We derive Pontryagin's Maximum Principle (PMP) optimality conditions for this system, which closely resemble those of the inverse Linear Quadratic Regulator (LQR) problem due to the consistent control input and state independence from the control. This similarity allows us to apply modified inverse LQR theory, offering a more tractable and robust alternative to nonlinear Inverse Optimal Control methods, especially when dealing with unknown dynamics. Our approach also benefits from the extensive analytical properties of bilinear control systems, providing a solid foundation for further analysis and application. We demonstrate the effectiveness of the proposed method through theoretical analysis, simulation studies and a robotic experiment, highlighting its potential for broader applications in the approximation and design of control systems.

Authors:Filiberto Fele, José M. Maestre, Eduardo F. Camacho
Title: Coalitional control: a bottom-up approach
Abstract:
The recent major developments in information technologies have opened interesting possibilities for the effective management of multi-agent systems. In many cases, the important role of central control nodes can now be undertaken by several controllers in a distributed topology that suits better the structure of the system. This opens as well the possibility to promote cooperation between control agents in competitive environments, establishing links between controllers in order to adapt the exchange of critical information to the degree of subsystems' interactions. In this paper a bottom-up approach to coalitional control is presented, where the structure of each agent's model predictive controller is adapted to the time-variant coupling conditions, promoting the formation of coalitions - clusters of control agents where communication is essential to ensure the cooperation - whenever it can bring benefit to the overall system performance.

Authors:Filiberto Fele, José M. Maestre, Eduardo F. Camacho
Title: Coalitional Control: Cooperative game theory and control
Abstract:
The evolution of information and communication technologies has yielded the means of sharing measurements and other information in an efficient and flexible way, which has enabled the size and complexity of control applications to increase. At the same time, the improvements in the computational and communicational capabilities of control devices have fostered the development of noncentralized control architectures, already motivated by the inherent structural constraints of large-scale systems. Computer-based control approaches such as model predictive control (MPC) are visible beneficiaries of these advances and have registered a significant growth regarding both theoretical and applied fields. Coalitional control focuses on the local interests that motivate the controllers to assemble, an aspect so far rarely contemplated in the distributed control literature. This article presents the main concepts and challenges in coalitional control, and the links with cooperative network game theory.

Authors:Filiberto Fele, José M. Maestre, Mehdi Hashemy Shahdany, David Muñoz de la Peña, Eduardo F. Camacho
Title: Coalitional model predictive control of an irrigation canal
Abstract:
We present a hierarchical control scheme for large-scale systems whose components can exchange information through a data network. The main goal of the supervisory layer is to find the best compromise between control performance and communicational costs by actively modifying the network topology. The actions taken at the supervisory layer alter the control agents' knowledge of the complete system, and the set of agents with which they can communicate. Each group of linked subsystems, or coalition, is independently controlled based on a decentralized model predictive control (MPC) scheme, managed at the bottom layer. Hard constraints on the inputs are imposed, while soft constraints on the states are considered to avoid feasibility issues. The performance of the proposed control scheme is validated on a model of the Dez irrigation canal, implemented on the accurate simulator for water systems SOBEK. Finally, the results are compared with those obtained using a centralized MPC controller.

Authors:Xiaole Zhang, Vijay Gupta, Paul Bogdan
Title: A Sampling Complexity-aware Framework for Discrete-time Fractional-Order Dynamical System Identification
Abstract:
A variety of complex biological, natural and man-made systems exhibit non-Markovian dynamics that can be modeled through fractional order differential equations, yet, we lack sample comlexity aware system identification strategies. Towards this end, we propose an affine discrete-time fractional order dynamical system (FoDS) identification algorithm and provide a detailed sample complexity analysis. The algorithm effectively addresses the challenges of FoDS identification in the presence of noisy data. The proposed algorithm consists of two key steps. Firstly, it avoids solving higher-order polynomial equations, which would otherwise result in multiple potential solutions for the fractional orders. Secondly, the identification problem is reformulated as a least squares estimation, allowing us to infer the system parameters. We derive the expectation and probabilistic bounds for the FoDS parameter estimation error, assuming prior knowledge of the functions \( f \) and \( g \) in the FoDS model. The error decays at a rate of \( N = O\left( \frac{d}ε \right) \), where \( N \) is the number of samples, \( d \) is the dimension of the state variable, and \( ε\) represents the desired estimation accuracy. Simulation results demonstrate that our theoretical bounds are tight, validating the accuracy and robustness of this algorithm.

Authors:Mohammad Ramadan, Evan Toler, Mihai Anitescu
Title: Floodgates up to contain the DeePC and limit extrapolation
Abstract:
Behavioral data-enabled control approaches typically assume data-generating systems of linear dynamics. This may result in false generalization if the newly designed closed-loop system results in input-output distributional shifts beyond learning data. These shifts may compromise safety by activating harmful nonlinearities in the data-generating system not experienced previously in the data and/or not captured by the linearity assumption inherent in these approaches. This paper proposes an approach to slow down the distributional shifts and therefore enhance the safety of the data-enabled methods. This is achieved by introducing quadratic regularization terms to the data-enabled predictive control formulations. Slowing down the distributional shifts comes at the expense of slowing down the exploration, in a trade-off resembling the exploration vs exploitation balance in machine learning.

Authors:Boya Hou, Sina Sanjari, Nathan Dahlin, Alec Koppel, Subhonmesh Bose
Title: Nonparametric Sparse Online Learning of the Koopman Operator
Abstract:
The Koopman operator provides a powerful framework for representing the dynamics of general nonlinear dynamical systems. Data-driven techniques to learn the Koopman operator typically assume that the chosen function space is closed under system dynamics. In this paper, we study the Koopman operator via its action on the reproducing kernel Hilbert space (RKHS), and explore the mis-specified scenario where the dynamics may escape the chosen function space. We relate the Koopman operator to the conditional mean embeddings (CME) operator and then present an operator stochastic approximation algorithm to learn the Koopman operator iteratively with control over the complexity of the representation. We provide both asymptotic and finite-time last-iterate guarantees of the online sparse learning algorithm with trajectory-based sampling with an analysis that is substantially more involved than that for finite-dimensional stochastic approximation. Numerical examples confirm the effectiveness of the proposed algorithm.

Authors:Florent Koudohode, Nikolaos Bekiaris-Liberis
Title: Stabilization of an unstable reaction-diffusion PDE with input delay despite state and input quantization
Abstract:
We solve the global asymptotic stability problem of an unstable reaction-diffusion Partial Differential Equation (PDE) subject to input delay and state quantization developing a switched predictor-feedback law. To deal with the input delay, we reformulate the problem as an actuated transport PDE coupled with the original reaction-diffusion PDE. Then, we design a quantized predictor-based feedback mechanism that employs a dynamic switching strategy to adjust the quantization range and error over time. The stability of the closed-loop system is proven properly combining backstepping with a small-gain approach and input-to-state stability techniques, for deriving estimates on solutions, despite the quantization effect and the system's instability. We also extend this result to the input quantization case.

Authors:Kutay Bölat, Simon Tindemans
Title: One Model to Forecast Them All and in Entity Distributions Bind Them
Abstract:
Probabilistic forecasting in power systems often involves multi-entity datasets like households, feeders, and wind turbines, where generating reliable entity-specific forecasts presents significant challenges. Traditional approaches require training individual models for each entity, making them inefficient and hard to scale. This study addresses this problem using GUIDE-VAE, a conditional variational autoencoder that allows entity-specific probabilistic forecasting using a single model. GUIDE-VAE provides flexible outputs, ranging from interpretable point estimates to full probability distributions, thanks to its advanced covariance composition structure. These distributions capture uncertainty and temporal dependencies, offering richer insights than traditional methods. To evaluate our GUIDE-VAE-based forecaster, we use household electricity consumption data as a case study due to its multi-entity and highly stochastic nature. Experimental results demonstrate that GUIDE-VAE outperforms conventional quantile regression techniques across key metrics while ensuring scalability and versatility. These features make GUIDE-VAE a powerful and generalizable tool for probabilistic forecasting tasks, with potential applications beyond household electricity consumption.

Authors:Florent Koudohode, Nikolaos Bekiaris-Liberis
Title: Predictor-Feedback Stabilization of Globally Lipschitz Nonlinear Systems with State and Input Quantization
Abstract:
We develop a switched nonlinear predictor-feedback control law to achieve global asymptotic stabilization for nonlinear systems with arbitrarily long input delay, under state quantization. The proposed design generalizes the nonlinear predictor-feedback framework by incorporating quantized measurements of both the plant and actuator states into the predictor state formulation. Due to the mismatch between the (inapplicable) exact predictor state and the predictor state constructed in the presence of state quantization, a global stabilization result is possible under a global Lipschitzness assumption on the vector field, as well as under the assumption of existence of a globally Lipschitz, nominal feedback law that achieves global exponential stability of the delay and quantization-free system. To address the constraints imposed by quantization, a dynamic switching strategy is constructed, adjusting the quantizer's tunable parameter in a piecewise constant manner-initially increasing the quantization range, to capture potentially large system states and subsequently refining the precision to reduce quantization error. The global asymptotic stability of the closed-loop system is established through solutions estimates derived using backstepping transformations, combined with small-gain and input-to-state stability arguments. We also extend our approach to the case of input quantization.

Authors:Patrick Hippold, Johann Gross, Malte Krack
Title: A sub-structuring approach for model reduction of frictionally clamped thin-walled structures
Abstract:
Thin-walled structures clamped by friction joints, such as aircraft skin panels are exposed to bending-stretching coupling and frictional contact. We propose an original sub-structuring approach, where the system is divided into thin-walled and support regions, so that geometrically nonlinear behavior is relevant only in the former, and nonlinear contact behavior only in the latter. This permits to derive reduced component models, in principle, with available techniques. The Hurty-/Craig-Bampton method, combined with an interface reduction relying on an orthogonal polynomial series, is used to construct the reduction basis for each component. To model geometrically nonlinear behavior, implicit condensation is used, where an original, engineering-oriented proposition is made for the delicate scaling of the static load cases required to estimate the coefficients of the nonlinear terms. The proposed method is validated and its computational performance is assessed for the example of a plate with frictional clamping, using finite element analysis as reference. The numerical results shed light into an interesting mutual interaction: The extent of geometric hardening is limited by the reduced boundary stiffness when more sliding occurs in the clamping. On the other hand, the frictional dissipation is increased by the tangential loading induced by membrane stretching.

Authors:Johanna Menn, Pietro Pelizzari, Michael Fleps-Dezasse, Sebastian Trimpe
Title: Lipschitz Safe Bayesian Optimization for Automotive Control
Abstract:
Controller tuning is a labor-intensive process that requires human intervention and expert knowledge. Bayesian optimization has been applied successfully in different fields to automate this process. However, when tuning on hardware, such as in automotive applications, strict safety requirements often arise. To obtain safety guarantees, many existing safe Bayesian optimization methods rely on assumptions that are hard to verify in practice. This leads to the use of unjustified heuristics in many applications, which invalidates the theoretical safety guarantees. Furthermore, applications often require multiple safety constraints to be satisfied simultaneously. Building on recently proposed Lipschitz-only safe Bayesian optimization, we develop an algorithm that relies on readily interpretable assumptions and satisfies multiple safety constraints at the same time. We apply this algorithm to the problem of automatically tuning a trajectory-tracking controller of a self-driving car. Results both from simulations and an actual test vehicle underline the algorithm's ability to learn tracking controllers without leaving the track or violating any other safety constraints.

Authors:Hendrik D. Linder, Johann Gross, Malte Krack
Title: A coupled FE-BE multi-scale method for the dynamics of jointed structures
Abstract:
The damping of built-up structures stems largely from the microscopic dry frictional interactions in the contact interfaces. The accurate prediction of friction damping has been an important scientific aim of the past several decades. Recent research indicates that very good agreement with vibration measurements is to be expected if the actual contact surface topography is sufficiently well known and finely resolved, and frictional-unilateral interactions are modeled in terms of the Coulomb-Signorini conditions. Resolving all relevant length scales in one finite element model leads to enormous or even prohibitive computation effort and regularization of the set-valued contact laws might be needed to ensure numerical stability. In this work, we propose a multi-scale approach: The stress and deformation field in the contact region is modeled using elastic half-space theory, implemented on a regular and fine grid of boundary elements (BE), so that the compliance matrix can be expressed in closed form. The vibration behavior of the remaining region is described using a relatively coarse finite element (FE) model, which is further reduced via component mode synthesis. The two models are coupled by enforcing compatibility and equilibrium conditions in the far field. The set-valued Coulomb-Signorini conditions are enforced robustly and efficiently using a projected over-relaxation scheme in conjunction with an appropriate active-set strategy. For the S4 beam benchmark, very good agreement with regard to the amplitude-dependent frequency and damping ratio of the first few modes is achieved, while the computation effort is reduced by several orders of magnitude compared to the full-FE reference. The proposed multi-scale method permits a very fine resolution of the contact surface topography without suffering from numerical instability.

Authors:Aitor Brazaola-Vicario, Vasileios Kouvakis, Stylianos E. Trevlakis, Alejandra Ruiz, Alexandros-Apostolos A. Boulogeorgos, Theodoros Tsiftsis, Dusit Niyato
Title: High-Fidelity Coherent-One-Way QKD Simulation Framework for 6G Networks: Bridging Theory and Reality
Abstract:
Quantum key distribution (QKD) has been emerged as a promising solution for guaranteeing information-theoretic security. Inspired by this, a great amount of research effort has been recently put on designing and testing QKD systems as well as articulating preliminary application scenarios. However, due to the considerable high-cost of QKD equipment, a lack of QKD communication system design tools, wide deployment of such systems and networks is challenging. Motivated by this, this paper introduces a QKD communication system design tool. First we articulate key operation elements of the QKD, and explain the feasibility and applicability of coherent-one-way (COW) QKD solutions. Next, we focus on documenting the corresponding simulation framework as well as defining the key performance metrics, i.e., quantum bit error rate (QBER), and secrecy key rate. To verify the accuracy of the simulation framework, we design and deploy a real-world QKD setup. We perform extensive experiments for three deployments of diverse transmission distance in the presence or absence of a QKD eavesdropper. The results reveal an acceptable match between simulations and experiments rendering the simulation framework a suitable tool for QKD communication system design.

Authors:Yuji Ito, Kenji Fujimoto
Title: Stabilizing Optimal Control for Nonlinear Stochastic Systems: A Parametric Gradient-Based Approach
Abstract:
This study proposes a method for designing stabilizing suboptimal controllers for nonlinear stochastic systems. These systems include time-invariant stochastic parameters that represent uncertainty of dynamics, posing two key difficulties in optimal control. Firstly, the time-invariant stochastic nature violates the principle of optimality and Hamilton-Jacobi equations, which are fundamental tools for solving optimal control problems. Secondly, nonlinear systems must be robustly stabilized against these stochastic parameters. To overcome these difficulties simultaneously, this study presents a parametric-gradient-based method with a penalty function. A controller and cost function are parameterized using basis functions, and a gradient method is employed to optimize the controller by minimizing the parameterized cost function. Crucial challenges in this approach are parameterizing the cost function appropriately and deriving the gradient of the cost. This study provides explicit formulations of an optimally parameterized cost and its gradient. Furthermore, a suitable penalty function is proposed to ensure robust stability, even when using the gradient method. Consequently, the gradient method produces a suboptimal feedback controller that guarantees the robust stability. The effectiveness of the proposed method is demonstrated through numerical simulations, highlighting its performance in comparison with other baseline methods.

Authors:Karim Cherifi, Nicolas Gillis, Punit Sharma
Title: Finding the nearest bounded-real port-Hamiltonian system
Abstract:
In this paper, we consider linear time-invariant continuous control systems which are bounded real, also known as scattering passive. Our main theoretical contribution is to show the equivalence between such systems and port-Hamiltonian (PH) systems whose factors satisfy certain linear matrix inequalities. Based on this result, we propose a formulation for the problem of finding the nearest bounded-real system to a given system, and design an algorithm combining alternating optimization and Nesterov's fast gradient method. This formulation also allows us to check whether a given system is bounded real by solving a semidefinite program, and provide a PH parametrization for it. We illustrate our proposed algorithms on real and synthetic data sets.

Authors:Krishnendu Chatterjee, Tim Quatmann, Maximilian Schäffeler, Maximilian Weininger, Tobias Winkler, Daniel Zilken
Title: Fixed Point Certificates for Reachability and Expected Rewards in MDPs
Abstract:
The possibility of errors in human-engineered formal verification software, such as model checkers, poses a serious threat to the purpose of these tools. An established approach to mitigate this problem are certificates -- lightweight, easy-to-check proofs of the verification results. In this paper, we develop novel certificates for model checking of Markov decision processes (MDPs) with quantitative reachability and expected reward properties. Our approach is conceptually simple and relies almost exclusively on elementary fixed point theory. Our certificates work for arbitrary finite MDPs and can be readily computed with little overhead using standard algorithms. We formalize the soundness of our certificates in Isabelle/HOL and provide a formally verified certificate checker. Moreover, we augment existing algorithms in the probabilistic model checker Storm with the ability to produce certificates and demonstrate practical applicability by conducting the first formal certification of the reference results in the Quantitative Verification Benchmark Set.

Authors:Zheng Li, Haoming Meng, Chengyuan Ma, Ke Ma, Xiaopeng Li
Title: Assessing Markov Property in Driving Behaviors: Insights from Statistical Tests
Abstract:
The Markov property serves as a foundational assumption in most existing work on vehicle driving behavior, positing that future states depend solely on the current state, not the series of preceding states. This study validates the Markov properties of vehicle trajectories for both Autonomous Vehicles (AVs) and Human-driven Vehicles (HVs). A statistical method used to test whether time series data exhibits Markov properties is applied to examine whether the trajectory data possesses Markov characteristics. t test and F test are additionally introduced to characterize the differences in Markov properties between AVs and HVs. Based on two public trajectory datasets, we investigate the presence and order of the Markov property of different types of vehicles through rigorous statistical tests. Our findings reveal that AV trajectories generally exhibit stronger Markov properties compared to HV trajectories, with a higher percentage conforming to the Markov property and lower Markov orders. In contrast, HV trajectories display greater variability and heterogeneity in decision-making processes, reflecting the complex perception and information processing involved in human driving. These results have significant implications for the development of driving behavior models, AV controllers, and traffic simulation systems. Our study also demonstrates the feasibility of using statistical methods to test the presence of Markov properties in driving trajectory data.

Authors:Marena Trujillo, Amir Sajadi, Bri-Mathias Hodge
Title: Analytical Models of Frequency and Voltage in Large-Scale All-Inverter Power Systems
Abstract:
Low-order frequency response models for power systems have a decades-long history in optimization and control problems such as unit commitment, economic dispatch, and wide-area control. With a few exceptions, these models are built upon the Newtonian mechanics of synchronous generators, assuming that the frequency dynamics across a system are approximately homogeneous, and assume the dynamics of nodal voltages for most operating conditions are negligible, and thus are not directly computed at all buses. As a result, the use of system frequency models results in the systematic underestimation of frequency minimum nadir and maximum RoCoF, and provides no insight into the reactive power-voltage dynamics. This paper proposes a low-order model of both frequency and voltage response in grid-forming inverter-dominated power systems. The proposed model accounts for spatial-temporal variations in frequency and voltage behavior across a system and as a result, demonstrates the heterogeneity of frequency response in future renewable power systems. Electromagnetic transient (EMT) simulations are used to validate the utility, accuracy, and computational efficiency of these models, setting the basis for them to serve as fast, scalable alternatives to EMT simulation, especially when dealing with very large-scale systems, for both planning and operational studies.

Authors:Mert Ozates, Mohammad Kazemi, Eduard Jorswieck, Deniz Gunduz
Title: ODMA-Based Cell-Free Unsourced Random Access with Successive Interference Cancellation
Abstract:
We consider the unsourced random access problem with multiple receivers and propose a cell-free type solution for that. In our proposed scheme, the active users transmit their signals to the access points (APs) distributed in a geographical area and connected to a central processing unit (CPU). The transmitted signals are composed of a pilot and polar codeword, where the polar codeword bits occupy a small fraction of the data part of the transmission frame. The receiver operations of pilot detection and channel and symbol estimation take place at the APs, while the actual message bits are detected at the CPU by combining the symbol estimates from the APs forwarded over the fronthaul. The effect of the successfully decoded messages is then subtracted at the APs. Numerical examples illustrate that the proposed scheme can support up to 1400 users with a high energy efficiency, and the distributed structure decreases the error probability by more than two orders of magnitude.

Authors:Wenqian Jiang, Line Roald
Title: Greening the Grid: Electricity Market Clearing with Consumer-Based Carbon Cost
Abstract:
To enhance decarbonization efforts in electric power systems, we propose a novel electricity market clearing model that internalizes the allocation of emissions from generations to loads and allows for consideration of consumer-side carbon costs. Specifically, consumers can not only bid for power but also assign a cost to the carbon emissions incurred by their electricity use. These carbon costs provide consumers, ranging from carbon-agnostic to carbon-sensitive, with a tool to actively manage their roles in carbon emission mitigation. By incorporating carbon allocation and consumer-side carbon costs, the market clearing is influenced not solely by production and demand dynamics but also by the allocation of carbon emission responsibilities. To demonstrate the effect of our proposed model, we conduct a case study comparing market clearing outcomes across various percentages of carbon-sensitive consumers with differing carbon costs.

Authors:Ege Keskin, İhsan Ozan Yıldırım
Title: Cultivating Precision: Comparative Analysis of Sensor-Based Yogurt Fermentation Monitoring Techniques
Abstract:
Fermented dairy products, including yogurt, are widely consumed for their nutritional and health benefits. While numerous methods exist to monitor and understand yogurt fermentation, the literature lacks an integrated evaluation of diverse sensing approaches within a single experimental framework. To address this gap, this study systematically examines and compares multiple measurement techniques--electrical impedance, DC resistance, pH, optical transparency, carbon dioxide concentration, ambient temperature, and relative humidity--in tracking the yogurt fermentation process. By presenting a unified set of experimental results and assessing each method's observational characteristics, this work offers an encompassing reference point for researchers seeking to understand the relative merits and limitations of different sensing modalities. Rather than establishing definitive guidelines or practical recommendations, the findings provide a foundation for subsequent investigations into sensor-based fermentation monitoring, thereby contributing to a more comprehensive understanding of yogurt fermentation dynamics.

Authors:Yiqian Wu, Bolun Xu, James Anderson
Title: Energy Storage Arbitrage Under Price Uncertainty: Market Risks and Opportunities
Abstract:
We investigate the profitability and risk of energy storage arbitrage in electricity markets under price uncertainty, exploring both robust and chance-constrained optimization approaches. We analyze various uncertainty representations, including polyhedral, ellipsoidal uncertainty sets and probabilistic approximations, to model price fluctuations and construct efficient frontiers that highlight the tradeoff between risk and profit. Using historical electricity price data, we quantify the impact of uncertainty on arbitrage strategies and compare their performance under distinct market conditions. The results reveal that arbitrage strategies under uncertainties can effectively secure expected profits, and robust strategies perform better in risk management across varying levels of conservativeness, especially under highly volatile market conditions. This work provides insights into storage arbitrage strategy selection for market participants with differing risk preferences, emphasizing the adaptability of efficient frontiers to the electricity market.

Authors:Guillaume Roumage, Selma Azaiez, Cyril Faure, Stéphane Louise
Title: The Ingenuity Mars Helicopter Specified and Analyzed with the Real-time Mode-aware Dataflow Model
Abstract:
Ingenuity is an autonomous Cyber-Pysical System (CPS) that has successfully completed more than 70 flights over Mars between 2021 and 2024. Ensuring the safety of its mission is paramount, as any failure could result in catastrophic economic damage and significant financial losses. Dataflow Models of Computation and Communication (DF MoCCs) serve as a formal framework for specifying and analyzing the timing behavior of such CPSs. In particular, the Real-time Mode-aware Dataflow (RMDF) model is highly suitable to specify and analyze real-time and mode-dependent Cyber-Physical Systems (CPSs) like Ingenuity. This paper showcases the application of RMDF for the specification and analysis of Ingenuity. We propose a dataflow specification of Ingenuity, analyze its timing behavior, and provide a feasibility test. Finally, we proposed a plausible explanation of the timing anomaly that occurred during the sixth flight of Ingenuity.

Authors:Guillaume Roumage, Selma Azaiez, Cyril Faure, Stéphane Louise
Title: An Extended Survey and a Comparison Framework for Dataflow Models of Computation and Communication
Abstract:
Dataflow Model of Computation and Communications (DF MoCCs) is a formalism used to specify the behavior of Cyber-Physical Systems (CPSs). DF MoCCs are widely used in the design of CPSs, as they provide a high-level of abstraction to specify the system's behavior. DF MoCCs rules give semantics to a dataflow specification of a CPS, and static analysis algorithms rely on these semantics to guarantee safety properties of the dataflow specification, such as bounded memory usage and deadlock freeness. A wide range of DF MoCCs exists, each with its own characteristics and static analyses. This paper presents a survey of those DF MoCCs and a classification in eight categories. In addition, DF MoCCs are characterized by a comprehensive list of features and static analyses, which reflect their expressiveness and analyzability. Based on this characterization, a framework is proposed to compare the expressiveness and the analyzability of DF MoCCs quantitatively.

Authors:Guillaume Roumage, Selma Azaiez, Cyril Faure, Stéphane Louise
Title: Real-time Mode-Aware Dataflow: A Dataflow Model to Specify and Analyze Mode-dependent CPSs under Relaxed Timing Constraints
Abstract:
Modern Cyber-Physical Systems (CPS) often exhibit both relaxed real-time constraints and a mode-dependent execution. Relaxed real-time constraints mean that only a subset of the processes of a CPS have real-time constraints, and a mode-dependent CPS has conditional execution branches. Static analysis tools, such as the PolyGraph model (a formalism extending the Cyclo-Static Dataflow model with real-time constraints), can specify and analyze systems with relaxed real-time constraints. However, PolyGraph is limited in its ability to specify and analyze mode-dependent CPSs. This paper extends PolyGraph with routing actors, yielding the Routed PolyGraph model. This model is further extended to the Real-time Mode-Aware Dataflow (RMDF), which both leverages routing actors and incorporates a new dataflow actor to specify mode-dependent CPSs under relaxed real-time constraints. This paper also extends the static analyses of PolyGraph to RMDF. We showcase the application of RMDF with a specification and an analysis (derivation of timing constraints at the job-level and a feasibility test) of the vision processing system of the Ingenuity Mars helicopter.

Authors:Koji Aoshima, Eddie Wadbro, Martin Servin
Title: Optimizing wheel loader performance -- an end-to-end approach
Abstract:
Wheel loaders in mines and construction sites repeatedly load soil from a pile to load receivers. Automating this task presents a challenging planning problem since each loading's performance depends on the pile state, which depends on previous loadings. We investigate an end-to-end optimization approach considering future loading outcomes and transportation costs between the pile and load receivers. To predict the evolution of the pile state and the loading performance, we use world models that leverage deep neural networks trained on numerous simulated loading cycles. A look-ahead tree search optimizes the sequence of loading actions by evaluating the performance of thousands of action candidates, which expand into subsequent action candidates under the predicted pile states recursively. Test results demonstrate that, over a horizon of 15 sequential loadings, the look-ahead tree search is 6% more efficient than a greedy strategy, which always selects the action that maximizes the current single loading performance, and 14% more efficient than using a fixed loading controller optimized for the nominal case.

Authors:Yuxiang Guan, Iman Shames, Tyler H. Summers
Title: Best Response Convergence for Zero-sum Stochastic Dynamic Games with Partial and Asymmetric Information
Abstract:
We analyze best response dynamics for finding a Nash equilibrium of an infinite horizon zero-sum stochastic linear quadratic dynamic game (LQDG) with partial and asymmetric information. We derive explicit expressions for each player's best response within the class of pure linear dynamic output feedback control strategies where the internal state dimension of each control strategy is an integer multiple of the system state dimension. With each best response, the players form increasingly higher-order belief states, leading to infinite-dimensional internal states. However, we observe in extensive numerical experiments that the game's value converges after just a few iterations, suggesting that strategies associated with increasingly higher-order belief states eventually provide no benefit. To help explain this convergence, our numerical analysis reveals rapid decay of the controllability and observability Gramian eigenvalues and Hankel singular values in higher-order belief dynamics, indicating that the higher-order belief dynamics become increasingly difficult for both players to control and observe. Consequently, the higher-order belief dynamics can be closely approximated by low-order belief dynamics with bounded error, and thus feedback strategies with limited internal state dimension can closely approximate a Nash equilibrium.

Authors:Ankush Chakrabarty, Gordon Wichern, Vedang M. Deshpande, Abraham P. Vinod, Karl Berntorp, Christopher R. Laughman
Title: Meta-Learning for Physically-Constrained Neural System Identification
Abstract:
We present a gradient-based meta-learning framework for rapid adaptation of neural state-space models (NSSMs) for black-box system identification. When applicable, we also incorporate domain-specific physical constraints to improve the accuracy of the NSSM. The major benefit of our approach is that instead of relying solely on data from a single target system, our framework utilizes data from a diverse set of source systems, enabling learning from limited target data, as well as with few online training iterations. Through benchmark examples, we demonstrate the potential of our approach, study the effect of fine-tuning subnetworks rather than full fine-tuning, and report real-world case studies to illustrate the practical application and generalizability of the approach to practical problems with physical-constraints. Specifically, we show that the meta-learned models result in improved downstream performance in model-based state estimation in indoor localization and energy systems.

Authors:Arslan Ahmad, Ian Dobson, Svetlana Ekisheva, Christopher Claypool, Mark Lauby
Title: The improvement in transmission resilience metrics from reduced outages or faster restoration can be calculated by rerunning historical outage data
Abstract:
Transmission utilities routinely collect detailed outage data, including resilience events in which outages bunch up due to weather. The resilience events and their resilience metrics can readily be extracted from this historical outage data. Improvements such as grid hardening or investments in restoration lead to reduced outages or faster restoration. We show how to rerun this history with the effects of the reduced outages or faster restoration included to find the resulting improvement in resilience metrics, thus quantifying the benefits of these investments. This is demonstrated with case studies for specific events (a derecho and a hurricane), and all large events or large thunderstorms in the Midwest USA. Instead of predicting future extreme events with models, which is very challenging, the historical rerun readily quantifies the benefits that a resilience investment would have had if it had been made in the past. The historical rerun is particularly vivid in making the case for resilience investments to stakeholders because it quantifies the benefits for events actually experienced by those stakeholders, rather than for future events predicted with uncertainty.

Authors:Shikhar Pandey, Gowtham Kandaperumal, Arslan Ahmad, Ian Dobson
Title: Resiliency metrics quantifying emergency response in a distribution system
Abstract:
The electric distribution system is a cornerstone of modern life, playing a critical role in the daily activities and well-being of individuals. As the world transitions toward a decarbonized future, where even mobility relies on electricity, ensuring the resilience of the grid becomes paramount. This paper introduces novel resilience metrics designed to equip utilities and stakeholders with actionable tools to assess performance during storm events. The metrics focus on emergency storm response and the resources required to improve customer service. The practical calculation of the metrics from historical utility data is demonstrated for multiple storm events. Additionally, the metrics' improvement with added crews is estimated by "rerunning history" with faster restoration. By applying this resilience framework, utilities can enhance their restoration strategies and unlock potential cost savings, benefiting both providers and customers in an era of heightened energy dependency.

Authors:Yifan Zhang, Yunjie Gu, Yue Zhu, Timothy C. Green, Hsiao-Dong Chiang
Title: On the Interaction in Transient Stability of Two-Inverter Power Systems containing GFL inverter Using Manifold Method
Abstract:
Many renewable energy resources are integrated into power systems via grid-following (GFL) inverters which rely on a phase-locked loop (PLL) for grid synchronization. During severe grid faults, GFL inverters are vulnerable to transient instability, often leading to disconnection from the grid. This paper aims to elucidate the interaction mechanisms and define the stability boundaries of systems of two inverters, including GFL, grid-forming (GFM), or grid-supporting (GSP) inverters. First, the generalized large-signal expression for the two-inverter system under various inverter combinations is derived, revealing that no energy function exists for systems containing GFL inverters. This implies that the traditional direct method cannot be applied to such systems. To overcome these challenges, a manifold method is employed to precisely determine the domain of attraction (DOA) of the system, and the transient stability margin is assessed by a new metric termed the critical clearing radius (CCR). A case study of the two-inverter system under various inverter combinations is conducted to explore large-signal interactions across different scenarios. Manifold analysis and simulation results reveal that GSP inverters using PLL for grid synchronization exhibit behavior similar to GFM inverters when the droop coefficients in the terminal voltage control loop (TVC) are sufficiently large. Compared to GFL inverters, GSP inverters incorporating a TVC significantly enhances the transient stability of other inverters. In the STATCOM case, the optimal placement of the STATCOM, realized by GSP or GFM inverters, is identified to be at the midpoint of a transmission line. All findings in this paper are validated through electromagnetic transient (EMT) simulations

Authors:Nuthasith Gerdpratoom, Fumiya Matsuzaki, Yutaka Yamamoto, Kaoru Yamamoto
Title: Enhanced sampled-data model predictive control via nonlinear lifting
Abstract:
This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely employed in linear systems to capture intersample behaviour, their application to nonlinear systems remains unexplored. We address this gap by formulating an NMPC scheme that combines fast-sample fast-hold (FSFH) approximations and numerical methods to approximate system dynamics and cost functions. The proposed approach is validated through two case studies: the Van der Pol oscillator and the inverted pendulum on a cart. Simulation results demonstrate that the lifted NMPC outperforms conventional NMPC in terms of reduced settling time and improved control accuracy. These findings underscore the potential of the lifting-based NMPC for efficient control of nonlinear systems, offering a practical solution for real-time applications.

Authors:Vu Ngoc Son, Pham Van Cuong, Nguyen Duy Minh, Phi Hoang Nha
Title: Optimize the parameters of the PID Controller using Genetic Algorithm for Robot Manipulators
Abstract:
This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the challenges in determining PID controller parameters for highly nonlinear systems like robotic arms compared to traditional methods. The GA-optimized PID controller significantly improves control accuracy and performance over traditional control methods. Simulation results demonstrate that the robotic arm system operates with high precision and stability. Additionally, the shortened trajectory tracking response time enhances the feasibility of applying this control algorithm in realworld scenarios. This research not only confirms the suitability of PID-GA for robotic arms and similar systems but also opens new avenues for applying this algorithm to real physical systems.

Authors:Doaa Mahmud, Hadeel Hajmohamed, Shamma Almentheri, Shamma Alqaydi, Lameya Aldhaheri, Ruhul Amin Khalil, Nasir Saeed
Title: Integrating LLMs with ITS: Recent Advances, Potentials, Challenges, and Future Directions
Abstract:
Intelligent Transportation Systems (ITS) are crucial for the development and operation of smart cities, addressing key challenges in efficiency, productivity, and environmental sustainability. This paper comprehensively reviews the transformative potential of Large Language Models (LLMs) in optimizing ITS. Initially, we provide an extensive overview of ITS, highlighting its components, operational principles, and overall effectiveness. We then delve into the theoretical background of various LLM techniques, such as GPT, T5, CTRL, and BERT, elucidating their relevance to ITS applications. Following this, we examine the wide-ranging applications of LLMs within ITS, including traffic flow prediction, vehicle detection and classification, autonomous driving, traffic sign recognition, and pedestrian detection. Our analysis reveals how these advanced models can significantly enhance traffic management and safety. Finally, we explore the challenges and limitations LLMs face in ITS, such as data availability, computational constraints, and ethical considerations. We also present several future research directions and potential innovations to address these challenges. This paper aims to guide researchers and practitioners through the complexities and opportunities of integrating LLMs in ITS, offering a roadmap to create more efficient, sustainable, and responsive next-generation transportation systems.

Authors:Jinming Gao, Yijing Wang, Wentao Zhang, Rui Zhao, Yang Shi, Zhiqiang Zuo
Title: A Unified Attack Detection Strategy for Multi-Agent Systems over Transient and Steady Stages
Abstract:
This paper proposes a unified detection strategy against three kinds of attacks for multi-agent systems (MASs) which is applicable to both transient and steady stages. For attacks on the communication layer, a watermarking-based detection scheme with KullbackLeibler (KL) divergence is designed. Different from traditional communication schemes, each agent transmits a message set containing two state values with different types of watermarking. It is found that the detection performance is determined by the relevant parameters of the watermarking signal. Unlike the existing detection manoeuvres, such a scheme is capable of transient and steady stages. For attacks on the agent layer, a convergence rate related detection approach is put forward. It is shown that the resilience of the considered system is characterized by the coefficient and offset of the envelope. For hybrid attacks, based on the above detection mechanisms, a general framework resorting to trusted agents is presented, which requires weaker graph conditions and less information transmission. Finally, an example associated with the platooning of connected vehicles is given to support the theoretical results.

Authors:Chuanghong Weng, Ehsan Nekouei
Title: A Volumetric Approach to Privacy of Dynamical Systems
Abstract:
Information-theoretic metrics, such as mutual information, have been widely used to evaluate privacy leakage in dynamic systems. However, these approaches are typically limited to stochastic systems and face computational challenges. In this paper, we introduce a novel volumetric framework for analyzing privacy in systems affected by unknown but bounded noise. Our model considers a dynamic system comprising public and private states, where an observation set of the public state is released. An adversary utilizes the observed public state to infer an uncertainty set of the private state, referred to as the inference attack. We define the evolution dynamics of these inference attacks and quantify the privacy level of the private state using the volume of its uncertainty sets. We then develop an approximate computation method leveraging interval analysis to compute the private state set. We investigate the properties of the proposed volumetric privacy measure and demonstrate that it is bounded by the information gain derived from the observation set. Furthermore, we propose an optimization approach to designing privacy filter using randomization and linear programming based on the proposed privacy measure. The effectiveness of the optimal privacy filter design is evaluated through a production-inventory case study, illustrating its robustness against inference attacks and its superiority compared to a truncated Gaussian mechanism.

Authors:Liudong Chen, Jay Sethuraman, Bolun Xu
Title: Gaming on Coincident Peak Shaving: Equilibrium and Strategic Behavior
Abstract:
Power system operators and electric utility companies often impose a coincident peak demand charge on customers when the aggregate system demand reaches its maximum. This charge incentivizes customers to strategically shift their peak usage away from the system's collective peak, which helps reduce stress on electricity infrastructure. In this paper, we develop a game-theoretic model to analyze how such strategic behavior affects overall system efficiency. We show that depending on the extent of customers' demand-shifting capabilities, the resulting coincident peak shaving game can exhibit concavity, quasi-concavity with discontinuities, or non-concavity with discontinuities. In a two-agent, two-period setting, we derive closed-form Nash equilibrium solutions for each scenario and generalize our findings to multi-agent contexts. We prove the stability of the equilibrium points and propose an algorithm for computing equilibrium outcomes under all game configurations. Our results indicate that the peak-shaving outcome at the equilibrium of the game model is comparable to the optimal outcome of the natural centralized model. However, there is a significant loss in efficiency. Under quasi-concave and non-concave conditions, this inefficiency grows with increased customer flexibility and larger disparities in marginal shifting costs; we also examine how the number of agents influences system performance. Finally, numerical simulations with real-world applications validate our theoretical insights.

Authors:Yuan Tian, Bin Zhang, Xiaodong Shao, David Navarro-Alarcon
Title: Encircling General 2-D Boundaries by Mobile Robots with Collision Avoidance: A Vector Field Guided Approach
Abstract:
The ability to automatically encircle boundaries with mobile robots is crucial for tasks such as border tracking and object enclosing. Previous research has primarily focused on regular boundaries, often assuming that their geometric equations are known in advance, which is not often the case in practice. In this paper, we investigate a more general case and propose an algorithm that addresses geometric irregularities of boundaries without requiring prior knowledge of their analytical expressions. To achieve this, we develop a Fourier-based curve fitting method for boundary approximation using sampled points, enabling parametric characterization of general 2-D boundaries. This approach allows star-shaped boundaries to be fitted into polar-angle-based parametric curves, while boundaries of other shapes are handled through decomposition. Then, we design a vector field (VF) to achieve the encirclement of the parameterized boundary, wherein a polar radius error is introduced to measure the robot's ``distance'' to the boundary. The controller is finally synthesized using a control barrier function and quadratic programming to mediate some potentially conflicting specifications: boundary encirclement, obstacle avoidance, and limited actuation. In this manner, the VF-guided reference control not only guides the boundary encircling action, but can also be minimally modified to satisfy obstacle avoidance and input saturation constraints. Simulations and experiments are presented to verify the performance of our new method, which can be applied to mobile robots to perform practical tasks such as cleaning chemical spills and environment monitoring.

Authors:Rostyslav Koroliuk, Vyacheslav Nykytyuk, Vitaliy Tymoshchuk, Veronika Soyka, Dmytro Tymoshchuk
Title: Automated monitoring of bee colony movement in the hive during winter season
Abstract:
In this study, we have experimentally modelled the movement of a bee colony in a hive during the winter season and developed a monitoring system that allows tracking the movement of the bee colony and honey consumption. The monitoring system consists of four load cells connected to the RP2040 controller based on the Raspberry Pi Pico board, from which data is transmitted via the MQTT protocol to the Raspberry Pi 5 microcomputer via a Wi-Fi network. The processed data from the Raspberry Pi 5 is recorded in a MySQL database. The algorithm for finding the location of the bee colony in the hive works correctly, the trajectory of movement based on the data from the sensors repeats the physical movement in the experiment, which is an imitation of the movement of the bee colony in real conditions. The proposed monitoring system provides continuous observation of the bee colony without adversely affecting its natural activities and can be integrated with various wireless data networks. This is a promising tool for improving the efficiency of beekeeping and maintaining the health of bee colonies.

Authors:Ali Safa, Ali Al-Zawqari
Title: Co-Design of a Robot Controller Board and Indoor Positioning System for IoT-Enabled Applications
Abstract:
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially designed for emerging IoT-based robot applications and is capable of driving two 6-Amp motor channels. The controller board also embeds an on-board micro-controller with WIFI connectivity, enabling robot-to-server communications for IoT applications. Then, working together with the robot controller board, the proposed positioning system detects the robot's location using a down-looking webcam and uses the robot's position on the webcam images to estimate the real-world position of the robot in the environment. The positioning system can then send commands via WIFI to the robot in order to steer it to any arbitrary location in the environment. Our experiments show that the proposed system reaches a navigation error smaller or equal to 0.125 meters while being more than two orders of magnitude more cost-effective compared to off-the-shelve motion capture (MOCAP) positioning systems.

Authors:Abrar Hossain, Abdel-Hameed A. Badawy, Mohammad A. Islam, Tapasya Patki, Kishwar Ahmed
Title: HPC Application Parameter Autotuning on Edge Devices: A Bandit Learning Approach
Abstract:
The growing necessity for enhanced processing capabilities in edge devices with limited resources has led us to develop effective methods for improving high-performance computing (HPC) applications. In this paper, we introduce LASP (Lightweight Autotuning of Scientific Application Parameters), a novel strategy designed to address the parameter search space challenge in edge devices. Our strategy employs a multi-armed bandit (MAB) technique focused on online exploration and exploitation. Notably, LASP takes a dynamic approach, adapting seamlessly to changing environments. We tested LASP with four HPC applications: Lulesh, Kripke, Clomp, and Hypre. Its lightweight nature makes it particularly well-suited for resource-constrained edge devices. By employing the MAB framework to efficiently navigate the search space, we achieved significant performance improvements while adhering to the stringent computational limits of edge devices. Our experimental results demonstrate the effectiveness of LASP in optimizing parameter search on edge devices.

Authors:Kewei Zhou, Ziming Wang, Zhihao Chen, Xin Wang
Title: Event-Triggered Observer-Based Fixed-Time Consensus Control for Uncertain Nonlinear Multiagent Systems with Unknown States
Abstract:
This paper introduces a novel approach for achieving fixed-time tracking consensus control in multiagent systems (MASs). Departing from the reliance on traditional controllers, our innovative controller integrates modified tuning and Lyapunov functions to guarantee stability and convergence. Furthermore, we have implemented an event-triggered strategy aimed at reducing the frequency of updates, alongside an output-feedback observer to manage unmeasured states effectively. To address the challenges posed by unknown functions and algebraic-loop problems, we opted for radial basis function neural networks (RBF NNs), chosen for their superior performance. Our methodology successfully mitigates Zeno's behavior and ensures stability within a narrowly defined set. The efficacy of our proposed solution is validated through two illustrative simulation examples.

Authors:Burak Kürkçü, Masayoshi Tomizuka
Title: Algebraic Control: Complete Stable Inversion with Necessary and Sufficient Conditions
Abstract:
In this paper, we establish necessary and sufficient conditions for stable inversion, addressing challenges in non-minimum phase, non-square, and singular systems. An H-Infinity based algebraic approximation is introduced for near-perfect tracking without preview. Additionally, we propose a novel robust control strategy combining the nominal model with dual feedforward control to form a feedback structure. Numerical comparison demonstrates the approach's effectiveness.

Authors:Josie König, Elizabeth Qian, Melina A. Freitag
Title: Dimension and model reduction approaches for linear Bayesian inverse problems with rank-deficient prior covariances
Abstract:
Bayesian inverse problems use observed data to update a prior probability distribution for an unknown state or parameter of a scientific system to a posterior distribution conditioned on the data. In many applications, the unknown parameter is high-dimensional, making computation of the posterior expensive due to the need to sample in a high-dimensional space and the need to evaluate an expensive high-dimensional forward model relating the unknown parameter to the data. However, inverse problems often exhibit low-dimensional structure due to the fact that the available data are only informative in a low-dimensional subspace of the parameter space. Dimension reduction approaches exploit this structure by restricting inference to the low-dimensional subspace informed by the data, which can be sampled more efficiently. Further computational cost reductions can be achieved by replacing expensive high-dimensional forward models with cheaper lower-dimensional reduced models. In this work, we propose new dimension and model reduction approaches for linear Bayesian inverse problems with rank-deficient prior covariances, which arise in many practical inference settings. The dimension reduction approach is applicable to general linear Bayesian inverse problems whereas the model reduction approaches are specific to the problem of inferring the initial condition of a linear dynamical system. We provide theoretical approximation guarantees as well as numerical experiments demonstrating the accuracy and efficiency of the proposed approaches.

Authors:Wenjie Wan, Han Hu, Feiyu Chen, Xiaoyu Liu, Kequan Zhao
Title: Reliability Assessment of Power System Based on the Dichotomy Method
Abstract:
With a sustainable increase in the scale of power system, the number of states in the state space grows exponentially, and the reliability assessment of the power system faces enormous challenges. Traditional state-by-state assessment methods, such as state enumeration (SE) and Monte Carlo simulation (MCS) methods, have encountered performance bottlenecks in terms of efficiency and accuracy. In this paper, the Boolean lattice representation theory of the state space was studied, and a dichotomy method was proposed to efficiently partition the state space into some disjoint sub-lattices with a relatively small number of optimal power flow (OPF) operations. Based on lattice partition, the reliability indices of the entire space can be calculated lattice-by-lattice. In addition, alone with the partitioning procedure, the calculated loss of load probability (LOLP) monotonically increases and rapidly tends to the analytic value with the designated error bound. Moreover, we designed a customized Monte Carlo sampling method in lattices of interest to compute expected energy not supply (EENS). The experiments are conducted on the RBTS and RTS-79 systems. The results show that the proposed method achieves the analytic LOLP of the RBTS system after five hundreds of OPF operations, which is about hundreds of times faster than traditional methods, and the designed Monte Carlo sampling method converged after thousands of OPF operations on test systems.

Authors:Shiu Mochiyama, Ryo Takahashi, Yoshihiko Susuki
Title: A Bidirectional Power Router for Traceable Multi-energy Management
Abstract:
To address challenges in improving self-consumption of renewables and resilience in local residential power systems, the earlier work of the authors introduced a novel multi-energy management concept, integrating bidirectional power routing and electricity-hydrogen conversion. This paper focuses on an experimental verification of the bidirectional power router based on line-switching, the essential hardware to realize the concept. The primary contribution is the validation of the router's capability to handle dynamic change of bidirectional power flow. Furthermore, to achieve bidirectional power routing without affecting the smooth and stable operation of the power system, a novel algorithm for router's switching is designed based on power flow monitoring. The effectiveness of the proposed method is demonstrated through an experiment using a setup with a commercially available stationary battery.

Authors:Matheus Wagner, Marcelo M. Morato, Antônio Augusto Fröhlich, Julio E. Normey-Rico
Title: Predictor-Based Compensators for Networked Control Systems with Stochastic Delays and Sampling Intervals
Abstract:
The stochastic nature of time delays and sampling intervals in Networked Control Systems poses significant challenges for controller synthesis and analysis, often leading to conservative designs and degraded performance. This work presents a modeling approach for Linear Multiple-Input Multiple-Output Networked Control Systems and introduces a compensation scheme based on the Filtered Smith Predictor to mitigate the adverse effects of stochastic time delays on closed-loop performance. The proposed scheme is evaluated through numerical simulations of a well-established Cooperative Adaptive Cruise Control system. Results demonstrate that the compensator achieves near-ideal average closed-loop performance and significantly reduces response variability compared to a traditional Filtered Smith Predictor. Notably, it yields a 45% reduction in worst-case tracking error signal energy relative to an ideal baseline system with no time delays and constant sampling intervals.

Authors:Davide Salaorni, Federico Bianchi, Francesco Trovò, Marcello Restelli
Title: A Reinforcement Learning Approach for Optimal Control in Microgrids
Abstract:
The increasing integration of renewable energy sources (RESs) is transforming traditional power grid networks, which require new approaches for managing decentralized energy production and consumption. Microgrids (MGs) provide a promising solution by enabling localized control over energy generation, storage, and distribution. This paper presents a novel reinforcement learning (RL)-based methodology for optimizing microgrid energy management. Specifically, we propose an RL agent that learns optimal energy trading and storage policies by leveraging historical data on energy production, consumption, and market prices. A digital twin (DT) is used to simulate the energy storage system dynamics, incorporating degradation factors to ensure a realistic emulation of the analysed setting. Our approach is validated through an experimental campaign using real-world data from a power grid located in the Italian territory. The results indicate that the proposed RL-based strategy outperforms rule-based methods and existing RL benchmarks, offering a robust solution for intelligent microgrid management.

Authors:Matvei Anoshin, Olga Tsurkan, Vadim Lopatkin, Leonid Fedichkin
Title: Stabilization of industrial processes with time series machine learning
Abstract:
The stabilization of time series processes is a crucial problem that is ubiquitous in various industrial fields. The application of machine learning to its solution can have a decisive impact, improving both the quality of the resulting stabilization with less computational resources required. In this work, we present a simple pipeline consisting of two neural networks: the oracle predictor and the optimizer, proposing a substitution of the point-wise values optimization to the problem of the neural network training, which successfully improves stability in terms of the temperature control by about 3 times compared to ordinary solvers.

Authors:Muhammad R. Abdussami, Kevin Daley, Gabrielle Hoelzle, Aditi Verma
Title: A Multi-Criteria Evaluation Framework for Siting Fusion Energy Facilities: Application and Evaluation of U.S. Coal Power Plants
Abstract:
This paper proposes a comprehensive methodology for siting fusion energy facilities, integrating expert judgment, geospatial data, and multi-criteria decision making tools to evaluate site suitability systematically. As a case study, we apply this framework to all currently operational coal power plant sites in the United States to examine their potential for hosting future fusion facilities at a time when these coal plants are shut down on reaching their end of life - timelines which are expected to coincide with the potential deployment of fusion energy facilities. Drawing on 22 siting criteria - including state and federal policies, risk and hazard assessments, and spatial and infrastructural parameters - we implement two MultiCriteria Decision-Making (MCDM) methods: the Fuzzy Full Consistency Method (F-FUCOM) to derive attribute weights and the Weighted Sum Method (WSM) to rank sites based on composite suitability scores. By focusing on fusion-specific siting needs and demonstrating the framework through a coal site application, this study contributes a scalable and transparent decision-support tool for identifying optimal fusion energy deployment locations.

Authors:Ziad Qais Al Abbasi, Khaled M. Rabie, Senior Member, Xingwang Li, Senior Member, Wali Ullah Khan, Asma Abu Samah
Title: RL-based Adaptive Task Offloading in Mobile-Edge Computing for Future IoT Networks
Abstract:
The Internet of Things (IoT) has been increasingly used in our everyday lives as well as in numerous industrial applications. However, due to limitations in computing and power capabilities, IoT devices need to send their respective tasks to cloud service stations that are usually located at far distances. Having to transmit data far distances introduces challenges for services that require low latency such as industrial control in factories and plants as well as artificial intelligence assisted autonomous driving. To solve this issue, mobile edge computing (MEC) is deployed at the networks edge to reduce transmission time. In this regard, this study proposes a new offloading scheme for MEC-assisted ultra dense cellular networks using reinforcement learning (RL) techniques. The proposed scheme enables efficient resource allocation and dynamic offloading decisions based on varying network conditions and user demands. The RL algorithm learns from the networks historical data and adapts the offloading decisions to optimize the networks overall performance. Non-orthogonal multiple access is also adopted to improve resource utilization among the IoT devices. Simulation results demonstrate that the proposed scheme outperforms other stateof the art offloading algorithms in terms of energy efficiency, network throughput, and user satisfaction.

Authors:Shuhao Bian, Milad Farsi, Nasser L. Azad, Chris Hobbs
Title: Data-Driven Intrusion Detection in Vehicles: Integrating Unscented Kalman Filter (UKF) with Machine Learning
Abstract:
In the realm of Cyber-Physical System (CPS), accurately identifying attacks without detailed knowledge of the system's parameters remains a major challenge. When it comes to Advanced Driver Assistance Systems (ADAS), identifying the parameters of vehicle dynamics could be impractical or prohibitively costly. To tackle this challenge, we propose a novel framework for attack detection in vehicles that effectively addresses the uncertainty in their dynamics. Our method integrates the widely used Unscented Kalman Filter (UKF), a well-known technique for nonlinear state estimation in dynamic systems, with machine learning algorithms. This combination eliminates the requirement for precise vehicle modeling in the detection process, enhancing the system's adaptability and accuracy. To validate the efficacy and practicality of our proposed framework, we conducted extensive comparative simulations by introducing Denial of Service (DoS) attacks on the vehicle systems' sensors and actuators.

Authors:Akshay Jaitly, Jack Cline, Siavash Farzan
Title: A MILP-Based Solution to Multi-Agent Motion Planning and Collision Avoidance in Constrained Environments
Abstract:
We propose a mixed-integer linear program (MILP) for multi-agent motion planning that embeds Polytopic Action-based Motion Planning (PAAMP) into a sequence-then-solve pipeline. Region sequences confine each agent to adjacent convex polytopes, while a big-M hyperplane model enforces inter-agent separation. Collision constraints are applied only to agents sharing or neighboring a region, which reduces binary variables exponentially compared with naive formulations. An L1 path-length-plus-acceleration cost yields smooth trajectories. We prove finite-time convergence and demonstrate on representative multi-agent scenarios with obstacles that our formulation produces collision-free trajectories an order of magnitude faster than an unstructured MILP baseline.

Authors:Kui Xie, Alberto Bemporad
Title: Online design of experiments by active learning for nonlinear system identification
Abstract:
We investigate the use of active-learning (AL) strategies to generate the input excitation signal at runtime for system identification of linear and nonlinear autoregressive and state-space models. We adapt various existing AL approaches for static model regression to the dynamic context, coupling them with a Kalman filter to update the model parameters recursively, and also cope with the presence of input and output constraints. We show the increased sample efficiency of the proposed approaches with respect to random excitation on different nonlinear system identification benchmarks.

Authors:Bozo Richter, Andrea Bellandi, Julien Branlard, Leon Speidel, Annika Eichler
Title: Estimation of superconducting cavity bandwidth and detuning using a Luenberger observer
Abstract:
Enabled by progress in superconducting technology, several continuous wave linear accelerators are foreseen in the next decade. For these machines, it is of crucial importance to track the main cavity parameters, such as the resonator bandwidth and detuning. The bandwidth yields information on the superconducting state of the cavity. The detuning should be minimized to limit the required power to operate the cavity. The estimation of these parameters is commonly implemented in the digital electronics of the Low-Level RF control system to minimize the computation delay. In this proceeding, we present a way to compute the bandwidth and detuning using a Luenberger observer. In contrast to previous methods, a state observer yields estimations at the native control system sample rate without explicitly filtering the input signals. Additionally, the error convergence properties of the estimations can be controlled intuitively by adjusting gain parameters. Implementation considerations and test results on the derived observer are presented in the manuscript.

Authors:Cristian López, Keegan J. Moore
Title: Structural System Identification via Validation and Adaptation
Abstract:
Estimating the governing equation parameter values is essential for integrating experimental data with scientific theory to understand, validate, and predict the dynamics of complex systems. In this work, we propose a new method for structural system identification (SI), uncertainty quantification, and validation directly from data. Inspired by generative modeling frameworks, a neural network maps random noise to physically meaningful parameters. These parameters are then used in the known equation of motion to obtain fake accelerations, which are compared to real training data via a mean square error loss. To simultaneously validate the learned parameters, we use independent validation datasets. The generated accelerations from these datasets are evaluated by a discriminator network, which determines whether the output is real or fake, and guides the parameter-generator network. Analytical and real experiments show the parameter estimation accuracy and model validation for different nonlinear structural systems.

Authors:Malikussaid, Sutiyo
Title: Autonomous Cyber Resilience via a Co-Evolutionary Arms Race within a Fortified Digital Twin Sandbox
Abstract:
The convergence of IT and OT has created hyper-connected ICS, exposing critical infrastructure to a new class of adaptive, intelligent adversaries that render static defenses obsolete. Existing security paradigms often fail to address a foundational "Trinity of Trust," comprising the fidelity of the system model, the integrity of synchronizing data, and the resilience of the analytical engine against sophisticated evasion. This paper introduces the ARC framework, a method for achieving analytical resilience through an autonomous, closed-loop hardening process. ARC establishes a perpetual co-evolutionary arms race within the high-fidelity sandbox of a F-SCDT. A DRL agent, the "Red Agent," is formalized and incentivized to autonomously discover stealthy, physically-plausible attack paths that maximize process disruption while evading detection. Concurrently, an ensemble-based "Blue Agent" defender is continuously hardened via adversarial training against the evolving threats discovered by its adversary. This co-evolutionary dynamic forces both agents to become progressively more sophisticated, enabling the system to autonomously probe and patch its own vulnerabilities. Experimental validation on both the TEP and the SWaT testbeds demonstrates the framework's superior performance. A comprehensive ablation study, supported by extensive visualizations including ROC curves and SHAP plots, reveals that the co-evolutionary process itself is responsible for a significant performance increase in detecting novel attacks. By integrating XAI to ensure operator trust and proposing a scalable F-ARC architecture, this work presents ARC not merely as an improvement, but as a necessary paradigm shift toward dynamic, self-improving security for the future of critical infrastructure.

Authors:Pietro Favaro, Jean-François Toubeau, François Vallée, Yury Dvorkin
Title: Decision-Focused Learning for Neural Network-Constrained Optimization: Application to HVAC Management System
Abstract:
Heating, Ventilation, and Air Conditioning (HVAC) is a major electricity end-use with a substantial potential for grid services such as demand response. Harnessing this flexibility requires accurate modeling of the thermal dynamics of buildings, which is challenging due to their nonlinear and repetitive behavior (e.g., daily pattern), which reduce the value of historical data. To address this issue, this paper presents an HVAC management system formulated as a Mixed Integer Quadratic Program (MIQP), where Neural Network (NN) models of thermal dynamics are embedded as exact mixed-integer linear constraints. We employ Decision-Focused Learning (DFL) which tunes the NN parameters to improve the HVAC performance rather than prediction metrics. However, the discrete nature of the MIQP poses challenges for this approach, as it leads to gradients that are undefined or discontinuous, thus impeding standard gradient-based training. Here, we employ Stochastic Smoothing (SS), which enables efficient gradient computation without the need to differentiate through the MIQP. Experiments on a realistic five-zone building using a high-fidelity building simulator demonstrate that the proposed SS-DFL approach outperforms conventional two-stage and relaxed DFL methods in both cost savings and grid service performance, highlighting its potential for scalable, grid-interactive building control.

Authors:Mustafa Adam, David A. Anisi, Pedro Ribeiro
Title: A Verification Methodology for Safety Assurance of Robotic Autonomous Systems
Abstract:
Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured environments, interact safely with humans, and respond effectively to a wide range of potential hazards. This paper presents a verification workflow for the safety assurance of an autonomous agricultural robot, covering the entire development life-cycle, from concept study and design to runtime verification. The outlined methodology begins with a systematic hazard analysis and risk assessment to identify potential risks and derive corresponding safety requirements. A formal model of the safety controller is then developed to capture its behaviour and verify that the controller satisfies the specified safety properties with respect to these requirements. The proposed approach is demonstrated on a field robot operating in an agricultural setting. The results show that the methodology can be effectively used to verify safety-critical properties and facilitate the early identification of design issues, contributing to the development of safer robots and autonomous systems.

Authors:Feifan Yan, Tianle Zeng, Meixi He
Title: Implementing blind navigation through multi-modal sensing and gait guidance
Abstract:
By the year 2023, the global population of individuals with impaired vision has surpassed 220 million. People with impaired vision will find it difficult while finding path or avoiding obstacles, and must ask for auxiliary tools for help. Although traditional aids such as guide canes and guide dogs exist, they still have some shortcomings. In this paper, we present our wearable blind guiding device, what perform navigation guidance through our proposed Gait-based Guiding System. Our device innovatively integrates gait phase analysis for walking guide, and in terms of environmental perception, we use multimodal sensing to acquire diverse environment information. During the experiment, we conducted both indoor and outdoor experiments, and compared with the standard guide cane. The result shows superior performance of our device in blind guidance.

Authors:Theodore S. Rappaport, Todd E. Humphreys, Shuai Nie
Title: Spectrum Opportunities for the Wireless Future: From Direct-to-Device Satellite Applications to 6G Cellular
Abstract:
For next-generation wireless networks, both the upper mid-band and terahertz spectra are gaining global attention. This article provides an in-depth analysis of recent regulatory rulings and spectrum preferences issued by international standard bodies. We highlight promising frequency bands earmarked for 6G and beyond, and offer examples that illuminate the passive service protections and spectrum feasibility for coexistence between terrestrial and non-terrestrial wireless networks.

Authors:Fangwei Cheng, Qian Luo, Jesse Jenkins
Title: How flexible do we need to be? Using electricity systems models to identify optimal designs for flexible carbon capture storage system for gas-fired power plants
Abstract:
As the share of variable renewable energy in power systems grows, enhancing the operational flexibility of combined cycle gas turbines with carbon capture and storage (CCGT-CCS) becomes increasingly valuable. This study integrates techno-economic analysis with capacity expansion modeling to quantify the value of improved CCGT-CCS flexibility-such as lower start-up costs, reduced minimum generation, faster ramping, and shorter up/down times-at both plant and system levels. Using the Texas power system as a case study, we find that increased flexibility raises CCGT-CCS generation profits and installed capacity. Under various policy scenarios, CCGT-CCS benefits most from a CO2 tax (or equivalent emissions cap), more so than from clean energy standards or capture subsidies like the federal 45Q tax credit. However, electricity system cost savings remain modest, reducing total costs by only 0.3-0.5%. Thus, flexibility improvements should be pursued only if they entail limited increases in capital and maintenance costs.

Authors:Waleed Breesam, Stefan M. Goetz
Title: New Power Decoupling Method for Grid Forming Inverter Based on Adaptive Virtual-Synchronous Machine in Weak Grids
Abstract:
Many countries' policies have shifted rapidly towards using renewable energy for climate reasons. As a result, inverter-based resources are beginning to dominate power systems. Key elements for managing the loss of conventional generators are virtual-synchronous-generator-based grid-forming inverters. Despite the unique advantages of this technology, there are still various challenges, most notably the problem of active-reactive power coupling due to a nonzero power angle and high grid impedance ratio R/X. The effect of power coupling means that any change in the inverter's active power will affect the reactive power and vice versa. This challenge results in grid instability, reduces control performance, and restricts the active power delivery capability of the inverter to the grid. This paper presents a new vision to solve this impact in weak grids by a new power-decoupling method based on adaptive virtual synchronous generator parameters. The power coupling will be studied considering the parameters causing this effect. Fuzzy logic will serve to adjust the parameters of power control loops. Hardware-in-the-loop testing on a real-time simulator (OP4610) and a physical microcontroller verified and validated the proposed method. The results showed the proposed method's effectiveness in eliminating static and dynamic power coupling and improving the grid-forming inverter performance under different operating conditions.

Authors:Manuel Kollmar, Adrian Bürger, Markus Bohlayer, Angelika Altmann-Dieses, Marco Braun, Moritz Diehl
Title: A detailed simulation model for fifth generation district heating and cooling networks with seasonal latent storage evaluated on field data
Abstract:
Fifth generation district heating and cooling (5GDHC) networks accelerate the use of renewable energies in the heating sector and enable flexible, efficient and future-proof heating and cooling supply via a single network. Due to their low temperature level and high integration of renewables, 5GDHC systems pose new challenges for the modeling of these networks in order to simulate and test operational strategies. A particular feature is the use of uninsulated pipes, which allow energy exchange with the surrounding ground. Accurate modeling of this interaction is essential for reliable simulation and optimization. This paper presents a thermp-physical model of the pip connections, the surrounding soil, a latent heat storage in the form of an ice storage as a seasonal heat storage and the house transfer stations. The model is derived from mass and energy balances leading to ordinary differential equations (ODEs). Validation is performed using field date from the 5GDHC network in Gutach-Bleibach, Germany, which supplies heating and cooling to 30 modern buildings. With an average model deviation of 4.5 % in the normalized mean bias error (NMBE) and 15.9 % in the coefficient of the variation of the root mean square error (CVRMSE), the model's accuracy is validated against the available temperature measurements. The realistic representation of the thermal-hydraulic interactions between soil and pipes, as well as the heat flow within the network, confirms the accuracy of the model and its applicability for the simulation of 5GDHC systems. The model is made openly accessible under an open-source license.

Authors:Xu Weng, K. V. Ling, Ling Zhao
Title: Receding Horizon Recursive Location Estimation
Abstract:
This paper presents a recursive solution to the receding or moving horizon estimation (MHE) problem for nonlinear time-variant systems. We provide the conditions under which the recursive MHE is equivalent to the extended Kalman filter (EKF), regardless of the horizon size. Theoretical and empirical evidence is also provided. Moreover, we clarify the connection between MHE and factor graph optimization (FGO). We apply the recursive MHE to GNSS localization and evaluate its performance using publicly available datasets. The paper is based on the deterministic least squares framework.

Authors:Roberto Boffadossi, Marco Leonesio, Lorenzo Fagiano
Title: ROBBO: An Efficient Method for Pareto Front Estimation with Guaranteed Accuracy
Abstract:
A new method to estimate the Pareto Front (PF) in bi-objective optimization problems is presented. Assuming a continuous PF, the approach, named ROBBO (RObust and Balanced Bi-objective Optimization), needs to sample at most a finite, pre-computed number of PF points. Upon termination, it guarantees that the worst-case approximation error lies within a desired tolerance range, predefined by the decision maker, for each of the two objective functions. Theoretical results are derived, about the worst-case number of PF samples required to guarantee the wanted accuracy, both in general and for specific sampling methods from the literature. A comparative analysis, both theoretical and numerical, demonstrates the superiority of the proposed method with respect to popular ones. The approach is finally showcased in a constrained path-following problem for a 2-axis positioning system and in a steady-state optimization problem for a Continuous-flow Stirred Tank Reactor. An open demo implementation of ROBBO is made available online.

Authors:Collin R. Johnson, Kerstin Wohlgemuth, Sergio Lucia
Title: A tutorial overview of model predictive control for continuous crystallization: current possibilities and future perspectives
Abstract:
This paper presents a systematic approach to the advanced control of continuous crystallization processes using model predictive control. We provide a tutorial introduction to controlling complex particle size distributions by integrating population balance equations with detailed models of various continuous crystallizers. Since these high-fidelity models are often too complex for online optimization, we propose the use of data-driven surrogate models that enable efficient optimization-based control. Through two case studies, one with a low-complexity system allowing direct comparison with traditional methods and another involving a spatially distributed crystallizer, we demonstrate how our approach enables real-time model predictive control while maintaining accuracy. The presented methodology facilitates the use of complex models in a model-based control framework, allowing precise control of key particle size distribution characteristics, such as the median particle size $d_{50}$ and the width $d_{90} - d_{10}$. This addresses a critical challenge in pharmaceutical and fine chemical manufacturing, where product quality depends on tight control of particle characteristics.

Authors:Martin Cornejo, Melina Graner, Holger Hesse, Andreas Jossen
Title: Evaluating the Impact of Model Accuracy for Optimizing Battery Energy Storage Systems
Abstract:
This study investigates two models of varying complexity for optimizing intraday arbitrage energy trading of a battery energy storage system using a model predictive control approach. Scenarios reflecting different stages of the system's lifetime are analyzed. The findings demonstrate that the equivalent-circuit-model-based non-linear optimization model outperforms the simpler linear model by delivering more accurate predictions of energy losses and system capabilities. This enhanced accuracy enables improved operational strategies, resulting in increased roundtrip efficiency and revenue, particularly in systems with batteries exhibiting high internal resistance, such as second-life batteries. However, to fully leverage the model's benefits, it is essential to identify the correct parameters.

Authors:Partha Chowdhury, Harsha M, Ayush Gupta, Sanat K Biswas
Title: Orbital Collision: An Indigenously Developed Web-based Space Situational Awareness Platform
Abstract:
This work presents an indigenous web based platform Orbital Collision (OrCo), created by the Space Systems Laboratory at IIIT Delhi, to enhance Space Situational Awareness (SSA) by predicting collision probabilities of space objects using Two Line Elements (TLE) data. The work highlights the growing challenges of congestion in the Earth's orbital environment, mainly due to space debris and defunct satellites, which increase collision risks. It employs several methods for propagating orbital uncertainty and calculating the collision probability. The performance of the platform is evaluated through accuracy assessments and efficiency metrics, in order to improve the tracking of space objects and ensure the safety of the satellite in congested space.

Authors:Sreeja Roy-Singh, Alan P. Li, Vinay Ravindra, Roderick Lammers, Marc Sanchez Net
Title: Agile, Autonomous Spacecraft Constellations with Disruption Tolerant Networking to Monitor Precipitation and Urban Floods
Abstract:
Fully re-orientable small spacecraft are now supported by commercial technologies, allowing them to point their instruments in any direction and capture images, with short notice. When combined with improved onboard processing, and implemented on a constellation of inter-communicable satellites, this intelligent agility can significantly increase responsiveness to transient or evolving phenomena. We demonstrate a ground-based and onboard algorithmic framework that combines orbital mechanics, attitude control, inter-satellite communication, intelligent prediction and planning to schedule the time-varying, re-orientation of agile, small satellites in a constellation. Planner intelligence is improved by updating the predictive value of future space-time observations based on shared observations of evolving episodic precipitation and urban flood forecasts. Reliable inter-satellite communication within a fast, dynamic constellation topology is modeled in the physical, access control and network layer. We apply the framework on a representative 24-satellite constellation observing 5 global regions. Results show appropriately low latency in information exchange (average within 1/3rd available time for implicit consensus), enabling the onboard scheduler to observe ~7% more flood magnitude than a ground-based implementation. Both onboard and offline versions performed ~98% better than constellations without agility.

Authors:Mohamad Hachem, Clément Roos, Thierry Miquel, Murat Bronz
Title: Full-Pose Tracking via Robust Control for Over-Actuated Multirotors
Abstract:
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated multirotors, to a broader range of multirotor configurations. To achieve precise and robust attitude and position tracking, we employ a weighted least-squares geometric guidance control allocation method, formulated as a quadratic optimization problem, enabling full-pose tracking. The proposed approach effectively addresses key challenges, such as preventing infeasible pose references and enhancing robustness against disturbances, as well as considering multirotor's actual physical limitations. Numerical simulations with an over-actuated hexacopter validate the method's effectiveness, demonstrating its adaptability to diverse mission scenarios and its potential for real-world aerial applications.

Authors:Francesco Conte, Fernando Mancilla-David, Amritansh Sagar, Chendan Li, Federico Silvestro, Samuele Grillo
Title: Detailed Small-Signal Stability Analysis of the Cigré High-Voltage Network Penetrated by Grid-Following Inverter-Based Resources
Abstract:
This paper presents a detailed small-signal stability analysis of a modified version of the Cigré European high-voltage network, where one of the synchronous generators is replaced by a grid-following inverter-based resource (IBR). The analysis focuses on the influence of the parameters defining the grid-following IBR control scheme on the stability of the system. Given a set of potential grid configurations and the value of the IBR control parameters, stability is verified by the direct eigenvalue analysis of a high-detailed linearized model of the overall Cigré network. Starting from this procedure, we propose an adaptive sampling method for training a support vector machine classifier able to estimate the probability of stability of the power system over a domain defined by candidate intervals of the considered parameters. The training of the classifier is refined to identify with more accuracy the boundaries of the parameters' stability regions. The obtained results are then compared with those obtained by representing the grid with the classical Thévenin equivalent. Results suggest that, when the Thévenin equivalent is accurate, the predicted stability region is conservative yet contained within that of the full network.

Authors:Bahram Yaghooti, Chengyu Li, Bruno Sinopoli
Title: A Data-Integrated Framework for Learning Fractional-Order Nonlinear Dynamical Systems
Abstract:
This paper presents a data-integrated framework for learning the dynamics of fractional-order nonlinear systems in both discrete-time and continuous-time settings. The proposed framework consists of two main steps. In the first step, input-output experiments are designed to generate the necessary datasets for learning the system dynamics, including the fractional order, the drift vector field, and the control vector field. In the second step, these datasets, along with the memory-dependent property of fractional-order systems, are used to estimate the system's fractional order. The drift and control vector fields are then reconstructed using orthonormal basis functions. To validate the proposed approach, the algorithm is applied to four benchmark fractional-order systems. The results confirm the effectiveness of the proposed framework in learning the system dynamics accurately. Finally, the same datasets are used to learn equivalent integer-order models. The numerical comparisons demonstrate that fractional-order models better capture long-range dependencies, highlighting the limitations of integer-order representations.

Authors:Ruonan Lia, Chang Wena, Mingyu Yan, Congcong Wu, Ahmed Lotfy Elrefai, Xiaotong Zhang, Sahban Wael Saeed Alnaser
Title: Multi-dimensional evaluation on a rural integrated energy system including solar, wind, biomass and geothermal energy
Abstract:
This study focuses on the novel municipal-scale rural integrated energy system (RIES), which encompasses energy supply and application. By constructing a seven-dimensional evaluation system including energy efficiency, energy supply, low-carbon sustainability, environmental impact, energy economy, social benefits, and integrated energy system development, this research combines the improved analytic hierarchy process (IAHP) and entropy weight method (EWM) by sum of squares of deviations to balance expert experience and data objectivity. Furthermore, the cloud model is introduced to handle the fuzziness and randomness in the evaluation. This method can quantify the differences in system performance before and after the planning implementation. The results indicate that after planning, the comprehensive score has increased from 83.12 to 87.55, the entropy value has decreased from 6.931 to 5.336, indicating enhanced system stability. The hyper-entropy has dropped from 3.08 to 2.278, reflecting a reduction in uncertainty. The research findings provide a scientific basis for the planning optimization, policy-making, and sustainable development of rural integrated energy systems, possessing both theoretical innovation and practical guiding value.

Authors:E. D. Gomez Anccas, C. A. Hans, D. Schulz
Title: Microgrid Operation Control with Adaptable Droop Gains
Abstract:
Modern low-carbon power systems come with many challenges, such as increased inverter penetration and increased uncertainty from renewable sources and loads. In this context, the microgrid concept is a promising approach, which is based on a segmentation of the grid into independent smaller cells that can run either in grid-connected or standalone mode.In microgrids, droop control is widely used for primary control. It enables proportional power sharing, depending on the droop gains. Operation control schemes considering droop control often assume fixed droop gains. However, using adaptive droop gains for grid-forming units allow to shape power sharing in presence of fluctuations, enhancing flexibility while maintaining a safe microgrid operation, particularly under uncertainty. This work introduces a bilinear formulation for microgrid operation control that finds optimal power setpoints and droop gains on a timescale of minutes by solving a finite horizon optimization problem. In detail, a robust minmax model predictive control scheme is designed for a standalone microgrid, comprising a fuel cell, a photovoltaic system and an energy storage. Closed-loop simulations are performed with and without variable droop gains. The results show an increase in renewable utilization of up to 7.5 % while reducing the power output of the fuel cell by 6 %, when allowing variable droop gains.

Authors:Yanhong Luo, Wenchao Meng, Xi Zhu, Andreas Elombo, Hu Rong, Bing Xie, Tianwen Zhang
Title: Islanding Strategy for Smart Grids Oriented to Resilience Enhancement and Its Power Supply Range Optimization
Abstract:
With the increasing prevalence of distributed generators, islanded operation based on distributed generation is considered a vital means to enhance the reliability and resilience of smart grids. This paper investigates the main factors in islanding partition of smart grids and establishes a mathematical model for islanding division. A method to determine the maximum power supply range of distributed energy resources (DERs) based on the reachability matrix and power circle algorithm is proposed to improve computational efficiency. A dynamic programming method based on breadth-first search (BFS) is used to solve the islanding partition scheme, and a region correction method is applied to modify the maximum power supply area by considering controllable loads and prioritizing critical load restoration, thereby enhancing system resilience. Finally, simulation results verify the effectiveness of the proposed algorithm in improving smart grid resilience.

Authors:Pauline Blohm, Felix Schulz, Lisa Willemsen, Anne Remke, Paula Herber
Title: Modeling Uncertainty: From Simulink to Stochastic Hybrid Automata
Abstract:
Simulink is widely used in industrial design processes to model increasingly complex embedded control systems. Thus, their formal analysis is highly desirable. However, this comes with two major challenges: First, Simulink models often provide an idealized view of real-life systems and omit uncertainties such as, aging, sensor noise or failures. Second, the semantics of Simulink is only informally defined. In this paper, we present an approach to formally analyze safety and performance of embedded control systems modeled in Simulink in the presence of uncertainty. To achieve this, we 1) model different types of uncertainties as stochastic Simulink subsystems and 2) extend an existing formalization of the Simulink semantics based on stochastic hybrid automata (SHA) by providing transformation rules for the stochastic subsystems. Our approach gives us access to established quantitative analysis techniques, like statistical model checking and reachability analysis. We demonstrate the applicability of our approach by analyzing safety and performance in the presence of uncertainty for two smaller case studies.

Authors:Hengyu Liu, Yanhong Luo, Congcong Wu, Yin Guan, Ahmed Lotfy Elrefai, Andreas Elombo, Si Li, Sahban Wael Saeed Alnaser, Mingyu Yan
Title: Considering the multi-time scale rolling optimization scheduling method of micro-energy network connected to electric vehicles
Abstract:
The large-scale access of electric vehicles to the power grid not only provides flexible adjustment resources for the power system, but the temporal uncertainty and distribution complexity of their energy interaction pose significant challenges to the economy and robustness of the micro-energy network. In this paper, we propose a multi-time scale rolling optimization scheduling method for micro-energy networks considering the access of electric vehicles. In order to solve the problem of evaluating the dispatchable potential of electric vehicle clusters, a charging station aggregation model was constructed based on Minkowski summation theory, and the scattered electric vehicle resources were aggregated into virtual energy storage units to participate in system scheduling. Integrate price-based and incentive-based demand response mechanisms to synergistically tap the potential of source-load two-side regulation; On this basis, a two-stage optimal scheduling model of day-ahead and intra-day is constructed. The simulation results show that the proposed method reduces the scale of "preventive curtailment" due to more accurate scheduling, avoids the threat of power shortage to the safety of the power grid, and has more advantages in the efficiency of new energy consumption. At the same time, intra-day scheduling significantly reduces economic penalties and operating costs by avoiding output shortages, and improves the economy of the system in an uncertain forecasting environment.

Authors:Zhicheng Zhang, Yoshihiko Susuki, Atsushi Okazaki
Title: Extracting transient Koopman modes from short-term weather simulations with sparsity-promoting dynamic mode decomposition
Abstract:
Convective features-here represented as warm bubble-like patterns-reveal essential, high-level information about how short-term weather dynamics evolve within a high-dimensional state space. We introduce a data-driven framework that uncovers transient dynamics captured by Koopman modes responsible for these structures and traces their emergence, growth, and decay. Our approach incorporates the sparsity-promoting dynamic mode decomposition into the framework of Koopman mode decomposition, yielding a few number of selected modes whose sparse amplitudes highlight dominant transient structures. By tuning the sparsity weight, we balance reconstruction accuracy and model complexity. We illustrate the methodology on weather simulations, using the magnitude of velocity and vorticity fields as distinct observable datasets. The resulting sparse dominant Koopman modes capture the transient evolution of bubble-like pattern and can reduce the dimensionality of the weather system model, offering an efficient surrogate for diagnostic and forecasting tasks.

Authors:Shakib Mustavee, Shaurya Agarwal, Arvind Singh
Title: A Stochastic Differential Equation Framework for Modeling Queue Length Dynamics Inspired by Self-Similarity
Abstract:
This article develops a stochastic differential equation (SDE) for modeling the temporal evolution of queue length dynamics at signalized intersections. Inspired by the observed quasiperiodic and self-similar characteristics of the queue length dynamics, the proposed model incorporates three properties into the SDE: (i) mean reversion with periodic mean, (ii) multiplicative noise, and (iii) fractional Brownian motion. It replicates key statistical features observed in real data, including the probability distribution function (PDF) and PSD of queue lengths. To our knowledge, this is the first equation-based model for queue dynamics. The proposed approach offers a transparent, data-consistent framework that may help inform and enhance the design of black-box learning algorithms with underlying traffic physics.

Authors:Daniel Anadria, Roel Dobbe, Anastasia Giachanou, Ruurd Kuiper, Richard Bartels, Wouter van Amsterdam, Íñigo Martínez de Rituerto de Troya, Carmen Zürcher, Daniel Oberski
Title: From Data-Driven to Purpose-Driven Artificial Intelligence: Systems Thinking for Data-Analytic Automation of Patient Care
Abstract:
In this work, we reflect on the data-driven modeling paradigm that is gaining ground in AI-driven automation of patient care. We argue that the repurposing of existing real-world patient datasets for machine learning may not always represent an optimal approach to model development as it could lead to undesirable outcomes in patient care. We reflect on the history of data analysis to explain how the data-driven paradigm rose to popularity, and we envision ways in which systems thinking and clinical domain theory could complement the existing model development approaches in reaching human-centric outcomes. We call for a purpose-driven machine learning paradigm that is grounded in clinical theory and the sociotechnical realities of real-world operational contexts. We argue that understanding the utility of existing patient datasets requires looking in two directions: upstream towards the data generation, and downstream towards the automation objectives. This purpose-driven perspective to AI system development opens up new methodological opportunities and holds promise for AI automation of patient care.

Authors:Yangyang Xu, Chenglin Liao
Title: A Model-Free Detection Method for Internal Short Circuits in Single Lithium-ion Cells Using Pseudo Open-Circuit Voltage Difference
Abstract:
This letter proposes a lightweight, model-free online diagnostic framework for detecting internal short circuits (ISC) in single lithium-ion cells under dynamic operating conditions. The core of the method lies in computing the first-order difference of pseudo open-circuit voltage ($\boldsymbol{\mathrm{OCV}_{\text{pseudo}}}$) to extract high-frequency deviations caused by ISC events from low-frequency polarization variations. The method relies solely on terminal voltage, current measurements, and an offline $R_0$--SOC look-up table, thereby eliminating the need for electrochemical or equivalent-circuit observers. Validated on ten real and one false fault scenarios, the proposed approach achieves a 100\% detection success rate with no missed or false alarms. In addition, the proposed method exhibits extremely low computational and memory requirements, making it highly suitable for real-time deployment in battery management systems (BMS).

Authors:Dan Sturm, Marzieyh Rezaei, Alana Dee, Sajjad Moazeni
Title: C2PO: Coherent Co-packaged Optics using offset-QAM-16 for Beyond PAM-4 Optical I/O
Abstract:
Co-packaged optics (CPO) has emerged as a promising solution for achieving the ultra-high bandwidths, shoreline densities, and energy efficiencies required by future GPUs and network switches for AI. Microring modulators (MRMs) are well suited for transmitters due to their compact size, high energy efficiency, and natural compatibility with dense wavelength-division multiplexing (DWDM). However, extending beyond the recently demonstrated 200 Gb/s will require more advanced modulation formats, such as higher-order coherent modulation (e.g., QAM-16). In this work, we show how microring resonators (MRMs) can be efficiently used to implement phase-constant amplitude modulators and form the building blocks of a transmitter for offset QAM-16, which has been shown to simplify carrier-phase recovery relative to conventional QAM. We simulate and evaluate the performance of our proposed MRM-based coherent CPO (C2PO) transmitters using a foundry-provided commercial silicon photonics process, demonstrating an input-normalized electric field amplitude contrast of 0.64 per dimension. Through full link-level bit error rate modeling, we show that our design achieves 400 Gb/s using offset QAM-16 at a total optical laser power of 9.65 dBm-comparable to that required by conventional QAM-16 MZI-based links, despite using 10-100x less area. We further conduct a thermal simulation to assess the transmitter's thermal stability at the MRM input optical power required to meet a target BER at the desired data rates. Finally, as a proof of concept, we demonstrate 25 Gb/s MRM-based offset QAM-4 modulation with a chip fabricated in the GlobalFoundries 45 nm monolithic silicon photonics process.

Authors:Yinlong Liu, Tianyu Huang, Zhi-Xin Yang
Title: Linearly Solving Robust Rotation Estimation
Abstract:
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear and non-convex optimization problem that requires careful design. However, in this paper, we provide some new perspectives that solving a rotation estimation problem can be reformulated as solving a linear model fitting problem without dropping any constraints and without introducing any singularities. In addition, we explore the dual structure of a rotation motion, revealing that it can be represented as a great circle on a quaternion sphere surface. Accordingly, we propose an easily understandable voting-based method to solve rotation estimation. The proposed method exhibits exceptional robustness to noise and outliers and can be computed in parallel with graphics processing units (GPUs) effortlessly. Particularly, leveraging the power of GPUs, the proposed method can obtain a satisfactory rotation solution for large-scale($10^6$) and severely corrupted (99$\%$ outlier ratio) rotation estimation problems under 0.5 seconds. Furthermore, to validate our theoretical framework and demonstrate the superiority of our proposed method, we conduct controlled experiments and real-world dataset experiments. These experiments provide compelling evidence supporting the effectiveness and robustness of our approach in solving rotation estimation problems.

Authors:Sarah A. Toonsi, Jeff S. Shamma
Title: Higher-Order Uncoupled Learning Dynamics and Nash Equilibrium
Abstract:
We study learnability of mixed-strategy Nash Equilibrium (NE) in general finite games using higher-order replicator dynamics as well as classes of higher-order uncoupled heterogeneous dynamics. In higher-order uncoupled learning dynamics, players have no access to utilities of opponents (uncoupled) but are allowed to use auxiliary states to further process information (higher-order). We establish a link between uncoupled learning and feedback stabilization with decentralized control. Using this association, we show that for any finite game with an isolated completely mixed-strategy NE, there exist higher-order uncoupled learning dynamics that lead (locally) to that NE. We further establish the lack of universality of learning dynamics by linking learning to the control theoretic concept of simultaneous stabilization. We construct two games such that any higher-order dynamics that learn the completely mixed-strategy NE of one of these games can never learn the completely mixed-strategy NE of the other. Next, motivated by imposing natural restrictions on allowable learning dynamics, we introduce the Asymptotic Best Response (ABR) property. Dynamics with the ABR property asymptotically learn a best response in environments that are asymptotically stationary. We show that the ABR property relates to an internal stability condition on higher-order learning dynamics. We provide conditions under which NE are compatible with the ABR property. Finally, we address learnability of mixed-strategy NE in the bandit setting using a bandit version of higher-order replicator dynamics.

Authors:Francisco G. Montoya, Santiago Sánchez Acevedo
Title: General Reference Frame Identification and Transformation in Unbalanced Power Systems
Abstract:
Coordinate transformations provide dimensional reduction benefits across power system analysis, electric machine modeling, and power electronic converter control. This paper introduces a novel transformation based on Geometric Algebra that directly identifies the plane containing unbalanced quantity loci through bivector analysis. The method provides a direct transformation valid for any degree of unbalance in $n$-phase, $(n+1)$-wire sinusoidal systems, requiring only two voltage or current measurements at different time instants. Through pure geometric reasoning, we demonstrate that our approach generalizes existing techniques while extending naturally to multi-dimensional systems. Experimental validation using real-time digital simulation and physical laboratory testing confirms the method's effectiveness under realistic conditions. Power electronics converter control implementation demonstrates significant practical advantages, eliminating zero component oscillations present in Clarke transformation under unbalanced conditions and enabling more effective control architectures. The combination of computational efficiency, robustness, and practical applicability represents a significant advancement for power system control applications.

Authors:Haotian Mao, Yingqing Guo
Title: Joint System Modeling Approach for Fault Simulation of Start-er/Generator and Gas Generator in All-Electric APU
Abstract:
This paper presents a joint system modeling approach for fault simulation of all-electric auxiliary power unit (APU), integrating starter/generator turn-to-turn short circuit (TTSC) faults with gas generator gas-path faults.To address challenges in electromechanical coupling, simulation precision and computational efficiency balance, we propose a multi-rate continuous-discrete hybrid simulation architecture. This architecture treats the starter/generator as a continuous system with variable step size in Simulink, while modeling the gas generator as a discrete system with fixed step size in a dynamic-link library (DLL) environment. For the starter/generator fault modeling, a multi-loop approach is deployed to accurately simulate TTSC faults. For the gas generator, we develop an improved GasTurb-DLL modeling method (IGDM) that enhances uncertainty modeling, state-space representation, and tool chain compatibility. Finally, the proposed methodology above was implemented in a case study based on the APS5000 all-electric APU structure and parameters. Model validation was conducted by comparing simulation results--covering steady-state, transients, healthy, and fault conditions--with reference data from third-party software and literature. The close agreement confirms both the model's accuracy and the effectiveness of our modeling methodology. This work establishes a modeling foundation for investigating the opportunities and challenges in fault detection and isolation (FDI) brought by the all electrification of the APU, including joint fault estimation and diagnosis, coupled electromechanical fault characteristics.

Authors:Jan Zimmermann, Jörg Mönnich, Michael Scherl, Ignacio Llatser, Florian Wildschütte, Frank Hofmann
Title: Analyzing the performance of a V2X-enhanced braking system in real-world crash situations
Abstract:
By using an automated braking system, such as the Automatic Emergency Brake (AEB), crashes can be avoided in situations where the driver is unaware of an imminent collision. However, conventional AEB systems detect potential collision adversaries with onboard sensor systems, such as radars and cameras, that may fail in non-line-of-sight situations. By leveraging vehicle-to-everything (V2X) communication, information regarding an approaching vehicle can be received by the ego vehicle at an early point in time, even if the opponent vehicle is occluded by a view obstruction. In this work, we consider a 2-stage braking cascade, consisting of a partial brake, triggered based on V2X information, and a sensor-triggered AEB. We evaluate its crash avoidance performance in real-world crash situations extracted from the German In-Depth Accident Study (GIDAS) database using an accident simulation framework. The results are compared against a sensor-triggered AEB system and a purely V2X-triggered partial brake. To further analyze the results, we identify the crash cause for each situation in which the brake function under test could not prevent the crash. The simulation results show a high added benefit of the V2X-enhanced braking systems compared to the exclusive use of visual-based sensor systems for automated collision prevention.

Authors:Sara Kamali, Guillaume O. Berger, Sriram Sankaranarayanan
Title: Synthesizing Min-Max Control Barrier Functions For Switched Affine Systems
Abstract:
We study the problem of synthesizing non-smooth control barrier functions (CBFs) for continuous-time switched affine systems. Switched affine systems are defined by a set of affine dynamical modes, wherein the control consists of a state-based switching signal that determines the current operating mode. The control barrier functions seek to maintain the system state inside a control invariant set that excludes a given set of unsafe states. We consider CBFs that take the form of pointwise minima and maxima over a finite set of affine functions. Our approach uses ideas from nonsmooth analysis to formulate conditions for min- and max- affine control barrier functions. We show how a feedback switching law can be extracted from a given CBF. Next, we show how to automate the process of synthesizing CBFs given a system description through a tree-search algorithm inspired by branch-and-cut methods from combinatorial optimization. Finally, we demonstrate our approach on a series of interesting examples of switched affine systems.

Authors:Taisia Medvedeva, Alessio Franci, Fernando Castaños
Title: Formalizing Neuromorphic Control Systems: A General Proposal and A Rhythmic Case Study
Abstract:
Neuromorphic control is receiving growing attention due to the multifaceted advantages it brings over more classical control approaches, including: sparse and on-demand sensing, information transmission, and actuation; energy-efficient designs and realizations in neuromorphic hardware; event-based signal processing and control signal computation. However, a general control-theoretical formalization of what "neuromorphic control systems" are and how we can rigorously analyze, design, and control them is still largely missing. In this note, we suggest a possible path toward formalizing neuromorphic control systems. We apply the proposed framework to a rhythmic control case study and rigorously show how it has the potential to make neuromorphic control systems analysis and design amenable to mature control theoretical approaches like describing function analysis and harmonic balance, fast-slow analysis, discrete and hybrid systems, and robust optimization.

Authors:Sean Reiter, Steffen W. R. Werner
Title: Data-driven balanced truncation for second-order systems with generalized proportional damping
Abstract:
Structured reduced-order modeling is a central component in the computer-aided design of control systems in which cheap-to-evaluate low-dimensional models with physically meaningful internal structures are computed. In this work, we develop a new approach for the structured data-driven surrogate modeling of linear dynamical systems described by second-order time derivatives via balanced truncation model-order reduction. The proposed method is a data-driven reformulation of position-velocity balanced truncation for second-order systems and generalizes the quadrature-based balanced truncation for unstructured first-order systems to the second-order case. The computed surrogates encode a generalized proportional damping structure, and the damping coefficients are inferred solely from data by minimizing a least-squares error over the coefficients. Several numerical examples demonstrate the effectiveness of the proposed method.

Authors:Dhrumil Bhatt, Nirbhay Singhal
Title: Enhanced V2X Communication Using Game-Theory Based Adaptive MAC Protocols
Abstract:
This paper presents an enhanced Vehicle-to-Everything (V2X) communication system featuring adaptive Medium Access Control (MAC) using game theory. Our approach integrates dynamic transmission power control, dynamic beacon rates, contention window adaptation, and implicit acknowledgment mechanisms within a Manhattan-like grid-based mobility scenario. Simulations are conducted in a circular coverage area, incorporating refined signal propagation models and probabilistic vehicle mobility with boundary reflection. The results demonstrate effective beacon delivery with average delays under 0.35 s and packet loss rates less than 1% in high-density conditions specifically, with up to 80 vehicles operating within a 250 m radius. Key innovations include game theory-based environment-aware transmission parameter adaptation and a scalable design suited for interference-prone V2X deployments.

Authors:Dominik Friml, Pavel Václavek
Title: Probability-One Optimization of Generalized Rayleigh Quotient Sum For Multi-Source Generalized Total Least-Squares
Abstract:
This paper addresses the global optimization of the sum of the Rayleigh quotient and the generalized Rayleigh quotient on the unit sphere. While various methods have been proposed for this problem, they fail to reliably converge to the global maximizer. To overcome this limitation, we propose an extension of the Riemannian Trust Region algorithm based on the probability-one homotopy optimization method, which enhances convergence to a global maximizer and, under certain conditions, ensures convergence to the global maximizer. In addition to the proposed method, existing state-of-the-art approaches are also presented, along with an explanation of their limitations and their connection to the proposed method. The proposed method is evaluated alongside the state-of-the-art approaches through numerical experiments, assessing convergence speed, success in reaching the global maximizer, and scalability with increasing problem dimension. Furthermore, we demonstrate how this ties in with the multi-source Bayesian Generalized Total Least-Squares (B-GTLS) problem, illustrating its applicability.

Authors:Wenxin Liu, Jiakun Fang, Shichang Cui, Iskandar Abdullaev, Suyang Zhou, Xiaomeng Ai, Jinyu Wen
Title: Optimization and Control Technologies for Renewable-Dominated Hydrogen-Blended Integrated Gas-Electricity System: A Review
Abstract:
The growing coupling among electricity, gas, and hydrogen systems is driven by green hydrogen blending into existing natural gas pipelines, paving the way toward a renewable-dominated energy future. However, the integration poses significant challenges, particularly ensuring efficient and safe operation under varying hydrogen penetration and infrastructure adaptability. This paper reviews progress in optimization and control technologies for hydrogen-blended integrated gas-electricity system. First, key technologies and international demonstration projects are introduced to provide an overview of current developments. Besides, advances in gas-electricity system integration, including modeling, scheduling, planning and market design, are reviewed respectively. Then, the potential for cross-system fault propagation is highlighted, and practical methods for safety analysis and control are proposed. Finally, several possible research directions are introduced, aiming to ensure efficient renewable integration and reliable operation.

Authors:Alicia Beneyto-Rodriguez, Gregorio I. Sainz-Palmero, Marta Galende-Hernández, María J. Fuente
Title: Linguistic Ordered Weighted Averaging based deep learning pooling for fault diagnosis in a wastewater treatment plant
Abstract:
Nowadays, water reuse is a serious challenge to help address water shortages. Here, the wastewater treatment plants (WWTP) play a key role, and its proper operation is mandatory. So, fault diagnosis is a key activity for these plants. Their high complexity and large-scale require of smart methodologies for that fault diagnosis and safety operation. All these large-scale and complex industrial processes are monitored, allowing the data collection about the plant operation, so data driven approaches for fault diagnosis can be applied. A popular approach to fault diagnosis is deep learning-based methodologies. Here, a fault diagnosis methodology is proposed for a WWTP using a new linguistic Ordered Weighted Averaging (OWA) pooling based Deep Convolutional Neural Network (DCNN) and a sliding and overlapping time window. This window slides over input data based on the monitoring sampling time, then the diagnosis is carried out by the linguistic OWA pooling based DCNN. This alternative linguistic pooling uses well-known linguistic OWA quantifiers, which permit terms such as \textsl{Most, AtLeast, etc.}, supplying new intuitive options for the pooling tasks. This sliding time window and the OWA pooling based network permit a better and earlier fault diagnosis, at each sampling time, using a few monitoring samples and a fewer learning iterations than DCNN standard pooling. Several linguistic OWA operators have been checked with a benchmark for WWTPs. A set of 5 fault types has been used, taking into account 140 variables sampled at 15 minutes time intervals. The performance has been over $91\%$ for $Accuracy$, $Recall$ or $F1-Score$, and better than other competitive methodologies. Moreover, these linguistic OWA operators for DCNN pooling have shown a better performance than the standard \textsl{Max} and \textsl{Average} options.

Authors:Anh N. Nhu, Sanghyun Son, Ming Lin
Title: Time-Aware World Model for Adaptive Prediction and Control
Abstract:
In this work, we introduce the Time-Aware World Model (TAWM), a model-based approach that explicitly incorporates temporal dynamics. By conditioning on the time-step size, Δt, and training over a diverse range of Δt values -- rather than sampling at a fixed time-step -- TAWM learns both high- and low-frequency task dynamics across diverse control problems. Grounded in the information-theoretic insight that the optimal sampling rate depends on a system's underlying dynamics, this time-aware formulation improves both performance and data efficiency. Empirical evaluations show that TAWM consistently outperforms conventional models across varying observation rates in a variety of control tasks, using the same number of training samples and iterations. Our code can be found online at: github.com/anh-nn01/Time-Aware-World-Model.

Authors:Yanpei Shi, Jingxuan Zhang, Zhuo Shi, Chenyao Zhang, Yuze Guo, Rui Feng
Title: Compact Amplified Laser Power Stabilization Using Robust Active Disturbance Rejection Control with Sensor Noise Decoupling
Abstract:
Laser power instability, encompassing random jitter and slow drift, severely limits the performance of optically pumped magnetometers (OPMs) in detecting ultra-weak magnetic fields, especially in large-scale OPM arrays for magnetoencephalography. Although a unified amplified laser (AL) architecture improves integration, fluctuations in the pump beam progressively degrade performance across all channels, exacerbated by environmental disturbances and system uncertainties. To address this challenge, this paper presents a compact AL power stabilization approach based on an innovative dual-loop active disturbance rejection control (DLADRC) strategy, while integrating a comprehensive quantitative stability analysis through novel exponential decay estimates for extended state observers (ESOs) and control error dynamics. As validated through physical experimental results, the proposed method significantly improves AL's long-term stability with sensor noise decoupling, achieving an over 85.7% reduction in 1-hour power instability and a tenfold decrease in Allan variance for correlation times 10^2 s--10^3 s, compared to standard ADRC. Crucially, the strategy demonstrates robust effectiveness across diverse operating scenarios, enabling AL-based OPM systems to achieve their full potential in high-sensitivity biomagnetic field detection.

Authors:Ali Abedi, Fernando Cladera, Mohsen Farajijalal, Reza Ehsani
Title: Adaptive Per-Tree Canopy Volume Estimation Using Mobile LiDAR in Structured and Unstructured Orchards
Abstract:
We present a real-time system for per-tree canopy volume estimation using mobile LiDAR data collected during routine robotic navigation. Unlike prior approaches that rely on static scans or assume uniform orchard structures, our method adapts to varying field geometries via an integrated pipeline of LiDAR-inertial odometry, adaptive segmentation, and geometric reconstruction. We evaluate the system across two commercial orchards, one pistachio orchard with regular spacing and one almond orchard with dense, overlapping crowns. A hybrid clustering strategy combining DBSCAN and spectral clustering enables robust per-tree segmentation, achieving 93% success in pistachio and 80% in almond, with strong agreement to drone derived canopy volume estimates. This work advances scalable, non-intrusive tree monitoring for structurally diverse orchard environments.

Authors:Huy Truong-Ba, Jacky Chin, Michael E. Cholette, Pietro Borghesani
Title: Sensor Fusion for Track Geometry Monitoring: Integrating On-Board Data and Degradation Models via Kalman Filtering
Abstract:
Track geometry monitoring is essential for maintaining the safety and efficiency of railway operations. While Track Recording Cars (TRCs) provide accurate measurements of track geometry indicators, their limited availability and high operational costs restrict frequent monitoring across large rail networks. Recent advancements in on-board sensor systems installed on in-service trains offer a cost-effective alternative by enabling high-frequency, albeit less accurate, data collection. This study proposes a method to enhance the reliability of track geometry predictions by integrating low-accuracy sensor signals with degradation models through a Kalman filter framework. An experimental campaign using a low-cost sensor system mounted on a TRC evaluates the proposed approach. The results demonstrate that incorporating frequent sensor data significantly reduces prediction uncertainty, even when the data is noisy. The study also investigates how the frequency of data recording influences the size of the credible prediction interval, providing guidance on the optimal deployment of on-board sensors for effective track monitoring and maintenance planning.

Authors:Nikolaos Bousias, Lars Lindemann, George Pappas
Title: Deep Equivariant Multi-Agent Control Barrier Functions
Abstract:
With multi-agent systems increasingly deployed autonomously at scale in complex environments, ensuring safety of the data-driven policies is critical. Control Barrier Functions have emerged as an effective tool for enforcing safety constraints, yet existing learning-based methods often lack in scalability, generalization and sampling efficiency as they overlook inherent geometric structures of the system. To address this gap, we introduce symmetries-infused distributed Control Barrier Functions, enforcing the satisfaction of intrinsic symmetries on learnable graph-based safety certificates. We theoretically motivate the need for equivariant parametrization of CBFs and policies, and propose a simple, yet efficient and adaptable methodology for constructing such equivariant group-modular networks via the compatible group actions. This approach encodes safety constraints in a distributed data-efficient manner, enabling zero-shot generalization to larger and denser swarms. Through extensive simulations on multi-robot navigation tasks, we demonstrate that our method outperforms state-of-the-art baselines in terms of safety, scalability, and task success rates, highlighting the importance of embedding symmetries in safe distributed neural policies.

Authors:Armin Lederer, Erfaun Noorani, Andreas Krause
Title: Distributed Risk-Sensitive Safety Filters for Uncertain Discrete-Time Systems
Abstract:
Ensuring safety in multi-agent systems is a significant challenge, particularly in settings where centralized coordination is impractical. In this work, we propose a novel risk-sensitive safety filter for discrete-time multi-agent systems with uncertain dynamics that leverages control barrier functions (CBFs) defined through value functions. Our approach relies on centralized risk-sensitive safety conditions based on exponential risk operators to ensure robustness against model uncertainties. We introduce a distributed formulation of the safety filter by deriving two alternative strategies: one based on worst-case anticipation and another on proximity to a known safe policy. By allowing agents to switch between strategies, feasibility can be ensured. Through detailed numerical evaluations, we demonstrate the efficacy of our approach in maintaining safety without being overly conservative.

Authors:Chi Liu, Zhezhuang Xu, Jiawei Zhou, Yazhou Yuan, Kai Ma, Meng Yuan
Title: Deep reinforcement learning-based joint real-time energy scheduling for green buildings with heterogeneous battery energy storage devices
Abstract:
Green buildings (GBs) with renewable energy and building energy management systems (BEMS) enable efficient energy use and support sustainable development. Electric vehicles (EVs), as flexible storage resources, enhance system flexibility when integrated with stationary energy storage systems (ESS) for real-time scheduling. However, differing degradation and operational characteristics of ESS and EVs complicate scheduling strategies. This paper proposes a model-free deep reinforcement learning (DRL) method for joint real-time scheduling based on a combined battery system (CBS) integrating ESS and EVs. We develop accurate degradation models and cost estimates, prioritize EV travel demands, and enable collaborative ESS-EV operation under varying conditions. A prediction model optimizes energy interaction between CBS and BEMS. To address heterogeneous states, action coupling, and learning efficiency, the DRL algorithm incorporates double networks, a dueling mechanism, and prioritized experience replay. Experiments show a 37.94 percent to 40.01 percent reduction in operating costs compared to a mixed-integer linear programming (MILP) approach.

Authors:Anju Anand, Emrah Akyol
Title: On the Interplay of Privacy, Persuasion and Quantization
Abstract:
We develop a communication-theoretic framework for privacy-aware and resilient decision making in cyber-physical systems under misaligned objectives between the encoder and the decoder. The encoder observes two correlated signals ($X$,$θ$) and transmits a finite-rate message $Z$ to aid a legitimate controller (the decoder) in estimating $X+θ$, while an eavesdropper intercepts $Z$ to infer the private parameter $θ$. Unlike conventional setups where encoder and decoder share a common MSE objective, here the encoder minimizes a Lagrangian that balances legitimate control fidelity and the privacy leakage about $θ$. In contrast, the decoder's goal is purely to minimize its own estimation error without regard for privacy. We analyze fully, partially, and non-revealing strategies that arise from this conflict, and characterize optimal linear encoders when the rate constraints are lifted. For finite-rate channels, we employ gradient-based methods to compute the optimal controllers. Numerical experiments illustrate how tuning the privacy parameter shapes the trade-off between control performance and resilience against unauthorized inferences.

Authors:Kjetil Vasstein, Christian Le, Simon Lervåg Breivik, Trygve Maukon Myhr, Annette Stahl, Edmund Førland Brekke
Title: PyGemini: Unified Software Development towards Maritime Autonomy Systems
Abstract:
Ensuring the safety and certifiability of autonomous surface vessels (ASVs) requires robust decision-making systems, supported by extensive simulation, testing, and validation across a broad range of scenarios. However, the current landscape of maritime autonomy development is fragmented -- relying on disparate tools for communication, simulation, monitoring, and system integration -- which hampers interdisciplinary collaboration and inhibits the creation of compelling assurance cases, demanded by insurers and regulatory bodies. Furthermore, these disjointed tools often suffer from performance bottlenecks, vendor lock-in, and limited support for continuous integration workflows. To address these challenges, we introduce PyGemini, a permissively licensed, Python-native framework that builds on the legacy of Autoferry Gemini to unify maritime autonomy development. PyGemini introduces a novel Configuration-Driven Development (CDD) process that fuses Behavior-Driven Development (BDD), data-oriented design, and containerization to support modular, maintainable, and scalable software architectures. The framework functions as a stand-alone application, cloud-based service, or embedded library -- ensuring flexibility across research and operational contexts. We demonstrate its versatility through a suite of maritime tools -- including 3D content generation for simulation and monitoring, scenario generation for autonomy validation and training, and generative artificial intelligence pipelines for augmenting imagery -- thereby offering a scalable, maintainable, and performance-oriented foundation for future maritime robotics and autonomy research.

Authors:Ricus Husmann, Sven Weishaupt, Harald Aschemann
Title: Direct Integration of Recursive Gaussian Process Regression Into Extended Kalman Filters With Application to Vapor Compression Cycle Control
Abstract:
This paper presents a real-time capable algorithm for the learning of Gaussian Processes (GP) for submodels. It extends an existing recursive Gaussian Process (RGP) algorithm which requires a measurable output. In many applications, however, an envisaged GP output is not directly measurable. Therefore, we present the integration of an RGP into an Extended Kalman Filter (EKF) for the combined state estimation and GP learning. The algorithm is successfully tested in simulation studies and outperforms two alternative implementations -- especially if high measurement noise is present. We conclude the paper with an experimental validation within the control structure of a Vapor Compression Cycle typically used in refrigeration and heat pumps. In this application, the algorithm is used to learn a GP model for the heat-transfer values in dependency of several process parameters. The GP model significantly improves the tracking performance of a previously published model-based controller.

Authors:Alicia Beneyto-Rodriguez, Gregorio I. Sainz-Palmero, Marta Galende-Hernández, María J. Fuente, José M. Cuenca
Title: Applying XAI based unsupervised knowledge discovering for Operation modes in a WWTP. A real case: AQUAVALL WWTP
Abstract:
Water reuse is a key point when fresh water is a commodity in ever greater demand, but which is also becoming ever more available. Furthermore, the return of clean water to its natural environment is also mandatory. Therefore, wastewater treatment plants (WWTPs) are essential in any policy focused on these serious challenges. WWTPs are complex facilities which need to operate at their best to achieve their goals. Nowadays, they are largely monitored, generating large databases of historical data concerning their functioning over time. All this implies a large amount of embedded information which is not usually easy for plant managers to assimilate, correlate and understand; in other words, for them to know the global operation of the plant at any given time. At this point, the intelligent and Machine Learning (ML) approaches can give support for that need, managing all the data and translating them into manageable, interpretable and explainable knowledge about how the WWTP plant is operating at a glance. Here, an eXplainable Artificial Intelligence (XAI) based methodology is proposed and tested for a real WWTP, in order to extract explainable service knowledge concerning the operation modes of the WWTP managed by AQUAVALL, which is the public service in charge of the integral water cycle in the City Council of Valladolid (Castilla y León, Spain). By applying well-known approaches of XAI and ML focused on the challenge of WWTP, it has been possible to summarize a large number of historical databases through a few explained operation modes of the plant in a low-dimensional data space, showing the variables and facility units involved in each case.

Authors:Kari Aaron Clark, Zun Htay, Zichuan Zhou, Amany Kassem, Andrea Pertoldi, Benjamin Rudin, Florian Emaury, Izzat Darwazeh, Zhixin Liu
Title: Synchronous Clock and RF Carrier Transmission for Radio Access Network Fronthaul
Abstract:
We simultaneously achieve clock synchronisation, clock-synchronised data transmission and ultra-low noise RF carrier generation by combining clock phase caching and frequency comb transmission in radio access networks (RAN). We demonstrate <100fs jitter for 25GHz RF carrier and 2.5GHz clock, and 16-hour 6.6ps RMS wander.

Authors:Darren Leniston, David Ryan, Ammar Malik, Jack Jackman, Terence O'Donnell
Title: Cloud-Based Interoperability in Residential Energy Systems
Abstract:
As distributed energy resources (DERs) such as solar PV, batteries and electric vehicles become increasingly prevalent at the edge, maintaining grid stability requires advanced monitoring and control mechanisms. This paper presents a scalable smart grid gateway architecture that enables interoperability between Modbus-based inverters and IEEE 2030.5 cloud-based control systems. The proposed solution leverages Azure cloud services and edge-computing gateway devices to support dynamic configuration, telemetry ingestion, remote control and Volt-VAR Curve deployment. A microservice-based architecture ensures flexibility and scalability across diverse deployment scenarios, including both gateway-mediated and direct-to-cloud device communication. Results demonstrate the successful mapping of a Fronius Primo inverter's Modbus registers to IEEE 2030.5-compliant telemetry and control functions. Additionally, we evaluate real-time VVC updates and their impact on local voltage regulation, showcasing dynamic cloud-to-edge control with minimal latency. This work highlights the potential of virtualised, standards-based control infrastructures to support DER integration and active grid participation, while remaining adaptable to evolving smart grid architectures.

Authors:Ioana Hustiu, Roozbeh Abolpour, Cristian Mahulea, Marius Kloetzer
Title: Efficient Path Planning and Task Allocation Algorithm for Boolean Specifications
Abstract:
This paper presents a novel path-planning and task assignment algorithm for multi-robot systems that should fulfill a global Boolean specification. The proposed method is based on Integer Linear Programming (ILP) formulations, which are combined with structural insights from Petri nets to improve scalability and computational efficiency. By proving that the \emph{constraint matrix} is totally unimodular (TU) for certain classes of problems, the ILP formulation can be relaxed into a Linear Programming (LP) problem without losing the integrality of the solution. This relaxation eliminates complex combinatorial techniques, significantly reducing computational overhead and thus ensuring scalability for large-scale systems. Using the approach proposed in this paper, we can solve path-planning problems for teams made up to 500 robots. The method guarantees computational tractability, handles collision avoidance and reduces computational demands through iterative LP optimization techniques. Case studies demonstrate the efficiency of the algorithm in generating scalable, collision-free paths for large robot teams navigating in complex environments. While the conservative nature of collision avoidance introduces additional constraints, and thus, computational requirements, the solution remains practical and impactful for diverse applications. The algorithm is particularly applicable to real-world scenarios, including warehouse logistics where autonomous robots must efficiently coordinate tasks or search-and-rescue operations in various environments. This work contributes both theoretically and practically to scalable multi-robot path planning and task allocation, offering an efficient framework for coordinating autonomous agents in shared environments.

Authors:Thiago Alves Lima, Matteo Della Rossa, Antoine Girard
Title: Feedback stabilization of switched systems under arbitrary switching: A convex characterization
Abstract:
In this paper, we study stabilizability of discrete-time switched linear systems where the switching signal is considered as an arbitrary disturbance (and not a control variable). We characterize feedback stabilization via necessary and sufficient linear matrix inequalities (LMIs) conditions based on novel graph structures. We analyze both the cases in which the controller has (or has not) access to the current switching mode, the so-called mode-dependent and mode-independent settings, providing specular results. Moreover, our approach provides explicit piecewise-linear and memory-dependent linear controllers, highlighting the connections with existing stabilization approaches. The effectiveness of the proposed technique is finally illustrated with the help of some numerical examples.

Authors:Ichiro Maruta, Toshiharu Sugie
Title: Fast Sampling for System Identification: Overcoming Noise, Offsets, and Closed-Loop Challenges with State Variable Filter
Abstract:
This paper investigates the effects of setting the sampling frequency significantly higher than conventional guidelines in system identification. Although continuous-time identification methods resolve the numerical difficulties encountered in discrete-time approaches when employing fast sampling (e.g., the problems caused by all poles approaching unity), the potential benefits of using sampling frequencies that far exceed traditional rules like the "ten times the bandwidth" guideline remained largely unexplored. We show that using a state variable filter (SVF)-like least squares approach, the variance of the estimation error scales as $O(h)$ with the sampling interval $h$. Importantly, this scaling holds even with colored noise or noise correlations between variables. Thus, increasing the sampling frequency and applying the SVF method offers a novel solution for challenging problems such as closed-loop system identification and measurements with offsets. Theoretical findings are supported by numerical examples, including the closed-loop identification of unstable multi-input multi-output (MIMO) systems.

Authors:Sonia Martin, Obidike Nnorom, Philip Levis, Ram Rajagopal
Title: Optimizing Software Defined Battery Systems for Transformer Protection
Abstract:
Residential electric vehicle charging causes large spikes in electricity demand that risk violating neighborhood transformer power limits. Battery energy storage systems reduce these transformer limit violations, but operating them individually is not cost-optimal. Instead of individual optimization, aggregating, or sharing, these batteries leads to cost-optimal performance, but homeowners must relinquish battery control. This paper leverages virtualization to propose battery sharing optimization schemes to reduce electricity costs, extend the lifetime of a residential transformer, and maintain homeowner control over the battery. A case study with simulated home loads, solar generation, and electric vehicle charging profiles demonstrates that joint, or shared, optimization reduces consumer bills by 56% and transformer aging by 48% compared to individual optimization. Hybrid and dynamic optimization schemes that provide owners with autonomy have similar transformer aging reduction but are slightly less cost-effective. These results suggest that controlling shared batteries with virtualization is an effective way to delay transformer upgrades in the face of growing residential electric vehicle charging penetration.

Authors:Dimitrios Kafetzis, Nikos Fotiou, Savvas Argyropoulos, Jad Nasreddine, Iordanis Koutsopoulos
Title: Video Quality Monitoring for Remote Autonomous Vehicle Control
Abstract:
The delivery of high-quality, low-latency video streams is critical for remote autonomous vehicle control, where operators must intervene in real time. However, reliable video delivery over Fourth/Fifth-Generation (4G/5G) mobile networks is challenging due to signal variability, mobility-induced handovers, and transient congestion. In this paper, we present a comprehensive blueprint for an integrated video quality monitoring system, tailored to remote autonomous vehicle operation. Our proposed system includes subsystems for data collection onboard the vehicle, video capture and compression, data transmission to edge servers, real-time streaming data management, Artificial Intelligence (AI) model deployment and inference execution, and proactive decision-making based on predicted video quality. The AI models are trained on a hybrid dataset that combines field-trial measurements with synthetic stress segments and covers Long Short-Term Memory (LSTM), Gated Recurrent Unit (GRU), and encoder-only Transformer architectures. As a proof of concept, we benchmark 20 variants from these model classes together with feed-forward Deep Neural Network (DNN) and linear-regression baselines, reporting accuracy and inference latency. Finally, we study the trade-offs between onboard and edge-based inference. We further discuss the use of explainable AI techniques to enhance transparency and accountability during critical remote-control interventions. Our proactive approach to network adaptation and Quality of Experience (QoE) monitoring aims to enhance remote vehicle operation over next-generation wireless networks.

Authors:Ahmet Burak Ozyurt, John S. Thompson
Title: Target Sensing Performance in Disaster-Specific ISAC Networks
Abstract:
As sixth-generation (6G) wireless technology emerges, integrated sensing and communication (ISAC) networks offer significant potential for enhancing real-time monitoring in disaster areas. However, existing ISAC approaches often fail to address the unique challenges of dynamic and cluttered disaster areas, resulting in limited sensing coverage and interruptions in sensing service. To address these limitations, this work proposes a mobile ISAC network specifically designed for disaster scenarios. By leveraging stochastic geometry, we derive closed-form expressions for sensing coverage and introduce a novel performance metric to evaluate sensing service continuity. Simulation results validate the analytical derivations and offer key insights into network design.

Authors:Ethan Canzini, Simon Pope, Ashutosh Tiwari
Title: Geometric Visual Servo Via Optimal Transport
Abstract:
When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an object or end-effector from an initial pose to a target pose. Robotic manipulation control laws frequently use vision systems as an error generator to track features and produce control inputs. However, current control algorithms don't take into account the probabilistic features that are extracted and instead rely on hand-tuned feature extraction methods. Furthermore, the target features can exist in a static pose thus allowing a combined pose and feature error for control generation. We present a geometric control law for the visual servoing problem for robotic manipulators. The input from the camera constitutes a probability measure on the 3-dimensional Special Euclidean task-space group, where the Wasserstein distance between the current and desired poses is analogous with the geometric geodesic. From this, we develop a controller that allows for both pose and image-based visual servoing by combining classical PD control with gravity compensation with error minimization through the use of geodesic flows on a 3-dimensional Special Euclidean group. We present our results on a set of test cases demonstrating the generalisation ability of our approach to a variety of initial positions.

Authors:Jie Huang, Fanlin Jia, Xiao He
Title: Recursive Privacy-Preserving Estimation Over Markov Fading Channels
Abstract:
In industrial applications, the presence of moving machinery, vehicles, and personnel, contributes to the dynamic nature of the wireless channel. This time variability induces channel fading, which can be effectively modeled using a Markov fading channel (MFC). In this paper, we investigate the problem of secure state estimation for systems that communicate over a MFC in the presence of an eavesdropper. The objective is to enable a remote authorized user to accurately estimate the states of a dynamic system, while considering the potential interception of the sensor's packet through a wiretap channel. To prevent information leakage, a novel co-design strategy is established, which combines a privacy-preserving mechanism with a state estimator. To implement our encoding scheme, a nonlinear mapping of the innovation is introduced based on the weighted reconstructed innovation previously received by the legitimate user. Corresponding to this encoding scheme, we design a recursive privacy-preserving filtering algorithm to achieve accurate estimation. The boundedness of estimation error dynamics at the legitimate user's side is discussed and the divergence of the eavesdropper's estimation error is analyzed, which demonstrates the effectiveness of our co-design strategy in ensuring secrecy. Furthermore, a simulation example of a three-tank system is provided to demonstrate the effectiveness and feasibility of our privacy-preserving estimation method.

Authors:Junyi Tao, Ran Li, Salvador Pineda
Title: Unit Commitment with Cost-Oriented Temporal Resolution
Abstract:
Time-adaptive unit commitment (UC) has recently been investigated to reduce the scheduling costs by flexibly varying the temporal resolution, which is usually determined by clustering the net load patterns. However, there exists a misalignment between cost and net load patterns due to the discrete start-up costs and out-of-merit-order dispatch triggered by ramping and other constraints. The optimal time-adaptive resolution cannot be completely captured by clustering-based method. This paper proposes a cost-oriented method to address this misalignment by a novel bilevel optimization approach that is efficiently solved through a heuristic greedy algorithm. The impact of varying temporal resolution on the final scheduling costs are tested, based on which the temporal resolution is heuristically updated, achieving significant cost reduction without increasing the number of temporal periods. Subsequently, an improved discretized Adam optimization method together with offline warm start and online refinement strategy is proposed to efficiently search for the better temporal resolution configuration. Results show that the proposed cost-oriented UC temporal resolution determination method achieves enhanced cost efficiency.

Authors:Rania Tafat, Jaime A. Moreno, Stefan Streif
Title: Generalized Super-Twisting Observer for a class of interconnected nonlinear systems with uncertainties
Abstract:
The Generalized Super-Twisting Observer (GSTO) is extended for a strongly observable class of nonlinearly interconnected systems with bounded uncertainties/perturbations. A nonsmooth strong Lyapunov function is used to prove the finite-time convergence of the proposed observer to the true system's trajectories, in the presence of the uncertainties. A case study on the interaction between two food production systems is presented, comparing the proposed observer with the High Gain observer. The results emphasize the critical role of the GSTO's discontinuous term in achieving exact estimation.

Authors:Toon Van Puyvelde, Mehran Zareh, Chris Develder
Title: Interpretable reinforcement learning for heat pump control through asymmetric differentiable decision trees
Abstract:
In recent years, deep reinforcement learning (DRL) algorithms have gained traction in home energy management systems. However, their adoption by energy management companies remains limited due to the black-box nature of DRL, which fails to provide transparent decision-making feedback. To address this, explainable reinforcement learning (XRL) techniques have emerged, aiming to make DRL decisions more transparent. Among these, soft differential decision tree (DDT) distillation provides a promising approach due to the clear decision rules they are based on, which can be efficiently computed. However, achieving high performance often requires deep, and completely full, trees, which reduces interpretability. To overcome this, we propose a novel asymmetric soft DDT construction method. Unlike traditional soft DDTs, our approach adaptively constructs trees by expanding nodes only when necessary. This improves the efficient use of decision nodes, which require a predetermined depth to construct full symmetric trees, enhancing both interpretability and performance. We demonstrate the potential of asymmetric DDTs to provide transparent, efficient, and high-performing decision-making in home energy management systems.

Authors:Christopher Bohn, Manuel Hess, Sören Hohmann
Title: Captivity-Escape Games as a Means for Safety in Online Motion Generation
Abstract:
This paper presents a method that addresses the conservatism, computational effort, and limited numerical accuracy of existing frameworks and methods that ensure safety in online model-based motion generation, commonly referred to as fast and safe tracking. Computational limitations restrict online motion planning to low-fidelity models. However, planning with low-fidelity models compromises safety, as the dynamic feasibility of resulting reference trajectories is not ensured. This potentially leads to unavoidable tracking errors that may cause safety-critical constraint violations. Existing frameworks mitigate this safety risk by augmenting safety-critical constraints in motion planning by a safety margin that prevents constraint violations under worst-case tracking errors. However, the methods employed in these frameworks determine the safety margin based on a heuristically selected performance of the planning model, which likely results in overly conservative reference trajectories. Furthermore, these methods are computationally intensive, and the state-of-the-art method is limited in numerical accuracy. We adopt a different perspective and address these limitations with a method that mitigates conservatism in existing frameworks by adapting the planning model performance to a given safety margin. Our method achieves numerical accuracy and requires significantly less computation time than existing methods by leveraging a captivity-escape game, which is a specific zero-sum differential game formulated in this paper. We demonstrate our method using a numerical example and compare it to the state of the art.

Authors:Ye Tian, Yu Kawano, Wei Zhang, Kenji Kashima
Title: Distributed perception of social power in influence networks with stubborn individuals
Abstract:
Social power quantifies the ability of individuals to influence others and plays a central role in social influence networks. Yet computing social power typically requires global knowledge and significant computational or storage capability, especially in large-scale networks with stubborn individuals. This paper develops distributed algorithms for social power perception in groups with stubborn individuals. We propose two dynamical models for distributed perception of social power based on the Friedkin-Johnsen (FJ) opinion dynamics: one without and one with reflected appraisals. In both scenarios, our perception mechanism begins with independent initial perceptions and relies primarily on local information: each individual only needs to know its neighbors' stubbornness or self-appraisals, the influence weights they accord and the group size. We provide rigorous dynamical system analysis to characterize the properties of equilibria, invariant sets and convergence. Conditions under which individuals' perceived social power converges to the actual social power are established. The proposed perception mechanism demonstrates strong robustness to reflected appraisals, irrational perceptions, and timescale variations. Numerical examples are provided to illustrate our results.

Authors:Qianchao Wang, Peng Sha, Leena Heistrene, Yuxuan Ding, Yaping Du
Title: Interpretable Spatio-Temporal Features Extraction based Industrial Process Modeling and Monitoring by Soft Sensor
Abstract:
Data-driven soft sensors have been widely applied in complex industrial processes. However, the interpretable spatio-temporal features extraction by soft sensors remains a challenge. In this light, this work introduces a novel method termed spatio-temporal consistent and interpretable model (STCIM). First, temporal and spatial features are captured and aligned by a far topological spatio-temporal consistency extraction block. Then, the features are mapped into an interpretable latent space for further prediction by explicitly giving physical meanings to latent variables. The efficacy of the proposed STCIM is demonstrated through the modeling of two generated datasets and a real-life dataset of coal-fired power plants. The corresponding experiments show: 1) The generalization of STCIM outperforms other methods, especially in different operation situations. 2) The far topological spatio-temporal consistency is vital for feature alignment. 3) The hyper-parameters of physics-informed interpretable latent space loss decide the performance of STCIM.

Authors:Biqi Rebekah Zhao, Alexander Chou, Robert Peltekov, Elad Alon, Chunlei Liu, Rikky Muller, Michael Lustig
Title: MRDust: Wireless Implant Data Uplink & Localization via Magnetic Resonance Image Modulation
Abstract:
Magnetic resonance imaging (MRI) exhibits rich and clinically useful endogenous contrast mechanisms, which can differentiate soft tissues and are sensitive to flow, diffusion, magnetic susceptibility, blood oxygenation level, and more. However, MRI sensitivity is ultimately constrained by Nuclear Magnetic Resonance (NMR) physics, and its spatiotemporal resolution is limited by SNR and spatial encoding. On the other hand, miniaturized implantable sensors offer highly localized physiological information, yet communication and localization can be challenging when multiple implants are present. This paper introduces the MRDust, an active ``contrast agent" that integrates active sensor implants with MRI, enabling the direct encoding of highly localized physiological data into MR images to augment the anatomical images. MRDust employs a micrometer-scale on-chip coil to actively modulate the local magnetic field, enabling MR signal amplitude and phase modulation for digital data transmission. Since MRI inherently captures the anatomical tissue structure, this method has the potential to enable simultaneous data communication, localization, and image registration with multiple implants. This paper presents the underlying physical principles, design tradeoffs, and design methodology for this approach. To validate the concept, a 900 $\times$ 990 $μ$m$^2$ chip was designed using TSMC 28 nm technology, with an on-chip coil measuring 630 $μ$m in diameter. The chip was tested with custom hardware in an MR750W GE3T MRI scanner. Successful voxel amplitude modulation is demonstrated with Spin-Echo Echo-Planar-Imaging (SE-EPI) sequence, achieving a contrast-to-noise ratio (CNR) of 25.58 with a power consumption of 130 $μ$W.

Authors:Hernan Haimovich, Shenyu Liu, Antonio Russo, Jose L. Mancilla-Aguilar
Title: Input-Power-to-State Stability of Time-Varying Systems
Abstract:
When the state of a system may remain bounded even if both the input amplitude and energy are unbounded, then the state bounds given by the standard input-to-state stability (ISS) and integral-ISS (iISS) properties may provide no useful information. This paper considers an ISS-related concept suitable in such a case: input-power-to-state stability (IPSS). Necessary and sufficient conditions for IPSS are developed for time-varying systems under very mild assumptions on the dynamics. More precisely, it is shown that (a) the existence of a dissipation-form ISS-Lyapunov function implies IPSS, but not necessarily that of an implication-form one, (b) iISS with exponential class-$\KL$ function implies IPSS, and (c) ISS and stronger assumptions on the dynamics imply the existence of a dissipation-form ISS-Lyapunov function and hence IPSS. The latter result is based on a converse Lyapunov theorem for time-varying systems whose dynamics (i.e. state derivative) is not necessarily continuous with respect to time.

Authors:Tamojit Chakraborty, Anamitra Pal, Sam Maleki
Title: Damping LFOs: Grid Following with Power Oscillation Damping vs. Grid Forming vs. PSS
Abstract:
Low-frequency oscillations (LFOs) present a significant challenge to the stability and reliability of power systems, especially in grids with a high penetration of renewable energy sources. Traditional grid-following (GFL) inverters have proven less effective in damping such oscillations. This paper presents a GFL-power plant controller with an auxiliary power oscillation damping control for damping LFOs. This approach is compared with a traditional power system stabilizer (PSS) for a two-area power system. Next, the research is extended by deploying grid forming (GFM) controls, which by actively controlling the voltage and frequency dynamics emulate the behavior of traditional synchronous generators. The paper analyzes two GFM control strategies: virtual synchronous machine (VSM) and droop control, and demonstrates their effectiveness in damping LFOs in the test system. The simulation results reveal that the performance of the proposed GFM-VSM rivals that of the PSS and is better than the GFL-power oscillation damper.

Authors:Amirreza Hosseini, Amro M. Farid
Title: A Hetero-functional Graph Theory Perspective of Engineering Management of Mega-Projects
Abstract:
Megaprojects are large-scale, complex, and one-off engineering endeavors that require significant investments from a public or private sector. Such projects generally cost more than a billion dollars, take many years to develop and construct, involve stakeholders both in the public and private sectors, and impact millions of people. Most of the extant megaproject research is concerned with understanding why the engineering management of megaprojects fails so frequently and which dimensions make them so difficult to manage, including size, uncertainty, complexity, urgency, and institutional structure \cite{denicol:2020:00}. Recently, the literature on mega-projects has advocated for a convergence of the engineering management and production system management literature. To that end, this paper proposes the use of Model-Based System Engineering (MBSE) and Hetero-Functional Graph Theory (HFGT), where the latter, quite interestingly, finds its origins in the mass-customized production system literature. More specifically, HFGT was developed so that the physical and informatic parts of production system planning, operations, and decision-making are readily reconfigured to support production customization at scale. As the literature on megaprojects is rapidly evolving with a significant amount of divergence between authors, this report builds upon the recent and extensive megaproject literature review provided by Denicol et. al. \cite{denicol:2020:00}. The paper concludes that MBSE and HFGT provide a means for addressing many of the concluding recommendations provided by Denicol et. al. MBSE and HFGT not only align with current research on megaprojects but also push the boundaries of how the engineering management of megaprojects can gain a unified theoretical foundation.

Authors:Kosei Tsuji, Ichiro Maruta, Kenji Fujimoto, Tomoyuki Maeda, Yoshihisa Tamase, Tsukasa Shinohara
Title: System Identification for Virtual Sensor-Based Model Predictive Control: Application to a 2-DoF Direct-Drive Robotic Arm
Abstract:
Nonlinear Model Predictive Control (NMPC) offers a powerful approach for controlling complex nonlinear systems, yet faces two key challenges. First, accurately modeling nonlinear dynamics remains difficult. Second, variables directly related to control objectives often cannot be directly measured during operation. Although high-cost sensors can acquire these variables during model development, their use in practical deployment is typically infeasible. To overcome these limitations, we propose a Predictive Virtual Sensor Identification (PVSID) framework that leverages temporary high-cost sensors during the modeling phase to create virtual sensors for NMPC implementation. We validate PVSID on a Two-Degree-of-Freedom (2-DoF) direct-drive robotic arm with complex joint interactions, capturing tip position via motion capture during modeling and utilize an Inertial Measurement Unit (IMU) in NMPC. Experimental results show our NMPC with identified virtual sensors achieves precise tip trajectory tracking without requiring the motion capture system during operation. PVSID offers a practical solution for implementing optimal control in nonlinear systems where the measurement of key variables is constrained by cost or operational limitations.

Authors:Aaron D. Ames, Sébastien Mattenet, Joe Moeller
Title: Categorical Lyapunov Theory II: Stability of Systems
Abstract:
Lyapunov's theorem provides a foundational characterization of stable equilibrium points in dynamical systems. In this paper, we develop a framework for stability for F-coalgebras. We give two definitions for a categorical setting in which we can study the stability of a coalgebra for an endofunctor F. One is minimal and better suited for concrete settings, while the other is more intricate and provides a richer theory. We prove a Lyapunov theorem for both notions of setting for stability, and a converse Lyapunov theorem for the second.

Authors:Joan Gutierrez-Florensa, Alvaro Ortega, Lukas Sigrist, Federico Milano
Title: Quasi Steady-State Frequency
Abstract:
Accurate frequency estimation is critical for the control, monitoring and protection of electrical power systems, in particular, of systems with a high penetration of power electronics. This paper introduces the novel concept of Quasi Steady-State (QSS) frequency as a quantity that fills the gap between stationary and instantaneous frequency. QSS frequency coincides with the fundamental frequency of an AC voltage in any stationary conditions, including unbalanced and non-sinusoidal, and is able to capture the time-varying fundamental frequency in transient conditions. The paper also proposes a metric borrowed from fluid dynamics, namely, the time derivative of the circulation, to define the scope of validity of the QSS frequency. Analytical examples as well as a case study based on a fully-fledged EMT model of the IEEE 39-bus system serve to illustrate, respectively, the properties of the QSS frequency and its behavior in transient conditions.

Authors:Kui Xie, Giovanni Romagnoli, Giordana Bucchioni, Alberto Bemporad
Title: Active Learning-Enhanced Dual Control for Angle-Only Initial Relative Orbit Determination
Abstract:
Accurate relative orbit determination is a key challenge in modern space operations, particularly when relying on angle-only measurements. The inherent observability limitations of this approach make initial state estimation difficult, impacting mission safety and performance. This work explores the use of active learning (AL) techniques to enhance observability by dynamically designing the input excitation signal offline and at runtime. Our approach leverages AL to design the input signal dynamically, enhancing the observability of the system without requiring additional hardware or predefined maneuvers. We incorporate a dual control technique to ensure target tracking while maintaining observability. The proposed method is validated through numerical simulations, demonstrating its effectiveness in estimating the initial relative state of the chaser and target spacecrafts and its robustness to various initial relative distances and observation periods.

Authors:Zirui Niu, Daniele Astolfi, Giordano Scarciotti
Title: Output Regulation of Linear Systems with Non-periodic Non-smooth Exogenous Signals
Abstract:
We address the output regulation problem of linear systems with non-smooth and non-periodic exogenous signals. Specifically, we first formulate and solve the full-information problem by designing a state-feedback controller. We study the solvability of the regulator equations, providing a new non-resonance condition. We then focus on the error-feedback problem, for which we design a (non-robust) internal model leveraging the concept of canonical realisation and applying a high-gain method for the stabilisation of the closed-loop system under the minimum-phase assumption. Finally, we study the regulation problem involving model parameter uncertainties. Drawing ideas from both hybrid and time-varying (smooth) output regulation, we propose two methods to establish an internal model that is robust to uncertainties. The first method is an extension of the hybrid internal model, while the second relies on a new concept of immersion. In this non-smooth case, the immersion is established based on integrals rather than derivatives. The effectiveness of the proposed solutions is illustrated by a circuit regulation example.

Authors:Zhenling Chen, Haiwei Fu, Zhiguo Zeng
Title: A domain adaptation neural network for digital twin-supported fault diagnosis
Abstract:
Digital twins offer a promising solution to the lack of sufficient labeled data in deep learning-based fault diagnosis by generating simulated data for model training. However, discrepancies between simulation and real-world systems can lead to a significant drop in performance when models are applied in real scenarios. To address this issue, we propose a fault diagnosis framework based on Domain-Adversarial Neural Networks (DANN), which enables knowledge transfer from simulated (source domain) to real-world (target domain) data. We evaluate the proposed framework using a publicly available robotics fault diagnosis dataset, which includes 3,600 sequences generated by a digital twin model and 90 real sequences collected from physical systems. The DANN method is compared with commonly used lightweight deep learning models such as CNN, TCN, Transformer, and LSTM. Experimental results show that incorporating domain adaptation significantly improves the diagnostic performance. For example, applying DANN to a baseline CNN model improves its accuracy from 70.00% to 80.22% on real-world test data, demonstrating the effectiveness of domain adaptation in bridging the sim-to-real gap.

Authors:Ahmet Burak Ozyurt, Shreesh Mohalik, John S. Thompson
Title: Analysis of Joint Radar and Communication in Disaster Scenarios
Abstract:
With the increasing frequency and intensity of natural disasters, there is a necessity for advanced technologies that can provide reliable situational awareness and communication. Conventional systems are often inadequate due to unreliable infrastructure, power grid failures, high investment costs and scalability challenges. This paper explores the potential of ad-hoc mesh joint radar and communication (JRC) networks as a scalable, resilient, energy-efficient solution for disaster management that can operate independently of conventional infrastructure. The proposed JRC network enhances disaster response by integrating target detection (such as identifying vital signs, hazardous leaks, and fires) with communication capabilities to ensure efficient information dissemination under intense clutter conditions. Key performance metrics, including data rate, Signal-to-Clutter and Noise Ratio (SCNR), probability of detection, and false alarm rate, are used to assess performance. An optimization approach is proposed to provide an energy-efficient resource allocation scheme. The results show the performance of ad-hoc mesh JRC systems, underscoring their potential to enhance disaster management efforts by addressing unique operational challenges.

Authors:Francesco Cordiano, Matin Jafarian, Bart De Schutter
Title: Uncertainty Partitioning with Probabilistic Feasibility and Performance Guarantees for Chance-Constrained Optimization
Abstract:
We propose a novel distribution-free scheme to solve optimization problems where the goal is to minimize the expected value of a cost function subject to probabilistic constraints. Unlike standard sampling-based methods, our idea consists of partitioning the uncertainty domain in a user-defined number of sets, enabling more flexibility in the trade-off between conservatism and computational complexity. We provide sufficient conditions to ensure that our approximated problem is feasible for the original stochastic program, in terms of chance constraint satisfaction. In addition, we perform a rigorous performance analysis, by quantifying the distance between the optimal values of the original and the approximated problem. We show that our approach is tractable for optimization problems that include model predictive control of piecewise affine systems, and we demonstrate the benefits of our approach, in terms of the trade-off between conservatism and computational complexity, on a numerical example.

Authors:Yanpei Shi, Bo Feng, Yuxin Zhong, Haochen Guo, Bangcheng Han, Rui Feng
Title: Physics-Informed Neural Network for Cross-Domain Predictive Control of Tapered Amplifier Thermal Stabilization
Abstract:
Thermally induced laser noise poses a critical limitation to the sensitivity of quantum sensor arrays employing ultra-stable amplified lasers, primarily stemming from nonlinear gain-temperature coupling effects in tapered amplifiers (TAs). To address this challenge, we present a robust intelligent control strategy that synergistically integrates an encoder-decoder physics-informed gated recurrent unit (PI-GRU) network with a model predictive control (MPC) framework. Our methodology incorporates physical soft constraints into the neural network architecture, yielding a predictive model with enhanced physical consistency that demonstrates robust extrapolation capabilities beyond the training data distribution. Leveraging the PI-GRU model's accurate multi-step predictive performance, we implement a hierarchical parallel MPC architecture capable of real-time thermal instability compensation. This hybrid approach achieves cross-domain consistent thermal stabilization in TAs under diverse laser power operations. Remarkably, while trained exclusively on low-power operational data, our system demonstrates exceptional generalization, improving prediction accuracy by 58.2% and temperature stability by 69.1% in previously unseen high-power operating regimes, as experimentally validated. The novel synchronization of physics-informed neural networks with advanced MPC frameworks presented in this work establishes a groundbreaking paradigm for addressing robustness challenges in cross-domain predictive control applications, overcoming conventional modeling limitations.

Authors:Anton Ponomarev, Lutz Gröll, Veit Hagenmeyer
Title: Numerical estimation of the lock-in domain of a DC/AC inverter
Abstract:
We estimate the lock-in domain of the origin of a current control system which is used in common DC/AC inverter designs. The system is a cascade connection of a 4-dimensional linear system (current controller, CC) followed by a two-dimensional nonlinear system (phase-locked loop, PLL). For the PLL, we construct a Lyapunov function via numerical approximation of its level curves. In combination with the quadratic Lyapunov function of the CC, it forms a vector Lyapunov function (VLF) for the overall system. A forward-invariant set of the VLF is found via numerical application of the comparison principle. By LaSalle's invariance principle, convergence to the origin is established.

Authors:Anton Ponomarev, Lutz Gröll
Title: Stability of two-dimensional SISO LTI system with bounded feedback gain that has bounded derivative
Abstract:
We consider a two-dimensional SISO LTI system closed by uncertain linear feedback. The feedback gain is time-varying, bounded, and has a bounded derivative (both bounds are known). We investigate the asymptotic stability of this system under all admissible behaviors of the gain. Note that the situation is similar to the classical absolute stability problem of Lurie--Aizerman with two differences: linearity and derivative constraint. Our method of analysis is therefore inspired by the variational ideas of Pyatnitskii, Barabanov, Margaliot, and others developed for the absolute stability problem. We derive the Hamilton--Jacobi--Bellman equation for a function describing the "most unstable" of the possible portraits of the closed-loop system. A numerical method is proposed for solving the equation. Based on the solution, sufficient conditions are formulated for the asymptotic stability and instability. The method is applied to an equation arising from the analysis of a power electronics synchronization circuit.

Authors:Bernardo Castro Valerio, Vinícius Albernaz Lacerda, Marc Cheah-Mañe, Pieter Gebraad, Oriol Gomis-Bellmunt
Title: Optimizing Offshore Wind Integration through Multi-Terminal DC Grids: A Market-Based OPF Framework for the North Sea Interconnectors
Abstract:
Interconnecting price zones and remote renewable energy sources has emerged as a key solution to achieving climate goals. The objective of this work is to present a formulation that extends the base optimal power flow model with price zones constraints to forecast the operations of upcoming offshore wind developments integrated into a multi-terminal DC grid. A case study based on the 2030 development of the North Sea is used to exemplify the utilization of the formulation. Here, three cases are presented, one with the price as a parameter and the other two with the price as a variable dependent on power flows between price zones. The paper demonstrates that, for large power flows, it is necessary to include additional constraints beyond line limitations to accurately capture the effects of price zone exchanges.

Authors:Marziyeh Rezaei, Dan Sturm, Pengyu Zeng, Sajjad Moazeni
Title: A DSP-Free Carrier Phase Recovery System using 16-Offset-QAM Laser Forwarded Links for 400Gb/s and Beyond
Abstract:
Optical interconnects are becoming a major bottleneck in scaling up future GPU racks and network switches within data centers. Although 200 Gb/s optical transceivers using PAM-4 modulation have been demonstrated, achieving higher data rates and energy efficiencies requires high-order coherent modulations like 16-QAM. Current coherent links rely on energy-intensive digital signal processing (DSP) for channel impairment compensation and carrier phase recovery (CPR), which consumes approximately 50pJ/b - 10x higher than future intra-data center requirements. For shorter links, simpler or DSP-free CPR methods can significantly reduce power and complexity. While Costas loops enable CPR for QPSK, they face challenges in scaling to higher-order modulations (e.g., 16/64-QAM) due to varying symbol amplitudes. In this work, we propose an optical coherent link architecture using laser forwarding and a novel DSP-free CPR system using offset-QAM modulation. The proposed analog CPR feedback loop is highly scalable, capable of supporting arbitrary offset-QAM modulations without requiring architectural modifications. This scalability is achieved through its phase error detection mechanism, which operates independently of the data rate and modulation type. We validated this method using GlobalFoundry's monolithic 45nm silicon photonics PDK models, with circuit- and system-level implementation at 100GBaud in the O-band. We will investigate the feedback loop dynamics, circuit-level implementations, and phase-noise performance of the proposed CPR loop. Our method can be adopted to realize low-power QAM optical interconnects for future coherent-lite pluggable transceivers as well as co-packaged optics (CPO) applications.

Authors:Can Kutlu Yüksel, Tomáš Vyhlídal, Silviu-Iulian Niculescu
Title: Periodic Regulation of Linear Time-Delay Systems via Youla-Kučera Parametrization
Abstract:
The paper proposes an alternative way to achieve the Internal Model Principle (IMP) in contrast to the standard way, where a model of the signal one wishes to track/reject is directly substituted into the closed-loop. The proposed alternative approach relies on an already-existing stabilizing controller, which can be further augmented with a Youla-Kučera parameter to let it implicitly admit a model of a signal without altering its stabilizing feature. Thus, with the proposed method, the standard design steps of realizing IMP are reversed. The validity and potential of the proposed approach are demonstrated by considering three different types of time-delay systems. It is shown through simulations that all considered unstable systems, despite the infinite-dimensional closed-loop, can be straightforwardly periodically regulated by augmenting their stabilizing PI controllers. Thanks to a specifically chosen structure for the Youla-Kučera parameter, the required tuning can be done by solving a set of linear equations.

Authors:Sota Yoshihara, Ryosuke Yamamoto, Hiroyuki Kusumoto, Masanari Shimura
Title: Enhancing AI System Resiliency: Formulation and Guarantee for LSTM Resilience Based on Control Theory
Abstract:
This paper proposes a novel theoretical framework for guaranteeing and evaluating the resilience of long short-term memory (LSTM) networks in control systems. We introduce "recovery time" as a new metric of resilience in order to quantify the time required for an LSTM to return to its normal state after anomalous inputs. By mathematically refining incremental input-to-state stability ($δ$ISS) theory for LSTM, we derive a practical data-independent upper bound on recovery time. This upper bound gives us resilience-aware training. Experimental validation on simple models demonstrates the effectiveness of our resilience estimation and control methods, enhancing a foundation for rigorous quality assurance in safety-critical AI applications.

Authors:Jie Wen, Chenyu Jia, Guangshu Xia
Title: State of health prediction of lithium-ion batteries for driving conditions based on full parameter domain sparrow search algorithm and dual-module bidirectional gated recurrent unit
Abstract:
Aiming at the state of health (SOH) prediction of lithium-ion batteries (LiBs) for electric vehicles (EVs), this paper proposes a fusion model of a dual-module bidirectional gated recurrent unit (BiGRU) and sparrow search algorithm (SSA) with full parameter domain optimization. With the help of Spearman correlation analysis and ablation experiments, the indirect health indicator (HI) that can characterize the battery degradation is extracted first based on the incremental capacity (IC) curves of the Oxford battery dataset, which simulates the driving conditions. On this basis, the filtered one-dimensional HI is inputted into the dual-module BiGRU for learning the pre- and post-textual information of the input sequence and extracting the sequence features. In order to combine the different hyperparameters in the dual-module BiGRU, SSA is used to optimize the hyperparameters in the full parameter domain. The proposed SSA-BiGRU model combines the advantages and structures of SSA and BiGRU to achieve the highly accurate SOH prediction of LiBs. Studies based on the Oxford battery dataset have shown that the SSA-BiGRU model has higher accuracy, better robustness and generalization ability. Moreover, the proposed SSA-BiGRU model is tested on a real road-driven EV charging dataset and accurate SOH prediction are obtained.

Authors:Zimao Sheng, Hong'an Yang, Shuxiang Yang, Zirui Yu
Title: Robust Longitudinal-lateral Look-ahead Pursuit Path-Following Control: Fast Finite-Time Stability Guarantee
Abstract:
This paper addresses the challenging problem of robust path-following for fixed-wing unmanned aerial vehicles (UAVs) in complex environments with bounded external disturbances and non-smooth predefined paths. Due to the unique aerodynamic characteristics and flight constraints of fixed-wing UAVs, achieving accurate and fast stable path following remains difficult, especially in low-altitude mountainous terrains, urban landscapes, and under wind disturbances. Most existing path-following guidance laws often struggle to ensure fast stabilization under unknown bounded disturbances while maintaining sufficient robustness, and there is a lack of research on optimizing robustness for non-smooth paths under flight constraints. This paper addresses these issues by proposing a constraints-based robust path-following controller. Firstly, from the perspective of global random attractor, we innovatively introduce robustness metrics that quantify both the exponential convergence rate and the range of the ultimate attractor set. Secondly, building on these metrics, we develop a robust longitudinal-lateral look-ahead pursuit (RLLP) guidance law for fixed-wing UAVs, specifically considering the flight path angle and track angle under external disturbances. Thirdly, we also derive an optimized version (Optimal-RLLP) to enhance the robustness metrics, and elaborate on the sufficient conditions for fast finite-time stability, ensuring the guidance law achieves finite-time stability and robustness with reduced sensitivity to constrained uncertainties. The simulation results validate the proposed guidance law's feasibility, optimality and robustness under atmospheric disturbances using a high-fidelity simulation platform and provide key principle for practical deployment.

Authors:Haojin Guo, Zongyi Guo, Jianguo Guo, Tiago Roux Oliveira
Title: Extremum Seeking for PDE Systems using Physics-Informed Neural Networks
Abstract:
Extremum Seeking (ES) is an effective real-time optimization method for PDE systems in cascade with nonlinear quadratic maps. To address PDEs in the feedback loop, a boundary control law and a re-design of the additive probing signal are mandatory. The latter, commonly called "trajectory generation" or "motion planning," involves designing perturbation signals that anticipate their propagation through PDEs. Specifically, this requires solving motion planning problems for systems governed by parabolic and hyperbolic PDEs. Physics-Informed Neural Networks (PINN) is a powerful tool for solving PDEs by embedding physical laws as constraints in the neural network's loss function, enabling efficient solutions for high-dimensional, nonlinear, and complex problems. This paper proposes a novel construction integrating PINN and ES, automating the motion planning process for specific PDE systems and eliminating the need for case-by-case analytical derivations. The proposed strategy efficiently extracts perturbation signals, optimizing the PDE system.

Authors:Faysal Ahamed, Tanushree Roy
Title: Generating Sustainability-Targeting Attacks For Cyber-Physical Systems
Abstract:
Sustainability-targeting attacks (STA) are a growing threat to cyber-physical system (CPS)-based infrastructure, as sustainability goals become an integral part of CPS objectives. STA can be especially disruptive if it impacts the long-term sustainability cost of CPS, while its performance goals remain within acceptable parameters. Thus, in this work, we propose a general mathematical framework for modeling such stealthy STA and derive the feasibility conditions for generating a minimum-effort maximum-impact STA on a linear CPS using a max-min formulation. A gradient ascent descent algorithm is used to construct this attack policy with an added constraint on stealthiness. An illustrative example has been simulated to demonstrate the impact of the generated attack on the sustainability cost of the CPS.

Authors:Zuogong Yue, Xinyi Wang, Victor Solo
Title: A system identification approach to clustering vector autoregressive time series
Abstract:
Clustering of time series based on their underlying dynamics is keeping attracting researchers due to its impacts on assisting complex system modelling. Most current time series clustering methods handle only scalar time series, treat them as white noise, or rely on domain knowledge for high-quality feature construction, where the autocorrelation pattern/feature is mostly ignored. Instead of relying on heuristic feature/metric construction, the system identification approach allows treating vector time series clustering by explicitly considering their underlying autoregressive dynamics. We first derive a clustering algorithm based on a mixture autoregressive model. Unfortunately it turns out to have significant computational problems. We then derive a `small-noise' limiting version of the algorithm, which we call k-LMVAR (Limiting Mixture Vector AutoRegression), that is computationally manageable. We develop an associated BIC criterion for choosing the number of clusters and model order. The algorithm performs very well in comparative simulations and also scales well computationally.

Authors:Grace Younes, Alban Quadrat, Fabrice Rouillier
Title: Symbolic and Numerical Tools for $L_{\infty}$-Norm Calculation
Abstract:
The computation of the $L_\infty $-norm is an important issue in $H_{\infty}$ control, particularly for analyzing system stability and robustness. This paper focuses on symbolic computation methods for determining the $L_{\infty} $-norm of finite-dimensional linear systems, highlighting their advantages in achieving exact solutions where numerical methods often encounter limitations. Key techniques such as Sturm-Habicht sequences, Rational Univariate Representations (RUR), and Cylindrical Algebraic Decomposition (CAD) are surveyed, with an emphasis on their theoretical foundations, practical implementations, and specific applicability to $ L_{\infty} $-norm computation. A comparative analysis is conducted between symbolic and conventional numerical approaches, underscoring scenarios in which symbolic computation provides superior accuracy, particularly in parametric cases. Benchmark evaluations reveal the strengths and limitations of both approaches, offering insights into the trade-offs involved. Finally, the discussion addresses the challenges of symbolic computation and explores future opportunities for its integration into control theory, particularly for robust and stable system analysis.

Authors:Zhenyao Li, Shengwen Liao, Qian Zhang, Xuechun Zhang, Deqiang Gan
Title: On the Input-Output Monotonicity of Voltage Dynamics of Power System with Grid-Forming Converters
Abstract:
Integration of renewable resources is profoundly reshaping the dynamics of modern power systems. This study shows that the voltage dynamics of power systems with multiple grid-forming (GFM) converters often enjoys a desirable property called input-output monotonicity. A systematic approach for computing the derivatives of the voltage subsystem is presented first, which provides insight into the structural characteristics of these models. Next, the sign pattern of the trajectory Jacobian matrix associated with the voltage subsystem is analyzed and revealed. The analysis indicates that the voltage dynamics of power systems often exhibits the so-called input-output monotonicity property. The theoretical results are then validated through several simulation examples, underscoring their practical implications.

Authors:Zhou He, Ning Li, Ning Ran, Liang Li
Title: Scheduling of Flexible Manufacturing Systems Based on Place-Timed Petri Nets and Basis Reachability Graphs
Abstract:
Scheduling is a key decision-making process to improve the performance of flexible manufacturing systems. Place-timed Petri nets provide a formal method for graphically modeling and analyzing such systems. By generating reachability graphs and combining intelligent search algorithms, operation sequences from the initial state to the target state can be found for the underlying system. However, the reachability graph grows exponentially with the system size increases, which is the main challenge of existing methods for scheduling large systems. To this end, we develop an efficient improved beam search algorithm to optimize the makespan based on a compact representation of reachability graph called basis reachability graph. The key idea behind the proposed method is to form a state together with the basis markings and its corresponding transition sequences, and evaluate the cost of the state based on the resource idle time. Experimental results are conducted on several benchmark systems which show that the developed method improves the search efficiency while ensuring the quality of the solution compared with existing methods.

Authors:Neethu Kuriakose, Arun Ashok, Christian Grewing, André Zambanini, Stefan van Waasen
Title: 2T1R Regulated Memristor Conductance Control Array Architecture for Neuromorphic Computing using 28nm CMOS Technology
Abstract:
Memristors are promising devices for scalable and low power, in-memory computing to improve the energy efficiency of a rising computational demand. The crossbar array architecture with memristors is used for vector matrix multiplication (VMM) and acts as kernels in neuromorphic computing. The analog conductance control in a memristor is achieved by applying voltage or current through it. A basic 1T1R array is suitable to avoid sneak path issues but suffer from wire resistances, which affects the read and write procedures. A conductance control scheme with a regulated voltage source will improve the architecture and reduce the possible potential divider effects. A change in conductance is also possible with the provision of a regulated current source and measuring the voltage across the memristors. A regulated 2T1R memristor conductance control architecture is proposed in this work, which avoids the potential divider effect and virtual ground scenario in a regular crossbar scheme, as well as conductance control by passing a regulated current through memristors. The sneak path current is not allowed to pass by the provision of ground potential to both terminals of memristors.

Authors:Joseph T. A. Peterson, Vishala Arya, John L. Junkins
Title: Connecting the Equinoctial Elements and Rodrigues Parameters: A New Set of Elements
Abstract:
A geometric interpretation of the equinoctial elements is given with a connection to orthogonal rotations and attitude dynamics in Euclidean 3-space. An identification is made between the equinoctial elements and classic Rodrigues parameters. A new set of equinoctial elements are developed using the modified Rodrigues parameters, thereby removing the coordinate singularity for retrograde equatorial orbits present in previous versions of these elements. A low-thrust trajectory optimization problem is set up using the new elements to numerically verify convergence for the two-point boundary problem, as compared to their predecessors.

Authors:Yangyang Xu, Hongyu Zhao, Chengzhong Zhang, Chenglin Liao
Title: A Control Oriented Fractional-Order Model of Lithium-ion Batteries Based on Caputo Definition
Abstract:
This letter proposes a fractional-order battery model based on the Caputo definition. A closed-form time-domain solution is derived, enabling a simple recursive expression for discrete-time implementation. The model requires only the current and previous time-step states in each iteration, significantly reducing memory usage compared to the conventional Grünwald--Letnikov (G-L) method. This recursive structure is highly compatible with filter design and online parameter identification. Experimental validation on a 40.2~Ah NCM622 cell shows that the proposed first-order model achieves voltage prediction accuracy comparable to a second-order integer-order model. The results demonstrate that the Caputo-based model offers a practical balance between accuracy and computational efficiency, making it well suited for real-time battery management systems (BMS).

Authors:Zhou He, Shilong Yuan, Ning Ran, Dimitri Lefebvre
Title: Optimal Task and Motion Planning for Autonomous Systems Using Petri Nets
Abstract:
This study deals with the problem of task and motion planning of autonomous systems within the context of high-level tasks. Specifically, a task comprises logical requirements (conjunctions, disjunctions, and negations) on the trajectories and final states of agents in certain regions of interest. We propose an optimal planning approach that combines offline computation and online planning. First, a simplified Petri net system is proposed to model the autonomous system. Then, indicating places are designed to implement the logical requirements of the specifications. Building upon this, a compact representation of the state space called extended basis reachability graph is constructed and an efficient online planning algorithm is developed to obtain the optimal plan. It is shown that the most burdensome part of the planning procedure may be removed offline, thanks to the construction of the extended basis reachability graph. Finally, series of simulations are conducted to demonstrate the computational efficiency and scalability of our developed method.

Authors:Nikolai West, Jochen Deuse
Title: PyScrew: A Comprehensive Dataset Collection from Industrial Screw Driving Experiments
Abstract:
This paper presents a comprehensive collection of industrial screw driving datasets designed to advance research in manufacturing process monitoring and quality control. The collection comprises six distinct datasets with over 34,000 individual screw driving operations conducted under controlled experimental conditions, capturing the multifaceted nature of screw driving processes in plastic components. Each dataset systematically investigates specific aspects: natural thread degradation patterns through repeated use (s01), variations in surface friction conditions including contamination and surface treatments (s02), diverse assembly faults with up to 27 error types (s03-s04), and fabrication parameter variations in both upper and lower workpieces through modified injection molding settings (s05-s06). We detail the standardized experimental setup used across all datasets, including hardware specifications, process phases, and data acquisition methods. The hierarchical data model preserves the temporal and operational structure of screw driving processes, facilitating both exploratory analysis and the development of machine learning models. To maximize accessibility, we provide dual access pathways: raw data through Zenodo with a persistent DOI, and a purpose-built Python library (PyScrew) that offers consistent interfaces for data loading, preprocessing, and integration with common analysis workflows. These datasets serve diverse research applications including anomaly detection, predictive maintenance, quality control system development, feature extraction methodology evaluation, and classification of specific error conditions. By addressing the scarcity of standardized, comprehensive datasets in industrial manufacturing, this collection enables reproducible research and fair comparison of analytical approaches in an area of growing importance for industrial automation.

Authors:Giorgia Disarò, Maria Elena Valcher
Title: Data-based control of Logical Networks
Abstract:
In recent years, data-driven approaches have become increasingly pervasive across all areas of control engineering. However, the applications of data-based techniques to Boolean Control Networks (BCNs) are still very limited. In this paper we aim to fill this gap, by exploring the possibility of solving three fundamental control problems, i.e., state feedback stabilization, safe control and output regulation, for a BCN, leveraging only a limited amount of data generated by the network, without knowing or identifying its model.

Authors:Balwin Bokor, Klaus Altendorfer, Andrea Matta
Title: Optimizing Energy Consumption in Stochastic Production Systems: Using a Simulation-Based Approach for Stopping Policy
Abstract:
In response to the escalating need for sustainable manufacturing, this study introduces a Simulation-Based Approach (SBA) to model a stopping policy for energy-intensive stochastic production systems, developed and tested in a real-world industrial context. The case company - an energy-intensive lead-acid battery manufacturer - faces significant process uncertainty in its heat-treatment operations, making static planning inefficient. To evaluate a potential sensor-based solution, the SBA leverages simulated sensor data (using a Markovian model) to iteratively refine Bayesian energy estimates and dynamically adjust batch-specific processing times. A full-factorial numerical simulation, mirroring the company's 2024 heat-treatment process, evaluates the SBA's energy reduction potential, configuration robustness, and sensitivity to process uncertainty and sensor distortion. Results are benchmarked against three planning scenarios: (1) Optimized Planned Processing Times (OPT); (2) the company's Current Baseline Practice; and (3) an Ideal Scenario with perfectly known energy requirements. SBA significantly outperforms OPT across all tested environments and in some cases even performs statistically equivalent to an Ideal Scenario. Compared to the Current Baseline Practice, energy input is reduced by 14-25%, depending on uncertainty and sensor accuracy. A Pareto analysis further highlights SBA's ability to balance energy and inspection-labour costs, offering actionable insights for industrial decision-makers.

Authors:Jagan K Balasubramanian, Daan M Pool, Yasemin Vardar
Title: Sliding Speed Influences Electrovibration-Induced Finger Friction Dynamics on Touchscreens
Abstract:
Electrovibration technology enables tactile texture rendering on capacitive touchscreens by modulating friction between the finger and the screen through electrostatic attraction forces, generated by applying an alternating voltage signal to the screen. Accurate signal calibration is essential for robust texture rendering but remains challenging due to variations in sliding speed, applied force, and individual skin mechanics, all of which unpredictably affect frictional behavior. Here, we investigate how exploration conditions affect electrovibration-induced finger friction on touchscreens and the role of skin mechanics in this process. Ten participants slid their index fingers across an electrovibration-enabled touchscreen at five sliding speeds ($20\sim100$ mm/s) and applied force levels ($0.2\sim0.6$ N). Contact forces and skin accelerations were measured while amplitude modulated voltage signals spanning the tactile frequency range were applied to the screen. We modeled the finger-touchscreen friction response as a first-order system and the skin mechanics as a mass-spring-damper system. Results showed that sliding speed influenced the friction response's cutoff frequency, along with the estimated finger moving mass and stiffness. For every $1$ mm/s increase in speed, the cutoff frequency, the finger moving mass, and stiffness increased by $13.8$ Hz, $3.23\times 10^{-5}$ kg, and $4.04$ N/m, respectively. Correlation analysis revealed that finger stiffness had a greater impact on the cutoff frequency than moving mass. Notably, we observed a substantial inter-participant variability in both finger-display interaction and skin mechanics parameters. Finally, we developed a speed-dependent friction model to support consistent and perceptually stable electrovibration-based haptic feedback across varying user conditions.

Authors:Alessandro Cecconi, Michelangelo Bin, Rodolphe Sepulchre, Lorenzo Marconi
Title: Event disturbance rejection: a case study
Abstract:
This article introduces the problem of robust event disturbance rejection. Inspired by the design principle of linear output regulation, a control structure based on excitable systems is proposed. Unlike the linear case, contraction of the closed-loop system must be enforced through specific input signals. This induced contraction enables a steady-state analysis similar to the linear case. Thanks to the excitable nature of the systems, the focus shifts from precise trajectory tracking to the regulation of discrete events, such as spikes. The study emphasizes rejecting events rather than trajectories and demonstrates the robustness of the approach, even under mismatches between the controller and the exosystem. This work is a first step towards developing a design principle for event regulation.

Authors:Meng Yuan, Changfu Zou
Title: Lifelong reinforcement learning for health-aware fast charging of lithium-ion batteries
Abstract:
Fast charging of lithium-ion batteries remains a critical bottleneck for widespread adoption of electric vehicles and stationary energy storage systems, as improperly designed fast charging can accelerate battery degradation and shorten lifespan. In this work, we address this challenge by proposing a health-aware fast charging strategy that explicitly balances charging speed and battery longevity across the entire service life. The key innovation lies in establishing a mapping between anode overpotential and the state of health (SoH) of battery, which is then used to constrain the terminal charging voltage in a twin delayed deep deterministic policy gradient (TD3) framework. By incorporating this SoH-dependent voltage constraint, our designed deep learning method mitigates side reactions and effectively extends battery life. To validate the proposed approach, a high-fidelity single particle model with electrolyte is implemented in the widely adopted PyBaMM simulation platform, capturing degradation phenomena at realistic scales. Comparative life-cycle simulations against conventional CC-CV, its variants, and constant current-constant overpotential methods show that the TD3-based controller reduces overall degradation while maintaining competitively fast charge times. These results demonstrate the practical viability of deep reinforcement learning for advanced battery management systems and pave the way for future explorations of health-aware, performance-optimized charging strategies.

Authors:Joon-Young Kim, Jecheon Yu, Heekyu Kim, Seunghwa Ryu
Title: DRL-Based Injection Molding Process Parameter Optimization for Adaptive and Profitable Production
Abstract:
Plastic injection molding remains essential to modern manufacturing. However, optimizing process parameters to balance product quality and profitability under dynamic environmental and economic conditions remains a persistent challenge. This study presents a novel deep reinforcement learning (DRL)-based framework for real-time process optimization in injection molding, integrating product quality and profitability into the control objective. A profit function was developed to reflect real-world manufacturing costs, incorporating resin, mold wear, and electricity prices, including time-of-use variations. Surrogate models were constructed to predict product quality and cycle time, enabling efficient offline training of DRL agents using soft actor-critic (SAC) and proximal policy optimization (PPO) algorithms. Experimental results demonstrate that the proposed DRL framework can dynamically adapt to seasonal and operational variations, consistently maintaining product quality while maximizing profit. Compared to traditional optimization methods such as genetic algorithms, the DRL models achieved comparable economic performance with up to 135x faster inference speeds, making them well-suited for real-time applications. The framework's scalability and adaptability highlight its potential as a foundation for intelligent, data-driven decision-making in modern manufacturing environments.

Authors:A. Ashok, A. Cabrera, S. Baje, A. Zambanini, K. Allinger, A. Bahr, S. van Waasen
Title: Self Clocked Digital LDO for Cryogenic Power Management in 22nm FDSOI with 98 Percent Efficiency
Abstract:
A universal quantum computer~(QC), though promising ground breaking solutions to complex problems, still faces several challenges with respect to scalability. Current state-of-the-art QC use a great quantity of cables to connect the physical qubits, situated in the cryogenic temperature, to room temperature electronics. Integrated cryogenic electronics together with semiconductor spin qubits is one way closer for scalability. Such a scalable quantum computer can have qubits and the control electronics at 4K stage. Being at 4K, more thermal dissipation is allowed without overloading the cooling capability of the fridge. Still, control and power circuitry is expected to be highly efficient. While commercial CMOS technologies are found to be operatable at \qty{}{mK}, lack of reliable cryogenic models while designing, increased mismatches at cryo temperatures makes the design challenging and risky. Using an FDSOI technology with backgate biasing to compensate for the threshold voltage drift happening at cryo~(compensating around 200mV) and digital circuitry is a way to address this challenge. In this work, a self-clocked digital low dropout regulator (DLDO) is designed in FDSOI for high power efficient, variation tolerant regulator to supply cryogenic circuits for Quantum computing. The proposed digital LDO is more resilient to mismatch and having self clocking and close and fine loops addresses the power efficiency and faster transient response.

Authors:Borja Genoves Guzman, Maximo Morales-Cespedes, Ana Garcia Armada, Maite Brandt-Pearce
Title: Angle diversity receiver as a key enabler for reliable ORIS-based Visible Light Communication
Abstract:
Visible Light Communication (VLC) offers a promising solution to satisfy the increasing demand for wireless data. However, link blockages remain a significant challenge. This paper addresses this issue by investigating the combined use of angle diversity receivers (ADRs) and optical reconfigurable intelligent surfaces (ORISs) in multiuser VLC systems. We consider ORIS elements as small movable mirrors. We demonstrate the complementarity of ADR and ORIS in mitigating link blockages, as well as the advantages of using a larger number of ORIS elements due to the increased field-of-view (FoV) at the receiver enabled by the ADR. An optimization algorithm is proposed to maximize the minimum signal-to-noise power ratio (SNR) to deploy a fair communication network. Numerical results show that integrating ADR and ORIS significantly enhances VLC communication performance, achieving an SNR gain of up to 30 dB compared to a system without ORIS, and mitigating communication outages produced by link blockages or out-of-FoV received signals. We also prove that an ADR with a single tier of photodiodes is sufficient to complement ORIS-assisted VLC.

Authors:Chong He, Mugilan Mariappan, Keval Vora, Mo Chen
Title: Threshold Strategy for Leaking Corner-Free Hamilton-Jacobi Reachability with Decomposed Computations
Abstract:
Hamilton-Jacobi (HJ) Reachability is widely used to compute value functions for states satisfying specific control objectives. However, it becomes intractable for high-dimensional problems due to the curse of dimensionality. Dimensionality reduction approaches are essential for mitigating this challenge, whereas they could introduce the ``leaking corner issue", leading to inaccuracies in the results. In this paper, we define the ``leaking corner issue" in terms of value functions, propose and prove a necessary condition for its occurrence. We then use these theoretical contributions to introduce a new local updating method that efficiently corrects inaccurate value functions while maintaining the computational efficiency of the dimensionality reduction approaches. We demonstrate the effectiveness of our method through numerical simulations. Although we validate our method with the self-contained subsystem decomposition (SCSD), our approach is applicable to other dimensionality reduction techniques that introduce the ``leaking corners".

Authors:Layan Badran, Kiarash Aryankia, Rastko R. Selmic
Title: Stability and Convergence Analysis of Multi-Agent Consensus with Communication Delays: A Lambert W Function Approach
Abstract:
This paper investigates the effect of constant time delay in weakly connected multi-agent systems modeled by double integrator dynamics. A novel analytical approach is proposed to establish an upper bound on the permissible time delay that ensures stability and consensus convergence. The analysis employs the Lambert W function method in higher-dimensional systems to derive explicit conditions under which consensus is achieved. The theoretical results are rigorously proven and provide insight into the allowable delay margins. The analysis applies to general leaderless undirected network topologies. The framework also accounts for complex and realistic delays, including non-commensurate communication delays. Numerical examples are provided to demonstrate the effectiveness of the proposed method.

Authors:Rodolphe Sepulchre, Alessandro Cecconi, Michelangelo Bin, Lorenzo Marconi
Title: Regulation without calibration
Abstract:
This article revisits the importance of the internal model principle in the literature of regulation and synchronization. Trajectory regulation, the task of regulating continuous-time signals generated by differential equations, is contrasted with event regulation, the task of only regulating discrete events associated with the trajectories. In trajectory regulation, the internal model principle requires an exact internal generator of the continuous-time trajectories, which translates into unrealistic calibration requirements. Event regulation is envisioned as a way to relieve calibration of the continuous behavior while ensuring reliability of the discrete events.

Authors:Nuthasith Gerdpratoom, Kaoru Yamamoto
Title: Decentralized Nonlinear Model Predictive Control-Based Flock Navigation with Real-Time Obstacle Avoidance in Unknown Obstructed Environments
Abstract:
This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle avoidance strategy. More specifically, we integrate the local obstacle avoidance constraint using point clouds into the NMPC framework. Here, each agent relies on data from its local sensor to perceive and respond to nearby obstacles. A point cloud processing technique is presented for both two-dimensional and three-dimensional point clouds to minimize the computational burden during the optimization. The process consists of directional filtering and down-sampling that significantly reduce the number of data points. The algorithm's performance is validated through realistic 3D simulations in Gazebo, and its practical feasibility is further explored via hardware-in-the-loop (HIL) simulations on embedded platforms.

Authors:Obidike Nnorom, Giray Ogut, Stephen Boyd, Philip Levis
Title: Aging-Aware Battery Control via Convex Optimization
Abstract:
We consider the task of controlling a battery while balancing two competing objectives that evolve over different time scales. The short-term objective, such as arbitrage or load smoothing, improves with more battery cycling, while the long-term objective is to maximize battery lifetime, which discourages cycling. Using a semi-empirical aging model, we formulate this problem as a convex optimization problem. We use model predictive control (MPC) with a convex approximation of aging dynamics to optimally manage the trade-off between performance and degradation. Through simulations, we quantify this trade-off in both economic and smoothing applications.

Authors:Zhiyi Zhou, Dongzhuo Liu, Songtao Guo, Yuanyuan Yang
Title: Robust Indoor Localization via Conformal Methods and Variational Bayesian Adaptive Filtering
Abstract:
Indoor localization is critical for IoT applications, yet challenges such as non-Gaussian noise, environmental interference, and measurement outliers hinder the robustness of traditional methods. Existing approaches, including Kalman filtering and its variants, often rely on Gaussian assumptions or static thresholds, limiting adaptability in dynamic environments. This paper proposes a hierarchical robust framework integrating Variational Bayesian (VB) parameter learning, Huber M-estimation, and Conformal Outlier Detection (COD) to address these limitations. First, VB inference jointly estimates state and noise parameters, adapting to time-varying uncertainties. Second, Huber-based robust filtering suppresses mild outliers while preserving Gaussian efficiency. Third, COD provides statistical guarantees for outlier detection via dynamically calibrated thresholds, ensuring a user-controlled false alarm rate. Theoretically, we prove the Semi-positive Definiteness of Huber-based Kalman filtering covariance and the coverage of sliding window conformal prediction. Experiments on geomagnetic fingerprint datasets demonstrate significant improvements: fingerprint matching accuracy increases from 81.25% to 93.75%, and positioning errors decrease from 0.62-6.87 m to 0.03-0.35 m. Comparative studies further validate the framework's robustness, showing consistent performance gains under non-Gaussian noise and outlier conditions.

Authors:Yingjie Hu, Wang Hu
Title: Constrained Factor Graph Optimization for Robust Networked Pedestrian Inertial Navigation
Abstract:
This paper presents a novel constrained Factor Graph Optimization (FGO)-based approach for networked inertial navigation in pedestrian localization. To effectively mitigate the drift inherent in inertial navigation solutions, we incorporate kinematic constraints directly into the nonlinear optimization framework. Specifically, we utilize equality constraints, such as Zero-Velocity Updates (ZUPTs), and inequality constraints representing the maximum allowable distance between body-mounted Inertial Measurement Units (IMUs) based on human anatomical limitations. While equality constraints are straightforwardly integrated as error factors, inequality constraints cannot be explicitly represented in standard FGO formulations. To address this, we introduce a differentiable softmax-based penalty term in the FGO cost function to enforce inequality constraints smoothly and robustly. The proposed constrained FGO approach leverages temporal correlations across multiple epochs, resulting in optimal state trajectory estimates while consistently maintaining constraint satisfaction. Experimental results confirm that our method outperforms conventional Kalman filter approaches, demonstrating its effectiveness and robustness for pedestrian navigation.

Authors:Mohsen Eskandari, Andrey V. Savkin, Mohammad Deghat
Title: Integrated Localization and Path Planning for an Ocean Exploring Team of Autonomous Underwater Vehicles with Consensus Graph Model Predictive Control
Abstract:
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data collection, and ocean exploration missions. Efficient path planning and accurate localization are essential, the latter of which is critical due to the lack of global localization signals and poor radio frequency (RF) communication in deep waters. Inertial navigation and acoustic communication are common solutions for localization. However, the former is subject to odometry drifts, and the latter is limited to short distances. This paper proposes a systematic approach for localization-aware energy-efficient collision-free path planning for a USV-AUVs team. Path planning is formulated as finite receding horizon model predictive control (MPC) optimization. A dynamic-aware linear kinodynamic motion equation is developed. The mathematical formulation for the MPC optimization is effectively developed where localization is integrated as consensus graph optimization among AUV nodes. Edges in the optimized AUV-to-USV (A2U) and AUV-to-AUV (A2A) graphs are constrained to the sonar range of acoustic modems. The time complexity of the consensus MPC optimization problem is analyzed, revealing a nonconvex NP-hard problem, which is solved using sequential convex programming. Numerical simulation results are provided to evaluate the proposed method.

Authors:Austin Braniff, Yuhe Tian
Title: YANNs: Y-wise Affine Neural Networks for Exact and Efficient Representations of Piecewise Linear Functions
Abstract:
This work formally introduces Y-wise Affine Neural Networks (YANNs), a fully-explainable network architecture that continuously and efficiently represent piecewise affine functions with polytopic subdomains. Following from the proofs, it is shown that the development of YANNs requires no training to achieve the functionally equivalent representation. YANNs thus maintain all mathematical properties of the original formulations. Multi-parametric model predictive control is utilized as an application showcase of YANNs, which theoretically computes optimal control laws as a piecewise affine function of states, outputs, setpoints, and disturbances. With the exact representation of multi-parametric control laws, YANNs retain essential control-theoretic guarantees such as recursive feasibility and stability. This sets YANNs apart from the existing works which apply neural networks for approximating optimal control laws instead of exactly representing them. By optimizing the inference speed of the networks, YANNs can evaluate substantially faster in real-time compared to traditional piecewise affine function calculations. Numerical case studies are presented to demonstrate the algorithmic scalability with respect to the input/output dimensions and the number of subdomains. YANNs represent a significant advancement in control as the first neural network-based controller that inherently ensures both feasibility and stability. Future applications can leverage them as an efficient and interpretable starting point for data-driven modeling/control.

Authors:Ricardo Gutierrez, Jesse B. Hoagg
Title: Control Barrier Functions With Real-Time Gaussian Process Modeling
Abstract:
We present an approach for satisfying state constraints in systems with nonparametric uncertainty by estimating this uncertainty with a real-time-update Gaussian process (GP) model. Notably, new data is incorporated into the model in real time as it is obtained and select old data is removed from the model. This update process helps improve the model estimate while keeping the model size (memory required) and computational complexity fixed. We present a recursive formulation for the model update, which reduces time complexity of the update from O(p3) to O(p2), where p is the number of data used. The GP model includes a computable upper bound on the model error. Together, the model and upper bound are used to construct a control-barrier-function (CBF) constraint that guarantees state constraints are satisfied.

Authors:Stella N. Arinze, Halima I. Kure, Augustine O. Nwajana
Title: Improving 5G/B5G Network Performance with RFID-Enabled Resource Management Systems
Abstract:
In the rapidly evolving landscape of 5G and B5G (beyond 5G) networks, efficient resource optimization is critical to addressing the escalating demands for high-speed, low-latency, and energy efficient communication. This study explores the integration of Radio Frequency Identification (RFID) technology as a novel approach to enhance resource management in 5G/B5G networks. The motivation behind this research lies in overcoming persistent challenges such as spectrum congestion, high latency, and inefficient load balancing, which impede the performance of traditional resource allocation methods. To achieve this, RFID tags were embedded in critical network components, including user devices, base stations, and Internet of Things (IoT) nodes, enabling the collection of real-time data on device status, location, and resource utilization. RFID readers strategically placed across the network continuously captured this data, which was processed by a centralized controller using a custom-designed optimization algorithm. This algorithm dynamically managed key network resources, including spectrum allocation, load balancing, and energy consumption, ensuring efficient operation under varying network conditions. Simulations were conducted to evaluate the performance of the RFID-based model against traditional 4G dynamic resource allocation techniques. The results demonstrated substantial improvements in key performance metrics.

Authors:Linxuan Huang, Dong-Fan Xie, Li Li, Zhengbing He
Title: A Survey on Data-Driven Modeling of Human Drivers' Lane-Changing Decisions
Abstract:
Lane-changing (LC) behavior, a critical yet complex driving maneuver, significantly influences driving safety and traffic dynamics. Traditional analytical LC decision (LCD) models, while effective in specific environments, often oversimplify behavioral heterogeneity and complex interactions, limiting their capacity to capture real LCD. Data-driven approaches address these gaps by leveraging rich empirical data and machine learning to decode latent decision-making patterns, enabling adaptive LCD modeling in dynamic environments. In light of the rapid development of artificial intelligence and the demand for data-driven models oriented towards connected vehicles and autonomous vehicles, this paper presents a comprehensive survey of data-driven LCD models, with a particular focus on human drivers LC decision-making. It systematically reviews the modeling framework, covering data sources and preprocessing, model inputs and outputs, objectives, structures, and validation methods. This survey further discusses the opportunities and challenges faced by data-driven LCD models, including driving safety, uncertainty, as well as the integration and improvement of technical frameworks.

Authors:Yu Cheng, Harun Å iljak
Title: Emergent Multi-View Fidelity in Autonomous UAV Swarm Sport Injury Detection
Abstract:
Accurate, real-time collision detection is essential for ensuring player safety and effective refereeing in high-contact sports such as rugby, particularly given the severe risks associated with traumatic brain injuries (TBI). Traditional collision-monitoring methods employing fixed cameras or wearable sensors face limitations in visibility, coverage, and responsiveness. Previously, we introduced a framework using unmanned aerial vehicles (UAVs) for monitoring and real time kinematics extraction from videos of collision events. In this paper, we show that the strategies operating on the objective of ensuring at least one UAV captures every incident on the pitch have an emergent property of fulfilling a stronger key condition for successful kinematics extraction. Namely, they ensure that almost all collisions are captured by multiple drones, establishing multi-view fidelity and redundancy, while not requiring any drone-to-drone communication.

Authors:Sameer Nekkalapu, Sushrut Thakar, Antos Cheeramban Varghese, Vijay Vittal, Bo Gong, Ken Brown
Title: Development of Reduced Feeder and Load Models Using Practical Topological and Loading Data
Abstract:
Distribution feeder and load model reduction methods are essential for maintaining a good tradeoff between accurate representation of grid behavior and reduced computational complexity in power system studies. An effective algorithm to obtain a reduced order representation of the practical feeders using utility topological and loading data has been presented in this paper. Simulations conducted in this work show that the reduced feeder and load model of a utility feeder, obtained using the proposed method, can accurately capture contactor and motor stalling behaviors for critical events such as fault induced delayed voltage recovery.

Authors:Muhy Eddin Za'ter, Amir Sajad, Bri-Mathias Hodge
Title: Leveraging Multi-Task Learning for Multi-Label Power System Security Assessment
Abstract:
This paper introduces a novel approach to the power system security assessment using Multi-Task Learning (MTL), and reformulating the problem as a multi-label classification task. The proposed MTL framework simultaneously assesses static, voltage, transient, and small-signal stability, improving both accuracy and interpretability with respect to the most state of the art machine learning methods. It consists of a shared encoder and multiple decoders, enabling knowledge transfer between stability tasks. Experiments on the IEEE 68-bus system demonstrate a measurable superior performance of the proposed method compared to the extant state-of-the-art approaches.

Authors:Shinkyu Park, Lucas C. D. Bezerra
Title: Robust Multi-Agent Decision-Making in Finite-Population Games
Abstract:
We study the robustness of an agent decision-making model in finite-population games, with a particular focus on the Kullback-Leibler Divergence Regularized Learning (KLD-RL) model. Specifically, we examine how the model's parameters influence the effects of various sources of noise and modeling inaccuracies -- factors commonly encountered in engineering applications of population games -- on agents' decision-making. Our analysis provides insights into how these parameters can be effectively tuned to mitigate such effects. Theoretical results are supported by numerical examples and simulation studies that validate the analysis and illustrate practical strategies for parameter selection.

Authors:Merijn Van Deyck, Geraint Chaffey, Dirk Van Hertem
Title: Shortlisting Protection Configurations for HVDC Grids and Electrical Energy Hubs
Abstract:
This paper proposes a methodology for shortlisting protection system configurations for large HVDC switching stations, which are expected in multiterminal HVDC grids and electrical energy hubs (or energy islands). This novel approach focuses on the configuration of protection equipment and the arrangement of lines and converters in various protection zones, instead of expert decisions on protection strategies based on numerous simulations. A graph-based approach that allows high-level evaluation of possible DC fault impacts is presented. This fault impact evaluation method can evaluate many possible protection configurations allowing the selection of less obvious choices, as experts cannot consider all possible configurations, especially when the switching station size increases. A filtering process is applied to reduce the number of possible configurations based on multiple protection performance metrics which are evaluated for different power flow scenarios. The results for these performance metrics can be compared for configurations with different numbers of HVDC circuit breakers to assess the benefit of increasing the amount of protection equipment in different network topologies. It is also shown that, through continued filtering using additional performance metrics or fault scenarios, the number of possible breaker, cable and converter configurations can be further reduced, leading to a protection design that is well suited for many operational scenarios. The results of the shortlisting process provide insights on the required number of HVDC circuit breakers to limit fault impacts to a given value. Moreover, observed trends in the results could, in future studies, contribute to new design principles and priorities, allowing system developers to more effectively design HVDC protection systems for different operational scenarios and possible investment levels.

Authors:Julian Barreiro-Gomez, Tyrone E. Duncan, Bozenna Pasik-Duncan, Hamidou Tembine
Title: Semi-Explicit Solution of Some Discrete-Time Mean-Field-Type Games with Higher-Order Costs
Abstract:
Traditional solvable game theory and mean-field-type game theory (risk-aware games) predominantly focus on quadratic costs due to their analytical tractability. Nevertheless, they often fail to capture critical non-linearities inherent in real-world systems. In this work, we present a unified framework for solving discrete-time game problems with higher-order state and strategy costs involving power-law terms. We derive semi-explicit expressions for equilibrium strategies, cost-to-go functions, and recursive coefficient dynamics across deterministic, stochastic, and multi-agent system settings by convex-completion techniques. The contributions include variance-aware solutions under additive and multiplicative noise, extensions to mean-field-type-dependent dynamics, and conditions that ensure the positivity of recursive coefficients. Our results provide a foundational methodology for analyzing non linear multi-agent systems under higher-order penalization, bridging classical game theory and mean-field-type game theory with modern computational tools for engineering applications.

Authors:Rui Yao, Xuhang Liu, Anna Scaglione, Shlomo Bekhor, Kenan Zhang
Title: Integrated equilibrium model for electrified logistics and power systems
Abstract:
This paper proposes an integrated equilibrium model to characterize the complex interactions between electrified logistics systems and electric power delivery systems. The model consists of two major players: an electrified logistics operator (ELO) and a power system operator (PSO). The ELO aims to maximize its profit by strategically scheduling and routing its electric delivery vehicles (e-trucks) for deliveries and charging, in response to the locational marginal price (LMP) set by the PSO. The routing, delivery, and charging behaviors of e-trucks are modeled by a perturbed utility Markov decision process (PU-MDP) while their collective operations are optimized to achieve the ELO's objective by designing rewards in the PU-MDP. On the other hand, PSO optimizes the energy price by considering both the spatiotemporal e-truck charging demand and the base electricity load. The equilibrium of the integrated system is formulated as a fixed point, proved to exist under mild assumptions, and solved for a case study on the Hawaii network via Anderson's fixed-point acceleration algorithm. Along with these numerical results, this paper provides both theoretical insights and practical guidelines to achieve sustainable and efficient operations in modern electrified logistics and power systems.

Authors:Raoul Prisant, Federica Garin, Paolo Frasca
Title: Opinion Dynamics on Signed Graphs and Graphons
Abstract:
In this paper, we make use of graphon theory to study opinion dynamics on large undirected networks. The opinion dynamics models that we take into consideration allow for negative interactions between the individuals, whose opinions can thus grow apart. We consider both the repelling and the opposing models of negative interactions, which have been studied in the literature. We define the repelling and the opposing dynamics on signed graphons and we show that their initial value problem solutions exist and are unique. We then show that, in a suitable sense, the graphon dynamics is a good approximation of the dynamics on large graphs that converge to a graphon. This result applies to large random graphs that are sampled according to a graphon (W-random graphs), for which we provide a new convergence result under very general assumptions.

Authors:Jingwang Li, Vincent Lau
Title: Accelerated Decentralized Constraint-Coupled Optimization: A Dual$^2$ Approach
Abstract:
In this paper, we focus on a class of decentralized constraint-coupled optimization problem: $\min_{x_i \in \mathbb{R}^{d_i}, i \in \mathcal{I}; y \in \mathbb{R}^p}$ $\sum_{i=1}^n\left(f_i(x_i) + g_i(x_i)\right) + h(y) \ \text{s.t.} \ \sum_{i=1}^{n}A_ix_i = y$, over an undirected and connected network of $n$ agents. Here, $f_i$, $g_i$, and $A_i$ represent private information of agent $i \in \mathcal{I} = \{1, \cdots, n\}$, while $h$ is public for all agents. Building on a novel dual$^2$ approach, we develop two accelerated algorithms to solve this problem: the inexact Dual$^2$ Accelerated (iD2A) gradient method and the Multi-consensus inexact Dual$^2$ Accelerated (MiD2A) gradient method. We demonstrate that both iD2A and MiD2A can guarantee asymptotic convergence under a milder condition on $h$ compared to existing algorithms. Furthermore, under additional assumptions, we establish linear convergence rates and derive significantly lower communication and computational complexity bounds than those of existing algorithms. Several numerical experiments validate our theoretical analysis and demonstrate the practical superiority of the proposed algorithms.

Authors:Chelsea Sidrane, Jana Tumova
Title: BURNS: Backward Underapproximate Reachability for Neural-Feedback-Loop Systems
Abstract:
Learning-enabled planning and control algorithms are increasingly popular, but they often lack rigorous guarantees of performance or safety. We introduce an algorithm for computing underapproximate backward reachable sets of nonlinear discrete time neural feedback loops. We then use the backward reachable sets to check goal-reaching properties. Our algorithm is based on overapproximating the system dynamics function to enable computation of underapproximate backward reachable sets through solutions of mixed-integer linear programs. We rigorously analyze the soundness of our algorithm and demonstrate it on a numerical example. Our work expands the class of properties that can be verified for learning-enabled systems.

Authors:Jianqiang Ding, Dingran Yuan, Shankar A. Deka
Title: Backstepping Reach-avoid Controller Synthesis for Multi-input Multi-output Systems with Mixed Relative Degrees
Abstract:
Designing controllers with provable formal guarantees has become an urgent requirement for cyber-physical systems in safety-critical scenarios. Beyond addressing scalability in high-dimensional implementations, controller synthesis methodologies separating safety and reachability objectives may risk optimization infeasibility due to conflicting constraints, thereby significantly undermining their applicability in practical applications. In this paper, by leveraging feedback linearization and backstepping techniques, we present a novel framework for constructing provable reach-avoid formal certificates tailored to multi-input multi-output systems. Based on this, we developed a systematic synthesis approach for controllers with reach-avoid guarantees, which ensures that the outputs of the system eventually enter the predefined target set while staying within the required safe set. Finally, we demonstrate the effectiveness of our method through simulations.

Authors:Oumayma Khattabi, Matteo Tacchi-Bénard, Sorin Olaru
Title: Sequentially learning regions of attraction from data
Abstract:
The paper is dedicated to data-driven analysis of dynamical systems. It deals with certifying the basin of attraction of a stable equilibrium for an unknown dynamical system. It is supposed that point-wise evaluation of the right-hand side of the ordinary differential equation governing the system is available for a set of points in the state space. Technically, a Piecewise Affine Lyapunov function will be constructed iteratively using an optimisation-based technique for the effective validation of the certificates. As a main contribution, whenever those certificates are violated locally, a refinement of the domain and the associated tessellation is produced, thus leading to an improvement in the description of the domain of attraction.

Authors:Rafael Augusto Pedriali, Isadora Martines Ferreira, Jose Carlos Marinello, Taufik Abrao
Title: The ISAC systems aided by MIMO, RIS and with Beamforming Techniques
Abstract:
This paper explores the integration of communication and sensing in modern wireless systems through the configuration of BS and RIS antenna elements. By leveraging time multiplexing for both communication and sensing, the proposed system optimizes spectral efficiency and operational performance. The use of static RIS configurations tailored to specific environments eliminates the need for dynamic reconfigurations, enhancing system agility, reducing processing complexity, and improving sensing accuracy. The system incorporates trilateration, angle of arrival, and time of arrival techniques to enable precise user localization by combining signals reflected along multiple paths. This method helps choose the best connections and lowers sensing costs while preventing interference with communication data, highlighting the need to bring together new technologies like passive and adaptive beamforming in one system.

Authors:Akshita Gupta, Yashwanth Kumar Nakka, Changrak Choi, Amir Rahmani
Title: Global Task-aware Fault Detection, Identification For On-Orbit Multi-Spacecraft Collaborative Inspection
Abstract:
In this paper, we present a global-to-local task-aware fault detection and identification algorithm to detect failures in a multi-spacecraft system performing a collaborative inspection (referred to as global) task. The inspection task is encoded as a cost functional $\costH$ that informs global (task allocation and assignment) and local (agent-level) decision-making. The metric $\costH$ is a function of the inspection sensor model, and the agent full-pose. We use the cost functional $\costH$ to design a metric that compares the expected and actual performance to detect the faulty agent using a threshold. We use higher-order cost gradients $\costH$ to derive a new metric to identify the type of fault, including task-specific sensor fault, an agent-level actuator, and sensor faults. Furthermore, we propose an approach to design adaptive thresholds for each fault mentioned above to incorporate the time dependence of the inspection task. We demonstrate the efficacy of the proposed method empirically, by simulating and detecting faults (such as inspection sensor faults, actuators, and sensor faults) in a low-Earth orbit collaborative spacecraft inspection task using the metrics and the threshold designed using the global task cost $\costH$.

Authors:Anushka Sharma, Anamitra Pal, Rajasekhar Anguluri, Tamojit Chakraborty
Title: A Practical Approach Towards Inertia Estimation Using Ambient Synchrophasor Data
Abstract:
Real-time tracking of inertia is important because it reflects the power system's ability to withstand contingencies and maintain frequency security. This paper proposes a practical approach to estimate inertia using ambient phasor measurement unit (PMU) data and a partitioned form of the swing equation. The approach accounts for (bounded) uncertainties in network parameters and PMU measurements, enabling precise estimation of inertia and damping constants, as well as mechanical power inputs. Instead of assuming constant mechanical power input throughout, the approach leverages knowledge of power system operations to determine intervals when it is actually constant to maintain estimation consistency. Simulation results on the IEEE 14-bus system and IEEE 39 bus system integrated with renewable energy sources affirm the method's accuracy and applicability.

Authors:Olga Mironenko, Hadi Banaee, Amy Loutfi
Title: Evaluation of Coordination Strategies for Underground Automated Vehicle Fleets in Mixed Traffic
Abstract:
This study investigates the efficiency and safety outcomes of implementing different adaptive coordination models for automated vehicle (AV) fleets, managed by a centralized coordinator that dynamically responds to human-controlled vehicle behavior. The simulated scenarios replicate an underground mining environment characterized by narrow tunnels with limited connectivity. To address the unique challenges of such settings, we propose a novel metric - Path Overlap Density (POD) - to predict efficiency and potentially the safety performance of AV fleets. The study also explores the impact of map features on AV fleets performance. The results demonstrate that both AV fleet coordination strategies and underground tunnel network characteristics significantly influence overall system performance. While map features are critical for optimizing efficiency, adaptive coordination strategies are essential for ensuring safe operations.

Authors:Dimitris Kallis, Moysis Symeonides, Marios D. Dikaiakos
Title: Data-Driven Energy Modeling of Industrial IoT Systems: A Benchmarking Approach
Abstract:
The widespread adoption of IoT has driven the development of cyber-physical systems (CPS) in industrial environments, leveraging Industrial IoTs (IIoTs) to automate manufacturing processes and enhance productivity. The transition to autonomous systems introduces significant operational costs, particularly in terms of energy consumption. Accurate modeling and prediction of IIoT energy requirements are critical, but traditional physics- and engineering-based approaches often fall short in addressing these challenges comprehensively. In this paper, we propose a novel methodology for benchmarking and analyzing IIoT devices and applications to uncover insights into their power demands, energy consumption, and performance. To demonstrate this methodology, we develop a comprehensive framework and apply it to study an industrial CPS comprising an educational robotic arm, a conveyor belt, a smart camera, and a compute node. By creating micro-benchmarks and an end-to-end application within this framework, we create an extensive performance and power consumption dataset, which we use to train and analyze ML models for predicting energy usage from features of the application and the CPS system. The proposed methodology and framework provide valuable insights into the energy dynamics of industrial CPS, offering practical implications for researchers and practitioners aiming to enhance the efficiency and sustainability of IIoT-driven automation.

Authors:Christopher Bohn, Florian Siebenrock, Janne Bosch, Tobias Hetzner, Samuel Mauch, Philipp Reis, Timo Staudt, Manuel Hess, Ben-Micha Piscol, Sören Hohmann
Title: ZeloS -- A Research Platform for Early-Stage Validation of Research Findings Related to Automated Driving
Abstract:
This paper presents ZeloS, a research platform designed and built for practical validation of automated driving methods in an early stage of research. We overview ZeloS' hardware setup and automation architecture and focus on motion planning and control. ZeloS weighs 69 kg, measures a length of 117 cm, and is equipped with all-wheel steering, all-wheel drive, and various onboard sensors for localization. The hardware setup and the automation architecture of ZeloS are designed and built with a focus on modularity and the goal of being simple yet effective. The modular design allows the modification of individual automation modules without the need for extensive onboarding into the automation architecture. As such, this design supports ZeloS in being a versatile research platform for validating various automated driving methods. The motion planning component and control of ZeloS feature optimization-based methods that allow for explicitly considering constraints. We demonstrate the hardware and automation setup by presenting experimental data.

Authors:Roya Rajabi, Shichen Sun, Booker Wu, Jamil Khan, Kevin Huang
Title: Towards Sustainable Energy Storage: Evaluating Polymer Electrolytes for Zinc Ion Batteries
Abstract:
Polymer electrolytes present a promising solution to the challenges posed by aqueous electrolytes in energy storage systems, offering the flexibility needed for wearable electronics. Despite the increasing interest in polymer electrolyte-based zinc ion batteries (ZIBs), their development is still in its early stages due to various challenges. In this study, we fabricated three promising polymer electrolytes: CSAM (carboxyl methyl chitosan with acrylamide monomer), PAM (polyacrylamide monomer hydrogel electrolyte), and p-PBI (Phosphoric acid (PA)-doped polybenzimidazole) with Zn(ClO4)2 and Zn(OTf)2, for their application in zinc ion batteries. Our results demonstrated that PAM hydrogel electrolyte exhibited very low LDH formation after a long cycle, demonstrating effective protection for zinc foil, and the high mechanical stability of the p-PBI membrane provided prolonged durability against short circuits through the formation of LDH. The presence of carboxyl groups in CSAM and the formation of O-H bonding facilitated ion movement, resulting in enhanced ionic conductivity, and preventing dendrite formation. Incorporating these hydrogels with high-performance zinc salts, such as zinc triflate (Zn(OTf)2), resulted in impressive stability, with the symmetric cell demonstrating over 4000 hours of uniform and stable voltage profile under 1 mA/cm2 and low overpotential of around 53 mV cycling with CSAM. The full-cell battery with PBI-T membrane showed the highest durability and capacity compared to CSAM-T and PAM-T, due to the greater availability of free protons for storing zinc in the cathode.

Authors:Roya Rajabi, Shichen Sun, Booker Wu, Jamil Khan, Kevin Huang
Title: Parameter Sensitivity Analysis in Zinc-Ion Batteries: A Study on Ionic Conductivity, Current Density, and Electrode Properties
Abstract:
This study presents a comprehensive Multiphysics model for zinc-ion batteries (ZIBs), incorporating electrochemical aspects. The model integrates the mass transport of Zn2+ ions, charge transfer, and solid diffusion to predict performance parameters like cell potential, and energy density. Significant research has focused on enhancing battery performance by optimizing components of battery to improve parameters such as ionic conductivity and exchange current density and capacity. In this study, we present a model-based investigation of zinc-ion batteries, examining the impact of these parameters. Our findings reveal that at low current densities, raising of ionic conductivity beyond 1.3 S/m and exchange current density above 0.13 mA/cm2 do not yield substantial improvements in capacity. These insights underscore the importance of identifying performance thresholds in the development of next-generation batteries.

Authors:Jingwang Li, Vincent Lau
Title: Smoothness of the Augmented Lagrangian Dual in Convex Optimization
Abstract:
This paper investigates the general linearly constrained optimization problem: $\min_{x \in \R^d} f(x) \ \st \ A x = b$, where $f: \R^n \rightarrow \exs$ is a closed proper convex function, $A \in \R^{p \times d}$, and $b \in \R^p$. We establish the following results without requiring additional regularity conditions: (1) the augmented Lagrangian dual function $ϕ_ρ(λ) = \inf_x \cL_ρ(x, λ)$ is $\frac{1}ρ$-smooth everywhere; and (2) the solution to $\min_{x \in \R^d} \cL_ρ(x, λ)$ exists for any dual variable $λ\in \R^p$, where $ρ> 0$ is the augmented parameter and $\cL_ρ(x, λ) = f(x) + \dotprod{λ, A x - b} + \fracρ{2}\norm{A x - b}^2$ is the augmented Lagrangian. These findings significantly relax the strong assumptions commonly imposed in existing literature to guarantee similar properties.

Authors:Masaaki Nagahara, Takuya Ikeda, Ritsuki Hoshimoto
Title: Switched Systems Control via Discreteness-Promoting Regularization
Abstract:
This paper proposes a novel method for designing finite-horizon discrete-valued switching signals in linear switched systems based on discreteness-promoting regularization. The inherent combinatorial optimization problem is reformulated as a continuous optimization problem with a non-convex regularization term that promotes discreteness of the control. We prove that any solution obtained from the relaxed problem is also a solution to the original problem. The resulting non-convex optimization problem is efficiently solved through time discretization. Numerical examples demonstrate the effectiveness of the proposed method.

Authors:Qi Duan, Ehab Al-Shaer
Title: Firewall Regulatory Networks for Autonomous Cyber Defense
Abstract:
In this paper, we present the principles of designing new self-organising and autonomous management protocol to govern the dynamics of bio-inspired decentralized firewall architecture based on Biological Regularity Networks. The new architecture called Firewall Regulatory Networks (FRN) exhibits the following features (1) automatic rule policy configuration with provable utility-risk appetite guarantee, (2) resilient response for changing risks or new service requirements, and (3) globally optimized access control policy reconciliation. We present the FRN protocol and formalize the constraints to synthesize the undetermined components in the protocol to produce interactions that can achieve these objectives. We illustrate the feasibility of the FRN architecture in multiple case studies.

Authors:Anh Tung Nguyen, Quanyan Zhu, André Teixeira
Title: Bilateral Cognitive Security Games in Networked Control Systems under Stealthy Injection Attacks
Abstract:
This paper studies a strategic security problem in networked control systems under stealthy false data injection attacks. The security problem is modeled as a bilateral cognitive security game between a defender and an adversary, each possessing cognitive reasoning abilities. The adversary with an adversarial cognitive ability strategically attacks some interconnections of the system with the aim of disrupting the network performance while remaining stealthy to the defender. Meanwhile, the defender with a defense cognitive ability strategically monitors some nodes to impose the stealthiness constraint with the purpose of minimizing the worst-case disruption caused by the adversary. Within the proposed bilateral cognitive security framework, the preferred cognitive levels of the two strategic agents are formulated in terms of two newly proposed concepts, cognitive mismatch and cognitive resonance. Moreover, we propose a method to compute the policies for the defender and the adversary with arbitrary cognitive abilities. A sufficient condition is established under which an increase in cognitive levels does not alter the policies for the defender and the adversary, ensuring convergence. The obtained results are validated through numerical simulations.

Authors:Frédéric Sabot, Pierre-Etienne Labeau, Pierre Henneaux
Title: Towards Probabilistic Dynamic Security Assessment and Enhancement of Large Power Systems
Abstract:
This paper proposes a novel methodology for probabilistic dynamic security assessment and enhancement of power systems that considers load and generation variability, N-2 contingencies, and uncertain cascade propagation caused by uncertain protection system behaviour. In this methodology, a database of likely operating conditions is generated via weather data, a market model and a model of operators' preventive actions. System states are sampled from this database and contingencies are applied to them to perform the security assessment. Rigorous statistical indicators are proposed to decide how many biased and unbiased samples to simulate to reach a target accuracy on the statistical error on the estimated risk from individual contingencies. Optionally, a screening of contingencies can be performed to limit the computational burden of the analysis. Finally, interpretable machine learning techniques are used to identify the root causes of the risk from critical contingencies, to ease the interpretation of the results, and to help with security enhancement. The method is demonstrated on the 73-bus reliability test system, and the scalability to large power systems (with thousands of buses) is also discussed.

Authors:Chenggang Wang, Xinyi Wang, Yutong Dong, Lei Song, Xinping Guan
Title: Multi-Constraint Safe Reinforcement Learning via Closed-form Solution for Log-Sum-Exp Approximation of Control Barrier Functions
Abstract:
The safety of training task policies and their subsequent application using reinforcement learning (RL) methods has become a focal point in the field of safe RL. A central challenge in this area remains the establishment of theoretical guarantees for safety during both the learning and deployment processes. Given the successful implementation of Control Barrier Function (CBF)-based safety strategies in a range of control-affine robotic systems, CBF-based safe RL demonstrates significant promise for practical applications in real-world scenarios. However, integrating these two approaches presents several challenges. First, embedding safety optimization within the RL training pipeline requires that the optimization outputs be differentiable with respect to the input parameters, a condition commonly referred to as differentiable optimization, which is non-trivial to solve. Second, the differentiable optimization framework confronts significant efficiency issues, especially when dealing with multi-constraint problems. To address these challenges, this paper presents a CBF-based safe RL architecture that effectively mitigates the issues outlined above. The proposed approach constructs a continuous AND logic approximation for the multiple constraints using a single composite CBF. By leveraging this approximation, a close-form solution of the quadratic programming is derived for the policy network in RL, thereby circumventing the need for differentiable optimization within the end-to-end safe RL pipeline. This strategy significantly reduces computational complexity because of the closed-form solution while maintaining safety guarantees. Simulation results demonstrate that, in comparison to existing approaches relying on differentiable optimization, the proposed method significantly reduces training computational costs while ensuring provable safety throughout the training process.

Authors:Xueyuan Cui, Yi Wang, Bolun Xu
Title: Dimension-reduced Optimization of Multi-zone Thermostatically Controlled Loads
Abstract:
This study proposes a computationally efficient method for optimizing multi-zone thermostatically controlled loads (TCLs) by leveraging dimensionality reduction through an auto-encoder. We develop a multi-task learning framework to jointly represent latent variables and formulate a state-space model based on observed TCL operation data. This significantly reduces the dimensionality of TCL variables and states while preserving critical nonlinear interdependencies in TCL control. To address various application scenarios, we introduce optimization algorithms based on system identification (OptIden) and system simulation (OptSim) tailored to the latent variable representation. These approaches employ automatic differentiation and zeroth-order techniques, respectively, for efficient implementation. We evaluate the proposed method using a 90-zone apartment prototype, comparing its performance to traditional high-dimensional optimization. Results demonstrate that our approach effectively reduces control costs while achieving significantly higher computational efficiency.

Authors:Yanxin Fu, Wenxiao Zhao
Title: Recursive Algorithms for Sparse Parameter Identification of Multivariate Stochastic Systems with Non-stationary Observations
Abstract:
The classical sparse parameter identification methods are usually based on the iterative basis selection such as greedy algorithms, or the numerical optimization of regularized cost functions such as LASSO and Bayesian posterior probability distribution, etc., which, however, are not suitable for online sparsity inference when data arrive sequentially. This paper presents recursive algorithms for sparse parameter identification of multivariate stochastic systems with non-stationary observations. First, a new bivariate criterion function is presented by introducing an auxiliary variable matrix into a weighted $L_1$ regularization criterion. The new criterion function is subsequently decomposed into two solvable subproblems via alternating optimization of the two variable matrices, for which the optimizers can be explicitly formulated into recursive equations. Second, under the non-stationary and non-persistent excitation conditions on the systems, theoretical properties of the recursive algorithms are established. That is, the estimates are proved to be with (i) set convergence, i.e., the accurate estimation of the sparse index set of the unknown parameter matrix, and (ii) parameter convergence, i.e., the consistent estimation for values of the non-zero elements of the unknown parameter matrix. Finally, numerical examples are given to support the theoretical analysis.

Authors:Suk Ki Lee, Hyunwoong Ko
Title: Generative Machine Learning in Adaptive Control of Dynamic Manufacturing Processes: A Review
Abstract:
Dynamic manufacturing processes exhibit complex characteristics defined by time-varying parameters, nonlinear behaviors, and uncertainties. These characteristics require sophisticated in-situ monitoring techniques utilizing multimodal sensor data and adaptive control systems that can respond to real-time feedback while maintaining product quality. Recently, generative machine learning (ML) has emerged as a powerful tool for modeling complex distributions and generating synthetic data while handling these manufacturing uncertainties. However, adopting these generative technologies in dynamic manufacturing systems lacks a functional control-oriented perspective to translate their probabilistic understanding into actionable process controls while respecting constraints. This review presents a functional classification of Prediction-Based, Direct Policy, Quality Inference, and Knowledge-Integrated approaches, offering a perspective for understanding existing ML-enhanced control systems and incorporating generative ML. The analysis of generative ML architectures within this framework demonstrates control-relevant properties and potential to extend current ML-enhanced approaches where conventional methods prove insufficient. We show generative ML's potential for manufacturing control through decision-making applications, process guidance, simulation, and digital twins, while identifying critical research gaps: separation between generation and control functions, insufficient physical understanding of manufacturing phenomena, and challenges adapting models from other domains. To address these challenges, we propose future research directions aimed at developing integrated frameworks that combine generative ML and control technologies to address the dynamic complexities of modern manufacturing systems.

Authors:Atoosa Kasirzadeh, Iason Gabriel
Title: Characterizing AI Agents for Alignment and Governance
Abstract:
The creation of effective governance mechanisms for AI agents requires a deeper understanding of their core properties and how these properties relate to questions surrounding the deployment and operation of agents in the world. This paper provides a characterization of AI agents that focuses on four dimensions: autonomy, efficacy, goal complexity, and generality. We propose different gradations for each dimension, and argue that each dimension raises unique questions about the design, operation, and governance of these systems. Moreover, we draw upon this framework to construct "agentic profiles" for different kinds of AI agents. These profiles help to illuminate cross-cutting technical and non-technical governance challenges posed by different classes of AI agents, ranging from narrow task-specific assistants to highly autonomous general-purpose systems. By mapping out key axes of variation and continuity, this framework provides developers, policymakers, and members of the public with the opportunity to develop governance approaches that better align with collective societal goals.

Authors:Sebastiaan van den Eijnden, Chao Chen, Koen Scheres, Thomas Chaffey, Alexander Lanzon
Title: On phase in scaled graphs
Abstract:
The scaled graph has been introduced recently as a nonlinear extension of the classical Nyquist plot for linear time-invariant systems. In this paper, we introduce a modified definition for the scaled graph, termed the signed scaled graph (SSG), in which the phase component is characterized by making use of the Hilbert transform. Whereas the original definition of the scaled graph uses unsigned phase angles, the new definition has signed phase angles which ensures the possibility to differentiate between phase-lead and phase-lag properties in a system. Making such distinction is important from both an analysis and a synthesis perspective, and helps in providing tighter stability estimates of feedback interconnections. We show how the proposed SSG leads to intuitive characterizations of positive real and negative imaginary nonlinear systems, and present various interconnection results. We showcase the effectiveness of our results through several motivating examples.

Authors:Adrian Lepp, Jörn Tebbe, Andreas Besginow
Title: Physics-informed Gaussian Processes for Model Predictive Control of Nonlinear Systems
Abstract:
Recently, a novel linear model predictive control algorithm based on a physics-informed Gaussian Process has been introduced, whose realizations strictly follow a system of underlying linear ordinary differential equations with constant coefficients. The control task is formulated as an inference problem by conditioning the Gaussian process prior on the setpoints and incorporating pointwise soft-constraints as further virtual setpoints. We apply this method to systems of nonlinear differential equations, obtaining a local approximation through the linearization around an equilibrium point. In the case of an asymptotically stable equilibrium point convergence is given through the Bayesian inference schema of the Gaussian Process. Results for this are demonstrated in a numerical example.

Authors:Maryam Mohiti, Mohammadreza Mazidi, David Steen, Le Anh Tuan
Title: A Decentralized Local Flexibility Market for Local Energy Communities to Mitigate Grid Congestion: A Case Study in Sweden
Abstract:
This paper proposes a preventive congestion management framework with joint Local Flexibility Capacity Market (LFCM) and Local Energy Markets (LEMs). The framework enables Local Energy Communities (LECs) to optimize their flexibility potential across the LEM, LFCM, and heat markets. The LECs utilize their heat and electricity resources to offer flexibility services to Distribution System Operators (DSOs) for congestion relief. In this framework, energy and flexibility are treated as separate variables, each subject to different pricing scheme. Flexibility prices are market-driven, dynamically reflecting the location and severity of congestion. A case study conducted at Chalmers University of Technology, Sweden, shows that the proposed framework can effectively mitigate congestion by trading the LECs flexibility in the LFCM. The study also highlights up to 40% financial benefits for LECs, promoting the LFCM as a viable solution for congestion management in future decentralized energy systems.

Authors:Jian Zuo, Junzhe Liu, Xianyong Wang, Yicheng Liu, Navya Goli, Tong Xu, Hao Zhang, Umamaheswara Rao Tida, Zhenge Jia, Mengying Zhao
Title: ComplexVCoder: An LLM-Driven Framework for Systematic Generation of Complex Verilog Code
Abstract:
Recent advances have demonstrated the promising capabilities of large language models (LLMs) in generating register-transfer level (RTL) code, such as Verilog. However, existing LLM-based frameworks still face significant challenges in accurately handling the complexity of real-world RTL designs, particularly those that are large-scale and involve multi-level module instantiations. To address this issue, we present ComplexVCoder, an open-source LLM-driven framework that enhances both the generation quality and efficiency of complex Verilog code. Specifically, we introduce a two-stage generation mechanism, which leverages an intermediate representation to enable a more accurate and structured transition from natural language descriptions to intricate Verilog designs. In addition, we introduce a rule-based alignment method and a domain-specific retrieval-augmented generation (RAG) to further improve the correctness of the synthesized code by incorporating relevant design knowledge during generation. To evaluate our approach, we construct a comprehensive dataset comprising 55 complex Verilog designs derived from real-world implementations. We also release an open-source benchmark suite for systematically assessing the quality of auto-generated RTL code together with the ComplexVCoder framework. Experimental results show that ComplexVCoder outperforms SOTA frameworks such as CodeV and RTLCoder by 14.6% and 22.2%, respectively, in terms of function correctness on complex Verilog benchmarks. Furthermore, ComplexVcoder achieves comparable generation performances in terms of functionality correctness using a lightweight 32B model (Qwen2.5), rivaling larger-scale models such as GPT-3.5 and DeepSeek-V3.

Authors:Cornelius Hake, Christian Friedrich
Title: Automated Generation of Precedence Graphs in Digital Value Chains for Automotive Production
Abstract:
This study examines the digital value chain in automotive manufacturing, focusing on the identification, software flashing, customization, and commissioning of electronic control units in vehicle networks. A novel precedence graph design is proposed to optimize this process chain using an automated scheduling algorithm, which combines structured data extraction from heterogeneous sources via natural language processing and classification techniques with mixed integer linear programming for efficient graph generation. The results show significant improvements in key metrics. The algorithm reduces the number of production stations equipped with expensive hardware and software to execute digital value chain processes, while also increasing capacity utilization through efficient scheduling and reduced idle time. Task parallelization is optimized, resulting in streamlined workflows and increased throughput. Compared to the traditional scheduling method, the automated approach has reduced preparation time by 50% and reduced scheduling activities, as it now takes two minutes to create the precedence graph. The flexibility of the algorithm's constraints allows for vehicle-specific configurations while maintaining high responsiveness, eliminating backup stations and facilitating the integration of new topologies. Automated scheduling significantly outperforms manual methods in efficiency, functionality, and adaptability.

Authors:Srikar Annamraju, Harris Nisar, Dayu Xia, Shankar A. Deka, Anne Horowitz, Nadica Miljković, Dušan M. Stipanović
Title: Robotic Trail Maker Platform for Rehabilitation in Neurological Conditions: Clinical Use Cases
Abstract:
Patients with neurological conditions require rehabilitation to restore their motor, visual, and cognitive abilities. To meet the shortage of therapists and reduce their workload, a robotic rehabilitation platform involving the clinical trail making test is proposed. Therapists can create custom trails for each patient and the patient can trace the trails using a robotic device. The platform can track the performance of the patient and use these data to provide dynamic assistance through the robot to the patient interface. Therefore, the proposed platform not only functions as an evaluation platform, but also trains the patient in recovery. The developed platform has been validated at a rehabilitation center, with therapists and patients operating the device. It was found that patients performed poorly while using the platform compared to healthy subjects and that the assistance provided also improved performance amongst patients. Statistical analysis demonstrated that the speed of the patients was significantly enhanced with the robotic assistance. Further, neural networks are trained to classify between patients and healthy subjects and to forecast their movements using the data collected.

Authors:Jianing Chen, Sitian Qin, Chuangyin Dang
Title: Robust Nash equilibrium seeking based on semi-Markov switching topologies
Abstract:
This paper investigates a distributed robust Nash Equilibrium (NE) seeking problem in fluctuating environments. Specifically, the players, subject to the second-order dynamics, are considered to be influenced by external disturbances and uncertain dynamics while communicating via semi-Markov switching topologies. In such constantly changing network circumstances, the existence of disturbances and uncertain dynamics may directly affect the performance of most existing NE seeking algorithms. Moreover, the semi-Markov switching topologies may cause communication uncertainty, which are considered in NE seeking for the first time. To accommodate the above concerns, the following targets require to be reached simultaneously: (1) Disturbances and uncertain dynamics rejection in finite time; (2) Distributed estimation on unknown information required for players' cost functions; (3) A reasonable estimation consensus protocol under semi-Markov switching; (4) NE seeking for the second-order players. By combining supertwisting-based Integral Sliding-Mode Control (ISMC) with average consensus tracking, a novel robust NE seeking algorithm is constructed, incorporating an effective leader-follower consensus protocol. Furthermore, to lessen dispensable information transmission, a sampled-data-based event-triggered mechanism is introduced. Incorporating the advantages of both semi-Markov switching and event-triggered mechanism, another NE seeking algorithm is proposed. Through designing an appropriate Lyapunov-Krasovskii functional, it is shown that the leader-follower consensus can be achieved in the mean-square sense under event-triggered mechanism. Finally, a connectivity control game is formulated to illustrate the validity of the designed algorithms.

Authors:Eric Schöneberg, Michael Schröder, Daniel Görges, Hans D. Schotten
Title: Trajectory Planning with Model Predictive Control for Obstacle Avoidance Considering Prediction Uncertainty
Abstract:
This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework. The proposed method utilizes Model Predictive Control (MPC) with a focus on handling the uncertainties associated with the movement prediction of dynamic obstacles. Unlike existing Nav2 trajectory planners which primarily deal with static obstacles or react to the current position of dynamic obstacles, this planner predicts future obstacle positions using a stochastic Vector Auto-Regressive Model (VAR). The obstacles' future positions are represented by probability distributions, and collision avoidance is achieved through constraints based on the Mahalanobis distance, ensuring the robot avoids regions where obstacles are likely to be. This approach considers the robot's kinodynamic constraints, enabling it to track a reference path while adapting to real-time changes in the environment. The paper details the implementation, including obstacle prediction, tracking, and the construction of feasible sets for MPC. Simulation results in a Gazebo environment demonstrate the effectiveness of this method in scenarios where robots must navigate around each other, showing improved collision avoidance capabilities.

Authors:Wu Su, Xiaoyuan E, Zhao Jing, Song Xi Chen
Title: Glider Path Design and Control for Reconstructing Three-Dimensional Structures of Oceanic Mesoscale Eddies
Abstract:
Underwater gliders offer effective means in oceanic surveys with a major task in reconstructing the three-dimensional hydrographic field of a mesoscale eddy. This paper considers three key issues in the hydrographic reconstruction of mesoscale eddies with the sampled data from the underwater gliders. It first proposes using the Thin Plate Spline (TPS) as the interpolation method for the reconstruction with a blocking scheme to speed up the computation. It then formulates a procedure for selecting glider path design that minimizes the reconstruction errors among a set of pathway formations. Finally we provide a glider path control procedure to guide the glider to follow to designed pathways as much as possible in the presence of ocean current. A set of optimization algorithms are experimented and several with robust glider control performance on a simulated eddy are identified.

Authors:Ken-Joel Simmoteit, Philipp Schillinger, Leonel Rozo
Title: Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations
Abstract:
Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is relevant to overcome unseen task situations. This paper addresses the challenge of ensuring both safety and robustness in dynamic robot skills learned from demonstrations. Specifically, we build on neural contractive dynamical systems to provide robust extrapolation of the learned skills, while designing a full-body obstacle avoidance strategy that preserves contraction stability via diffeomorphic transforms. This is particularly crucial in complex environments where implicit scene representations, such as Signed Distance Fields (SDFs), are necessary. To this end, our framework called Signed Distance Field Diffeomorphic Transform, leverages SDFs and flow-based diffeomorphisms to achieve contraction-preserving obstacle avoidance. We thoroughly evaluate our framework on synthetic datasets and several real-world robotic tasks in a kitchen environment. Our results show that our approach locally adapts the learned contractive vector field while staying close to the learned dynamics and without introducing highly-curved motion paths, thus outperforming several state-of-the-art methods.

Authors:Benjamin Schiffer, Lucas Janson
Title: Foundations of Safe Online Reinforcement Learning in the Linear Quadratic Regulator: $\sqrt{T}$-Regret
Abstract:
Understanding how to efficiently learn while adhering to safety constraints is essential for using online reinforcement learning in practical applications. However, proving rigorous regret bounds for safety-constrained reinforcement learning is difficult due to the complex interaction between safety, exploration, and exploitation. In this work, we seek to establish foundations for safety-constrained reinforcement learning by studying the canonical problem of controlling a one-dimensional linear dynamical system with unknown dynamics. We study the safety-constrained version of this problem, where the state must with high probability stay within a safe region, and we provide the first safe algorithm that achieves regret of $\tilde{O}_T(\sqrt{T})$. Furthermore, the regret is with respect to the baseline of truncated linear controllers, a natural baseline of non-linear controllers that are well-suited for safety-constrained linear systems. In addition to introducing this new baseline, we also prove several desirable continuity properties of the optimal controller in this baseline. In showing our main result, we prove that whenever the constraints impact the optimal controller, the non-linearity of our controller class leads to a faster rate of learning than in the unconstrained setting.

Authors:Ching-Yi Lin, Sahil Shah
Title: Low-Bit Integerization of Vision Transformers using Operand Reordering for Efficient Hardware
Abstract:
Pre-trained vision transformers have achieved remarkable performance across various visual tasks but suffer from expensive computational and memory costs. While model quantization reduces memory usage by lowering precision, these models still incur significant computational overhead due to the dequantization before matrix operations. In this work, we analyze the computation graph and propose an integerization process based on operation reordering. Specifically, the process delays dequantization until after matrix operations. This enables integerized matrix multiplication and linear module by directly processing the quantized input. To validate our approach, we synthesize the self-attention module of ViT on a systolic array-based hardware. Experimental results show that our low-bit inference reduces per-PE power consumption for linear layer and matrix multiplication, bridging the gap between quantized models and efficient inference.

Authors:Vinay Kanakeri, Aritra Mitra
Title: Boosting-Enabled Robust System Identification of Partially Observed LTI Systems Under Heavy-Tailed Noise
Abstract:
We consider the problem of system identification of partially observed linear time-invariant (LTI) systems. Given input-output data, we provide non-asymptotic guarantees for identifying the system parameters under general heavy-tailed noise processes. Unlike previous works that assume Gaussian or sub-Gaussian noise, we consider significantly broader noise distributions that are required to admit only up to the second moment. For this setting, we leverage tools from robust statistics to propose a novel system identification algorithm that exploits the idea of boosting. Despite the much weaker noise assumptions, we show that our proposed algorithm achieves sample complexity bounds that nearly match those derived under sub-Gaussian noise. In particular, we establish that our bounds retain a logarithmic dependence on the prescribed failure probability. Interestingly, we show that such bounds can be achieved by requiring just a finite fourth moment on the excitatory input process.

Authors:Anna Jarosz-Kozyro, Jerzy Baranowski
Title: Recent advances in data-driven methods for degradation modelling across applications
Abstract:
Understanding degradation is crucial for ensuring the longevity and performance of materials, systems, and organisms. To illustrate the similarities across applications, this article provides a review of data-based method in materials science, engineering, and medicine. The methods analyzed in this paper include regression analysis, factor analysis, cluster analysis, Markov Chain Monte Carlo, Bayesian statistics, hidden Markov models, nonparametric Bayesian modeling of time series, supervised learning, and deep learning. The review provides an overview of degradation models, referencing books and methods, and includes detailed tables highlighting the applications and insights offered in medicine, power engineering, and material science. It also discusses the classification of methods, emphasizing statistical inference, dynamic prediction, machine learning, and hybrid modeling techniques. Overall, this review enhances understanding of degradation modelling across diverse domains.

Authors:Adrian Esser, Chiara Basla, Peter Wolf, Robert Riener
Title: Design and benchmarking of a two degree of freedom tendon driver unit for cable-driven wearable technologies
Abstract:
Exosuits have recently been developed as alternatives to rigid exoskeletons and are increasingly adopted for both upper and lower limb therapy and assistance in clinical and home environments. Many cable-driven exosuits have been developed but little has been published on their electromechanical designs and performance. Therefore, this paper presents a comprehensive design and performance analysis of a two degree of freedom tendon driver unit (TDU) for cable-driven wearable exosuits. Detailed methodologies are presented to benchmark the functionality of the TDU. A static torque output test compares the commanded and measured torques. A velocity control test evaluates the attenuation and phase shift across velocities. A noise test evaluates how loud the TDU is for the wearer under different speeds. A thermal stress test captures the cooling performance of the TDU to ensure safe operation at higher loads. Finally, a battery endurance test evaluates the runtime of the TDU under various loading conditions to inform the usable time. To demonstrate these tests, a modular TDU system for cable-driven applications is introduced, which allows components such as motors, pulleys, and sensors to be adapted based on the requirements of the intended application. By sharing detailed methodologies and performance results, this study aims to provide a TDU design that may be leveraged by others and resources for researchers and engineers to better document the capabilities of their TDU designs.

Authors:Peng Ye, Juan Du
Title: SAPO-RL: Sequential Actuator Placement Optimization for Fuselage Assembly via Reinforcement Learning
Abstract:
Precise assembly of composite fuselages is critical for aircraft assembly to meet the ultra-high precision requirements. Due to dimensional variations, there is a gap when two fuselage assemble. In practice, actuators are required to adjust fuselage dimensions by applying forces to specific points on fuselage edge through pulling or pushing force actions. The positioning and force settings of these actuators significantly influence the efficiency of the shape adjustments. The current literature usually predetermines the fixed number of actuators, which is not optimal in terms of overall quality and corresponding actuator costs. However, optimal placement of actuators in terms of both locations and number is challenging due to compliant structures, complex material properties, and dimensional variabilities of incoming fuselages. To address these challenges, this paper introduces a reinforcement learning (RL) framework that enables sequential decision-making for actuator placement selection and optimal force computation. Specifically, our methodology employs the Dueling Double Deep Q-Learning (D3QN) algorithm to refine the decision-making capabilities of sequential actuator placements. The environment is meticulously crafted to enable sequential and incremental selection of an actuator based on system states. We formulate the actuator selection problem as a submodular function optimization problem, where the sub-modularity properties can be adopted to efficiently achieve near-optimal solutions. The proposed methodology has been comprehensively evaluated through numerical studies and comparison studies, demonstrating its effectiveness and outstanding performance in enhancing assembly precision with limited actuator numbers.

Authors:Marco Peruzzo, Giacomo Baggio, Francesco Ticozzi
Title: Obtaining Structural Network Controllability with Higher-Order Local Dynamics
Abstract:
We consider a network of identical, first-order linear systems, and investigate how replacing a subset of the systems composing the network with higher-order ones, either taken to be generic or specifically designed, may affect its controllability. After establishing a correspondence between state controllability in networks of first-order systems with output controllability in networks of higher-order systems, we show that adding higher-order dynamics may require significantly fewer subsystem modifications to achieve structural controllability, when compared to first-order heterogeneous subsystems. Furthermore, we characterize the topology of networks (which we call X-networks) in which the introduction of heterogeneous local dynamics is not necessary for structural output controllability, as the latter can be attained by suitable higher-order subsystems with homogeneous internal dynamics.

Authors:Marco Peruzzo, Giacomo Baggio, Francesco Ticozzi
Title: Finding Conditions for Target Controllability under Christmas Trees
Abstract:
This paper presents new graph-theoretic conditions for structural target controllability of directed networks. After reviewing existing conditions and highlighting some gaps in the literature, we introduce a new class of network systems, named Christmas trees, which generalizes trees and cacti. We then establish a graph-theoretic characterization of sets of nodes that are structurally target controllable for a simple subclass of Christmas trees. Our characterization applies to general network systems by considering spanning subgraphs of Christmas tree class and allows us to uncover target controllable sets that existing criteria fail to identify.

Authors:Abdallah Alalem Albustami, Ahmad F. Taha
Title: Breaking the Flow and the Bank: Stealthy Cyberattacks on Water Network Hydraulics
Abstract:
As water distribution networks (WDNs) become increasingly connected with digital infrastructures, they face greater exposure to cyberattacks that threaten their operational integrity. Stealthy False Data Injection Attacks (SFDIAs) are particularly concerning, as they manipulate sensor data to compromise system operations while avoiding detection. While existing studies have focused on either detection methods or specific attack formulations, the relationship between attack sophistication, system knowledge requirements, and achievable impact remains unexplored. This paper presents a systematic analysis of sensor attacks against WDNs, investigating different combinations of physical constraints, state monitoring requirements, and intrusion detection evasion conditions. We propose several attack formulations that range from tailored strategies satisfying both physical and detection constraints to simpler measurement manipulations. The proposed attacks are simple and local -- requiring knowledge only of targeted sensors and their hydraulic connections -- making them scalable and practical. Through case studies on Net1 and Net3 benchmark networks, we demonstrate how these attacks can persistently increase operational costs and alter water flows while remaining undetected by monitoring systems for extended periods. The analysis provides utilities with insights for vulnerability assessment and motivates the development of protection strategies that combine physical and statistical security mechanisms.

Authors:Seyed Yousef Soltanian, Wenlong Zhang
Title: Peer-Aware Cost Estimation in Nonlinear General-Sum Dynamic Games for Mutual Learning and Intent Inference
Abstract:
Human-robot interactions can be modeled as incomplete-information general-sum dynamic games since the objective functions of both agents are not explicitly known to each other. However, solving for equilibrium policies for such games presents a major challenge, especially if the games involve nonlinear underlying dynamics. To simplify the problem, existing work often assumes that one agent is an expert with complete information about its peer, which can lead to biased estimates and failures in coordination. To address this challenge, we propose a nonlinear peer-aware cost estimation (N-PACE) algorithm for general-sum dynamic games. In N-PACE, using iterative linear quadratic (LQ) approximation of the nonlinear general-sum game, each agent explicitly models the learning dynamics of its peer agent while inferring their objective functions, leading to unbiased fast learning in inferring the unknown objective function of the peer agent, which is critical for task completion and safety assurance. Additionally, we demonstrate how N-PACE enables \textbf{intent communication} in such multi-agent systems by explicitly modeling the peer's learning dynamics.

Authors:Seyed Yousef Soltanian, Wenlong Zhang
Title: PACE: A Framework for Learning and Control in Linear Incomplete-Information Differential Games
Abstract:
In this paper, we address the problem of a two-player linear quadratic differential game with incomplete information, a scenario commonly encountered in multi-agent control, human-robot interaction (HRI), and approximation methods for solving general-sum differential games. While solutions to such linear differential games are typically obtained through coupled Riccati equations, the complexity increases when agents have incomplete information, particularly when neither is aware of the other's cost function. To tackle this challenge, we propose a model-based Peer-Aware Cost Estimation (PACE) framework for learning the cost parameters of the other agent. In PACE, each agent treats its peer as a learning agent rather than a stationary optimal agent, models their learning dynamics, and leverages this dynamic to infer the cost function parameters of the other agent. This approach enables agents to infer each other's objective function in real time based solely on their previous state observations and dynamically adapt their control policies. Furthermore, we provide a theoretical guarantee for the convergence of parameter estimation and the stability of system states in PACE. Additionally, in our numerical studies, we demonstrate how modeling the learning dynamics of the other agent benefits PACE, compared to approaches that approximate the other agent as having complete information, particularly in terms of stability and convergence speed.

Authors:Nikilesh Ramesh, Ross Drummond, Pablo Rodolfo Baldivieso Monasterios, Yuanbo Nie
Title: Singular Arcs in Optimal Control: Closed-loop Implementations without Workarounds
Abstract:
Singular arcs emerge in the solutions of Optimal Control Problems (OCPs) when the optimal inputs on some finite time intervals cannot be directly obtained via the optimality conditions. Solving OCPs with singular arcs often requires tailored treatments, suitable for offline trajectory optimization. This approach can become increasingly impractical for online closed-loop implementations, especially for large-scale engineering problems. Recent development of Integrated Residual Methods (IRM) have indicated their suitability for handling singular arcs; the convergence of error measures in IRM automatically suppresses singular arc-induced fluctuations and leads to non-fluctuating solutions more suitable for practical problems. Through several examples, we demonstrate the advantages of solving OCPs with singular arcs using {IRM} under an economic model predictive control framework. In particular, the following observations are made: (i) IRM does not require special treatment for singular arcs, (ii) it solves the OCPs reliably with singular arc fluctuation suppressed, and (iii) the closed-loop results closely match the analytic optimal solutions.

Authors:Vijeth Hebbar, Cédric Langbort
Title: Revisiting Regret Benchmarks in Online Non-Stochastic Control
Abstract:
In the online non-stochastic control problem, an agent sequentially selects control inputs for a linear dynamical system when facing unknown and adversarially selected convex costs and disturbances. A common metric for evaluating control policies in this setting is policy regret, defined relative to the best-in-hindsight linear feedback controller. However, for general convex costs, this benchmark may be less meaningful since linear controllers can be highly suboptimal. To address this, we introduce an alternative, more suitable benchmark--the performance of the best fixed input. We show that this benchmark can be viewed as a natural extension of the standard benchmark used in online convex optimization and propose a novel online control algorithm that achieves sublinear regret with respect to this new benchmark. We also discuss the connections between our method and the original one proposed by Agarwal et al. in their seminal work introducing the online non-stochastic control problem, and compare the performance of both approaches through numerical simulations.

Authors:Nicholas P. Nurre, Ehsan Taheri
Title: Eigendecomposition Parameterization of Penalty Matrices for Enhanced Control Design: Aerospace Applications
Abstract:
Modern control algorithms require tuning of square weight/penalty matrices appearing in quadratic functions/costs to improve performance and/or stability output. Due to simplicity in gain-tuning and enforcing positive-definiteness, diagonal penalty matrices are used extensively in control methods such as linear quadratic regulator (LQR), model predictive control, and Lyapunov-based control. In this paper, we propose an eigendecomposition approach to parameterize penalty matrices, allowing positive-definiteness with non-zero off-diagonal entries to be implicitly satisfied, which not only offers notable computational and implementation advantages, but broadens the class of achievable controls. We solve three control problems: 1) a variation of Zermelo's navigation problem, 2) minimum-energy spacecraft attitude control using both LQR and Lyapunov-based methods, and 3) minimum-fuel and minimum-time Lyapunov-based low-thrust trajectory design. Particle swarm optimization is used to optimize the decision variables, which will parameterize the penalty matrices. The results demonstrate improvements of up to 65% in the performance objective in the example problems utilizing the proposed method.

Authors:Tigran Bakaryan, Christoph Aoun, Ricardo de Lima Ribeiro, Naira Hovakimyan, Diogo Gomes
Title: Hessian Riemannian Flow For Multi-Population Wardrop Equilibrium
Abstract:
In this paper, we address the problem of optimizing flows on generalized graphs that feature multiple entry points and multiple populations, each with varying cost structures. We tackle this problem by considering the multi-population Wardrop equilibrium, defined through variational inequalities. We rigorously analyze the existence and uniqueness of the Wardrop equilibrium. Furthermore, we introduce an efficient numerical method to find the solution. In particular, we reformulate the equilibrium problem as a distributed optimization problem over subgraphs and introduce a novel Hessian Riemannian flow method, a Riemannian-manifold-projected Hessian flow, to efficiently compute a solution. Finally, we demonstrate the effectiveness of our approach through examples in urban traffic management, including routing for diverse vehicle types and strategies for minimizing emissions in congested environments.

Authors:Kushal P. Singh, Aditya K. Rao, Twinkle Tripathy
Title: Finite time max-consensus for simultaneous target interception in switching graph topologies
Abstract:
In this paper, we propose a distributed guidance law for the simultaneous interception of a stationary target. For a group of `n' heterogeneous pursuers, the proposed guidance law establishes the necessary conditions on static graphs that ensure simultaneous target interception, regardless of the initial conditions of the pursuers. Building on these results, we also establish the necessary conditions for achieving simultaneous interception in switching graph topologies as well. The major highlight of the work is that the target interception occurs in finite time for both static and switching graph topologies. We demonstrate all of these results through numerical simulations.

Authors:Can Wan, Biao Li, Xuejun Hu, Yunyi Li, Ping Ju
Title: A Point-Hyperplane Geometry Method for Operational Security Region of Renewable Energy Generation in Power Systems
Abstract:
The rapid growth of renewable energy generation challenges the secure operation of power systems. It becomes crucial to quantify the critical security boundaries and hosting capability of renewable generation at the system operation level. This paper proposes a novel point-hyperplane geometry (PHG) method to accurately obtain the geometric expression of the operational security region of renewable energy generation for power systems. Firstly, the geometric expression of the operational security region is defined as a polytope of boundary hyperplanes in the form of inequalities satisfying the system operation constraints. Then, an orthogonal basis generation method is proposed to solve a single boundary hyperplane of the polytope based on intersecting and orthogonal geometric principles. Next, a point-hyperplane iteration algorithm is developed to progressively obtain the overall geometric polytope of the operational security region of renewable energy generation in power systems. Besides, the flexible performance trade-off can be achieved by modifying the proposed maximum tolerated angle between adjacent hyperplanes. Finally, comprehensive case studies verify the effectiveness and superiority of the PHG method.

Authors:Yaoze Liu, Zhen Tian, Qifan Zhou, Zixuan Huang, Hongyu Sun
Title: An ACO-MPC Framework for Energy-Efficient and Collision-Free Path Planning in Autonomous Maritime Navigation
Abstract:
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an unsatisfactory level metric for efficiency and arrow-cluster-based sampling for safety. The planner identifies optimal times for the AV to change lanes, taking into account the vehicle's velocity as a key factor in efficiency. Additionally, the integrated planner employs arrow-cluster-based sampling to evaluate collision risks and select an optimal lane-changing curve. Extensive simulations were conducted in a ramp scenario to verify the planner's efficient and safe performance. The results demonstrate that the proposed planner can effectively select an appropriate lane-changing time point and a safe lane-changing curve for AVs, without incurring any collisions during the maneuver.

Authors:Nicola Taddei, Riccardo Maggioni, Jaap Eising, Giulia De Pasquale, Florian Dorfler
Title: Distributed Time-Varying Gaussian Regression via Kalman Filtering
Abstract:
We consider the problem of learning time-varying functions in a distributed fashion, where agents collect local information to collaboratively achieve a shared estimate. This task is particularly relevant in control applications, whenever real-time and robust estimation of dynamic cost/reward functions in safety critical settings has to be performed. In this paper, we,adopt a finite-dimensional approximation of a Gaussian Process, corresponding to a Bayesian linear regression in an appropriate feature space, and propose a new algorithm, DistKP, to track the time-varying coefficients via a distributed Kalman filter. The proposed method works for arbitrary kernels and under weaker assumptions on the time-evolution of the function to learn compared to the literature. We validate our results using a simulation example in which a fleet of Unmanned Aerial Vehicles (UAVs) learns a dynamically changing wind field.

Authors:Zimao Sheng, Hong'an Yang
Title: Online Optimal Parameter Compensation method of High-dimensional PID Controller for Robust stability
Abstract:
Classical PID control is widely applied in an engineering system, with parameter regulation relying on a method like Trial - Error Tuning or the Ziegler - Nichols rule, mainly for a Single - Input Single - Output (SISO) system. However, the industrial nonlinear Multiple - Input Multiple - Output (MIMO) system demands a high - robustness PID controller due to strong state coupling, external disturbances, and faults. Existing research on PID parameter regulation for a nonlinear uncertain MIMO system has a significant drawback: it's limited to a specific system type, the control mechanism for a MIMO nonlinear system under disturbances is unclear, the MIMO PID controller over - relies on decoupled control, and lacks dynamic parameter compensation. This paper theoretically analyzes a high - dimensional PID controller for a disturbed nonlinear MIMO system, providing a condition for online dynamic parameter regulation to ensure robust stability. By transforming the parameter regulation into a two - stage minimum eigenvalue problem (EVP) solvable via the interior point method, it enables efficient online tuning. The experiment proves that the designed dynamic compensation algorithm can achieve online robust stability of system errors considering multi - channel input coupling, addressing the key limitation in the field.

Authors:Benjamin M. Peter, Mert Korkali
Title: Quantum-Enhanced Reinforcement Learning for Power Grid Security Assessment
Abstract:
The increasingly challenging task of maintaining power grid security requires innovative solutions. Novel approaches using reinforcement learning (RL) agents have been proposed to help grid operators navigate the massive decision space and nonlinear behavior of these complex networks. However, applying RL to power grid security assessment, specifically for combinatorially troublesome contingency analysis problems, has proven difficult to scale. The integration of quantum computing into these RL frameworks helps scale by improving computational efficiency and boosting agent proficiency by leveraging quantum advantages in action exploration and model-based interdependence. To demonstrate a proof-of-concept use of quantum computing for RL agent training and simulation, we propose a hybrid agent that runs on quantum hardware using IBM's Qiskit Runtime. We also provide detailed insight into the construction of parameterized quantum circuits (PQCs) for generating relevant quantum output. This agent's proficiency at maintaining grid stability is demonstrated relative to a benchmark model without quantum enhancement using N-k contingency analysis. Additionally, we offer a comparative assessment of the training procedures for RL models integrated with a quantum backend.

Authors:Shayan Bafandkar, Alireza Talebpour
Title: Charging While Driving Lanes: A Boon to Electric Vehicle Owners or a Disruption to Traffic Flow
Abstract:
Large-scale adoption of commercial and personal Electric Vehicles (EVs) is expected to significantly affect traffic flow dynamics, emissions, and energy consumption in the transportation sector. Range anxiety and challenges associated with charging EVs are among the key issues that reduce the adoption rate of EVs and, in turn, limit their system-level impacts. A promising solution to address these challenges is the introduction of charging while driving (CWD) lanes. Although technological advancements have made it possible to charge vehicles wirelessly while driving, introducing such lanes to the traffic stream can potentially disturb traffic flow and result in new congestion patterns. This study puts forward a framework to investigate the effects of CWD lanes on traffic flow, considering %autonomy, speed harmonization, and environmental factors for different market penetration rates (MPRs) of personal and commercial EVs. Different policies have been investigated to suggest the best design for CWD lanes. Results indicate that introducing CWD lanes can decrease overall traffic throughput and increase congestion due to additional lane-changing maneuvers by electric vehicles aiming to utilize the CWD lane. Although higher MPRs of EVs help stabilize traffic flow and reduce the number of shockwaves, speed disruption tends to increase in the CWD lane and propagate to adjacent lanes. Emission analyses show significant reductions (up to 63\%) in pollution levels with increasing MPRs of personal and commercial EVs. Our analysis shows that while CWD lanes can facilitate the adoption of EVs, they can deteriorate traffic efficiency, emphasizing the importance of careful design and policy considerations.

Authors:M. Humayun Kabir, Md. Ali Hasan, Md. Shafiqul Islam, Kyeongjun Ko, Wonjae Shin
Title: PC-DeepNet: A GNSS Positioning Error Minimization Framework Using Permutation-Invariant Deep Neural Network
Abstract:
Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and non-Gaussian measurement error distributions. In light of this, conventional model-based positioning approaches, which rely on Gaussian error approximations, struggle to achieve precise localization under these conditions. To overcome these challenges, we put forth a novel learning-based framework, PC-DeepNet, that employs a permutation-invariant (PI) deep neural network (DNN) to estimate position corrections (PC). This approach is designed to ensure robustness against changes in the number and/or order of visible satellite measurements, a common issue in GNSS systems, while leveraging NLOS and multipath indicators as features to enhance positioning accuracy in challenging urban and sub-urban environments. To validate the performance of the proposed framework, we compare the positioning error with state-of-the-art model-based and learning-based positioning methods using two publicly available datasets. The results confirm that proposed PC-DeepNet achieves superior accuracy than existing model-based and learning-based methods while exhibiting lower computational complexity compared to previous learning-based approaches.

Authors:Asher Stern, Zvi Shiller
Title: Robot Navigation in Dynamic Environments using Acceleration Obstacles
Abstract:
This paper addresses the issue of motion planning in dynamic environments by extending the concept of Velocity Obstacle and Nonlinear Velocity Obstacle to Acceleration Obstacle AO and Nonlinear Acceleration Obstacle NAO. Similarly to VO and NLVO, the AO and NAO represent the set of colliding constant accelerations of the maneuvering robot with obstacles moving along linear and nonlinear trajectories, respectively. Contrary to prior works, we derive analytically the exact boundaries of AO and NAO. To enhance an intuitive understanding of these representations, we first derive the AO in several steps: first extending the VO to the Basic Acceleration Obstacle BAO that consists of the set of constant accelerations of the robot that would collide with an obstacle moving at constant accelerations, while assuming zero initial velocities of the robot and obstacle. This is then extended to the AO while assuming arbitrary initial velocities of the robot and obstacle. And finally, we derive the NAO that in addition to the prior assumptions, accounts for obstacles moving along arbitrary trajectories. The introduction of NAO allows the generation of safe avoidance maneuvers that directly account for the robot's second-order dynamics, with acceleration as its control input. The AO and NAO are demonstrated in several examples of selecting avoidance maneuvers in challenging road traffic. It is shown that the use of NAO drastically reduces the adjustment rate of the maneuvering robot's acceleration while moving in complex road traffic scenarios. The presented approach enables reactive and efficient navigation for multiple robots, with potential application for autonomous vehicles operating in complex dynamic environments.

Authors:Xun Xiao, Junbo Tie, Jinyue Zhao, Ziqi Wang, Yuan Li, Qiang Dou, Lei Wang
Title: Spike-Kal: A Spiking Neuron Network Assisted Kalman Filter
Abstract:
Kalman filtering can provide an optimal estimation of the system state from noisy observation data. This algorithm's performance depends on the accuracy of system modeling and noise statistical characteristics, which are usually challenging to obtain in practical applications. The powerful nonlinear modeling capabilities of deep learning, combined with its ability to extract features from large amounts of data automatically, offer new opportunities for improving the Kalman filter. This paper proposes a novel method that leverages the Spiking Neural Network to optimize the Kalman filter. Our approach aims to reduce the reliance on prior knowledge of system and observation noises, allowing for adaptation to varying statistical characteristics of time-varying noise. Furthermore, we investigate the potential of SNNs in improving the computational efficiency of the Kalman filter. In our method, we design an integration strategy between the SNN and the Kalman filter. The SNN is trained to directly approximate the optimal gain matrix from observation data, thereby alleviating the computational burden of complex matrix operations inherent in traditional Kalman filtering while maintaining the accuracy and robustness of state estimation. Its average error has been reduced by 18\%-65\% compared with other methods.

Authors:Papa Yaw Owusu-Obeng, Steven R. Miller, Sarah Banas Mills, Michael T. Craig
Title: Optimizing Utility-Scale Solar Siting for Local Economic Benefits and Regional Decarbonization
Abstract:
The Midwest, with its vast agricultural lands, is rapidly emerging as a key region for utility-scale solar expansion. However, traditional power planning has yet to integrate local economic impact directly into capacity expansion to guide optimal siting decisions. Moreover, existing economic assessments tend to emphasize local benefits while overlooking the opportunity costs of converting productive farmland for solar development. This study addresses these gaps by endogenously incorporating local economic metrics into a power system planning model to evaluate how economic impacts influence solar siting, accounting for the cost of lost agricultural output. We analyze all counties within the Great Lakes region, constructing localized supply and marginal benefit curves that are embedded within a multi-objective optimization framework aimed at minimizing system costs and maximizing community economic benefits. Our findings show that counties with larger economies and lower farmland productivity deliver the highest local economic benefit per megawatt (MW) of installed solar capacity. In Ohio, for example, large counties generate up to $34,500 per MW, driven in part by high property tax revenues, while smaller counties yield 31% less. Accounting for the opportunity cost of displaced agricultural output reduces local benefits by up to 16%, depending on farmland quality. A scenario prioritizing solar investment in counties with higher economic returns increases total economic benefits by $1 billion (or 11%) by 2040, with solar investment shifting away from Michigan and Wisconsin (down by 39%) toward Ohio and Indiana (up by 75%), with only a marginal increase of 0.5% in system-wide costs. These findings underscore the importance of integrating economic considerations into utility-scale solar planning to better align decarbonization goals with regional and local economic development.

Authors:Asutay Ozmen, João P. Hespanha, Katie Byl
Title: Learning Transferable Friction Models and LuGre Identification via Physics Informed Neural Networks
Abstract:
Accurately modeling friction in robotics remains a core challenge, as robotics simulators like Mujoco and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications and approximations can lead to substantial differences between simulated and physical performance. In this paper, we present a physics-informed friction estimation framework that enables the integration of well-established friction models with learnable components-requiring only minimal, generic measurement data. Our approach enforces physical consistency yet retains the flexibility to adapt to real-world complexities. We demonstrate, on an underactuated and nonlinear system, that the learned friction models, trained solely on small and noisy datasets, accurately simulate dynamic friction properties and reduce the sim-to-real gap. Crucially, we show that our approach enables the learned models to be transferable to systems they are not trained on. This ability to generalize across multiple systems streamlines friction modeling for complex, underactuated tasks, offering a scalable and interpretable path toward bridging the sim-to-real gap in robotics and control.

Authors:Felix Berkel, Kim Peter Wabersich, Hongxi Xiang, Elias Milios
Title: Contract-based hierarchical control using predictive feasibility value functions
Abstract:
Today's control systems are often characterized by modularity and safety requirements to handle complexity, resulting in hierarchical control structures. Although hierarchical model predictive control offers favorable properties, achieving a provably safe, yet modular design remains a challenge. This paper introduces a contract-based hierarchical control strategy to improve the performance of control systems facing challenges related to model inconsistency and independent controller design across hierarchies. We consider a setup where a higher-level controller generates references that affect the constraints of a lower-level controller, which is based on a soft-constrained MPC formulation. The optimal slack variables serve as the basis for a contract that allows the higher-level controller to assess the feasibility of the reference trajectory without exact knowledge of the model, constraints, and cost of the lower-level controller. To ensure computational efficiency while maintaining model confidentiality, we propose using an explicit function approximation, such as a neural network, to represent the cost of optimal slack values. The approach is tested for a hierarchical control setup consisting of a planner and a motion controller as commonly found in autonomous driving.

Authors:Sawaira Rafaqat Ali, Shaima Abidrabbu, H. M. Furqan, Hüseyin Arslan
Title: A Novel Splitter Design for RSMA Networks
Abstract:
Rate splitting multiple access (RSMA) has firmly established itself as a powerful methodology for multiple access, interference management, and multi-user strategy for next-generation communication systems. In this paper, we propose a novel channel-dependent splitter design for multi-carrier RSMA systems, aimed at improving reliability performance. Specifically, the proposed splitter leverages channel state information and the inherent structure of RSMA to intelligently replicate segments of the private stream data that are likely to encounter deep-faded subchannels into the common stream. Thus, the reliability is enhanced within the same transmission slot, minimizing the need for frequent retransmissions and thereby reducing latency. To assess the effectiveness of our approach, we conduct comprehensive evaluations using key performance metrics, including achievable sum rate, average packet delay, and bit error rate (BER), under both perfect and imperfect channel estimation scenarios.

Authors:Shaima Abidrabbu, Hüseyin Arslan
Title: A Novel Approach to Secure RSMA Networks
Abstract:
This letter introduces a novel data-dependent interleaving technique designed to enhance the security of rate-splitting multiple access (RSMA) networks by protecting the common stream from eavesdropping threats. Specifically, we exploit the RSMA structure by interleaving the common bits of each user based on a sequence derived from their private bits. By decoding its private stream, the legitimate receiver reconstructs the interleaving sequence set by the transmitter and successfully de-interleaves the common stream. Therefore, the common part is successfully prevented from being intercepted by an eavesdropper who is unable to deduce the dynamic changing interleaving permutations. To ensure dynamic interleaving sequences, a private bit selection approach that balances the trade-off between security and system efficiency is proposed. Simulation findings confirm the effectiveness of the suggested method, showing notable security improvements while maintaining robust overall system reliability.

Authors:Feng Zhu, Aritra Mitra, Robert W. Heath
Title: Achieving Tighter Finite-Time Rates for Heterogeneous Federated Stochastic Approximation under Markovian Sampling
Abstract:
Motivated by collaborative reinforcement learning (RL) and optimization with time-correlated data, we study a generic federated stochastic approximation problem involving $M$ agents, where each agent is characterized by an agent-specific (potentially nonlinear) local operator. The goal is for the agents to communicate intermittently via a server to find the root of the average of the agents' local operators. The generality of our setting stems from allowing for (i) Markovian data at each agent and (ii) heterogeneity in the roots of the agents' local operators. The limited recent work that has accounted for both these features in a federated setting fails to guarantee convergence to the desired point or to show any benefit of collaboration; furthermore, they rely on projection steps in their algorithms to guarantee bounded iterates. Our work overcomes each of these limitations. We develop a novel algorithm titled \texttt{FedHSA}, and prove that it guarantees convergence to the correct point, while enjoying an $M$-fold linear speedup in sample-complexity due to collaboration. To our knowledge, \emph{this is the first finite-time result of its kind}, and establishing it (without relying on a projection step) entails a fairly intricate argument that accounts for the interplay between complex temporal correlations due to Markovian sampling, multiple local steps to save communication, and the drift-effects induced by heterogeneous local operators. Our results have implications for a broad class of heterogeneous federated RL problems (e.g., policy evaluation and control) with function approximation, where the agents' Markov decision processes can differ in their probability transition kernels and reward functions.

Authors:Jan Mietzner, Cerikh Chakraborty, Peter A. Hoeher, Lutz Lampe
Title: Comprehensive Signal Modeling for Talkative Power Conversion
Abstract:
Talkative power conversion is a switching ripple communication technique that integrates data modulation into a switched-mode power electronics converter, enabling simultaneous information transmission and power conversion. Despite numerous research papers published over the last decade on various theoretical and practical aspects of this emerging topic, thorough signal modeling suitable for analysis and computer simulations is still lacking. In this article, we derive the continuous-time output voltage of a DC/DC switched-mode power electronics converter for a broad range of pulsed-based modulation schemes. We also develop corresponding discrete-time signal models and assess their accuracies. Finally, we devise a generic end-to-end signal model for arbitrary modulation signals, discuss implications of continuous-time and discrete-time signal modeling on equalization, and consider generalizations to include parasitic effects as well as the influence of general impedance loads.

Authors:Yongkang Huo, Fuvio Forni, Rodolphe Sepulchre
Title: A Winner-Takes-All Mechanism for Event Generation
Abstract:
We present a novel framework for central pattern generator design that leverages the intrinsic rebound excitability of neurons in combination with winner-takes-all computation. Our approach unifies decision-making and rhythmic pattern generation within a simple yet powerful network architecture that employs all-to-all inhibitory connections enhanced by designable excitatory interactions. This design offers significant advantages regarding ease of implementation, adaptability, and robustness. We demonstrate its efficacy through a ring oscillator model, which exhibits adaptive phase and frequency modulation, making the framework particularly promising for applications in neuromorphic systems and robotics.

Authors:Yiqing Zhou, Karsten Naert, Dirk Nuyens
Title: Sensitivity Analysis of State Space Models for Scrap Composition Estimation in EAF and BOF
Abstract:
This study develops and analyzes linear and nonlinear state space models for estimating the elemental composition of scrap steel used in steelmaking, with applications to Electric Arc Furnace (EAF) and Basic Oxygen Furnace (BOF) processes. The models incorporate mass balance equations and are fitted using a modified Kalman filter for linear cases and the Unscented Kalman Filter (UKF) for nonlinear cases. Using Cu and Cr as representative elements, we assess the sensitivity of model predictions to measurement noise in key process variables, including steel mass, steel composition, scrap input mass, slag mass, and iron oxide fraction in slag. Results show that the models are robust to moderate noise levels in most variables, particularly when errors are below $10\%$. However, accuracy significantly deteriorates with noise in slag mass estimation. These findings highlight the practical feasibility and limitations of applying state space models for real-time scrap composition estimation in industrial settings.

Authors:Edvin Martin Andrejev, Amith Manoharan, Karl-Eerik Unt, Arun Kumar Singh
Title: $π$-MPPI: A Projection-based Model Predictive Path Integral Scheme for Smooth Optimal Control of Fixed-Wing Aerial Vehicles
Abstract:
Model Predictive Path Integral (MPPI) is a popular sampling-based Model Predictive Control (MPC) algorithm for nonlinear systems. It optimizes trajectories by sampling control sequences and averaging them. However, a key issue with MPPI is the non-smoothness of the optimal control sequence, leading to oscillations in systems like fixed-wing aerial vehicles (FWVs). Existing solutions use post-hoc smoothing, which fails to bound control derivatives. This paper introduces a new approach: we add a projection filter $π$ to minimally correct control samples, ensuring bounds on control magnitude and higher-order derivatives. The filtered samples are then averaged using MPPI, leading to our $π$-MPPI approach. We minimize computational overhead by using a neural accelerated custom optimizer for the projection filter. $π$-MPPI offers a simple way to achieve arbitrary smoothness in control sequences. While we focus on FWVs, this projection filter can be integrated into any MPPI pipeline. Applied to FWVs, $π$-MPPI is easier to tune than the baseline, resulting in smoother, more robust performance.

Authors:Yu Kawano, Zhiyong Sun
Title: Virtual Contraction Approach to Decentralized Adaptive Stabilization of Nonlinear Time-Delayed Networks
Abstract:
In this paper, we exploit a diagonally dominant structure for the decentralized stabilization of unknown nonlinear time-delayed networks. To this end, we first introduce a novel generalization of virtual contraction analysis to diagonally dominant time-delayed control systems. We then show that nonlinear time-delayed networks can be stabilized using diagonal high-gains, provided that the input matrices satisfy certain generalized (column/row) diagonally dominant conditions. To enable stabilization of unknown networks, we further propose a distributed adaptive tuning rule for each individual gain function, guaranteeing that all closed-loop trajectories converge to the origin while the gains converge to finite values. The effectiveness of the proposed decentralized adaptive control is illustrated through a case study on epidemic spreading control in SIS networks with transmission delays.

Authors:Faiyaz Elahi Mullick, Supriyo Bandyopadhyay, Rob Baxter, Tony J. Ragucci, Avik W. Ghosh
Title: Adaptive Synaptogenesis Implemented on a Nanomagnetic Platform
Abstract:
The human brain functions very differently from artificial neural networks (ANN) and possesses unique features that are absent in ANN. An important one among them is "adaptive synaptogenesis" that modifies synaptic weights when needed to avoid catastrophic forgetting and promote lifelong learning. The key aspect of this algorithm is supervised Hebbian learning, where weight modifications in the neocortex driven by temporal coincidence are further accepted or vetoed by an added control mechanism from the hippocampus during the training cycle, to make distant synaptic connections highly sparse and strategic. In this work, we discuss various algorithmic aspects of adaptive synaptogenesis tailored to edge computing, demonstrate its function using simulations, and design nanomagnetic hardware accelerators for specific functions of synaptogenesis.

Authors:Timo de Groot, Tom Oomen, Sebastiaan van den Eijnden
Title: Exploiting Structure in MIMO Scaled Graph Analysis
Abstract:
Scaled graphs offer a graphical tool for analysis of nonlinear feedback systems. Although recently substantial progress has been made in scaled graph analysis, at present their use in multivariable feedback systems is limited by conservatism. In this paper, we aim to reduce this conservatism by introducing multipliers and exploit system structure in the analysis with scaled graphs. In particular, we use weighted inner products to arrive at a weighted scaled graph and combine this with a commutation property to formulate a stability result for multivariable feedback systems. We present a method for computing the weighted scaled graph of Lur'e systems based on solving sets of linear matrix inequalities, and demonstrate a significant reduction in conservatism through an example.

Authors:Vitor Martins, Sara M. Cerqueira, Mercedes Balcells, Elazer R Edelman, Cristina P. Santos
Title: A Human-Sensitive Controller: Adapting to Human Ergonomics and Physical Constraints via Reinforcement Learning
Abstract:
Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive robotic system aimed at reintegrating individuals with a history of musculoskeletal disorders into standard job roles, while simultaneously optimizing ergonomic conditions for the broader workforce. This research leverages reinforcement learning to develop a human-aware control strategy for collaborative robots, focusing on optimizing ergonomic conditions and preventing pain during task execution. Two RL approaches, Q-Learning and Deep Q-Network (DQN), were implemented and tested to personalize control strategies based on individual user characteristics. Although experimental results revealed a simulation-to-real gap, a fine-tuning phase successfully adapted the policies to real-world conditions. DQN outperformed Q-Learning by completing tasks faster while maintaining zero pain risk and safe ergonomic levels. The structured testing protocol confirmed the system's adaptability to diverse human anthropometries, underscoring the potential of RL-driven cobots to enable safer, more inclusive workplaces.

Authors:Kasra Azizi, Kumar Anurag, Wenbin Wan
Title: Towards Resilient Tracking in Autonomous Vehicles: A Distributionally Robust Input and State Estimation Approach
Abstract:
This paper proposes a novel framework for the distributionally robust input and state estimation (DRISE) for autonomous vehicles operating under model uncertainties and measurement outliers. The proposed framework improves the input and state estimation (ISE) approach by integrating distributional robustness, enhancing the estimator's resilience and robustness to adversarial inputs and unmodeled dynamics. Moment-based ambiguity sets capture probabilistic uncertainties in both system dynamics and measurement noise, offering analytical tractability and efficiently handling uncertainties in mean and covariance. In particular, the proposed framework minimizes the worst-case estimation error, ensuring robustness against deviations from nominal distributions. The effectiveness of the proposed approach is validated through simulations conducted in the CARLA autonomous driving simulator, demonstrating improved performance in state estimation accuracy and robustness in dynamic and uncertain environments.

Authors:Mohammad Khajenejad, Zeyuan Jin
Title: Computationally Efficient State and Model Estimation via Interval Observers for Partially Unknown Systems
Abstract:
This paper addresses the synthesis of interval observers for partially unknown nonlinear systems subject to bounded noise, aiming to simultaneously estimate system states and learn a model of the unknown dynamics. Our approach leverages Jacobian sign-stable (JSS) decompositions, tight decomposition functions for nonlinear systems, and a data-driven over-approximation framework to construct interval estimates that provably enclose the true augmented states. By recursively computing tight and tractable bounds for the unknown dynamics based on current and past interval framers, we systematically integrate these bounds into the observer design. Additionally, we formulate semi-definite programs (SDP) for observer gain synthesis, ensuring input-to-state stability and optimality of the proposed framework. Finally, simulation results demonstrate the computational efficiency of our approach compared to a method previously proposed by the authors.

Authors:Omayra Yago Nieto, Alexandre Anahory Simoes, Juan I. Giribet, Leonardo J. Colombo
Title: Learning-based decentralized control with collision avoidance for multi-agent systems
Abstract:
In this paper, we present a learning-based tracking controller based on Gaussian processes (GP) for collision avoidance of multi-agent systems where the agents evolve in the special Euclidean group in the space SE(3). In particular, we use GPs to estimate certain uncertainties that appear in the dynamics of the agents. The control algorithm is designed to learn and mitigate these uncertainties by using GPs as a learning-based model for the predictions. In particular, the presented approach guarantees that the tracking error remains bounded with high probability. We present some simulation results to show how the control algorithm is implemented.

Authors:Joshua Hanson, Maxim Raginsky
Title: Expressivity of Quadratic Neural ODEs
Abstract:
This work focuses on deriving quantitative approximation error bounds for neural ordinary differential equations having at most quadratic nonlinearities in the dynamics. The simple dynamics of this model form demonstrates how expressivity can be derived primarily from iteratively composing many basic elementary operations, versus from the complexity of those elementary operations themselves. Like the analog differential analyzer and universal polynomial DAEs, the expressivity is derived instead primarily from the "depth" of the model. These results contribute to our understanding of what depth specifically imparts to the capabilities of deep learning architectures.

Authors:Yiqing Zhou, Karsten Naert, Dirk Nuyens
Title: Modeling Scrap Composition in Electric Arc and Basic Oxygen Furnaces
Abstract:
This article aims to determine the composition of scrap (recycled material) used in an Electric Arc Furnace (EAF) or basic Oxygen Furnace (BOF) based on the assumption of mass balance. Accurate knowledge of this composition can increase the usage of recycled material to produce steel, reducing the need for raw ore extraction and minimizing environmental impact by conserving natural resources and lowering carbon emissions. The study develops two models to describe the behavior of elements in the EAF or BOF process. A linear state space model is used for elements transferring completely from scrap to steel, while a non-linear state space model is applied to elements moving into both steel and slag. The Kalman filter and unscented Kalman filter are employed to approximate these models, respectively. Importantly, the models leverage only data already collected as part of the standard production process, avoiding the need for additional measurements that are often costly. This article outlines the formulation of both models, the algorithms used, and discusses the hyperparameters involved. We provide practical suggestions on how to choose appropriate hyperparameters based on expert knowledge and historical data. The models are applied to real BOF data. Cu and Cr are chosen as examples for linear and non-linear models, respectively. The results show that both models can reconstruct the composition of scrap for these elements. The findings provide valuable insights for improving process control and ensuring product quality in steelmaking.

Authors:Federico Parolin, Yu Weng, Paolo Colbertaldo, Ruaridh Macdonald
Title: Sectoral and spatial decomposition methods for multi-sector capacity expansion models
Abstract:
Multi-sector capacity expansion models play a crucial role in energy planning by providing decision support for policymaking in technology development. To ensure reliable support, these models require high technological, spatial, and temporal resolution, leading to large-scale linear programming problems that are often computationally intractable. To address this challenge, conventional approaches rely on simplifying abstractions that trade accuracy for computational efficiency. Benders decomposition has been widely explored to improve computational efficiency in electricity capacity expansion models. Specifically, state-of-the-art methods have primarily focused on improving performance through temporal decomposition. However, multi-sector models introduce additional complexity, requiring new decomposition strategies. In this work, we propose a budget-based formulation to extend decomposition to the sectoral and spatial domains. We test the developed sectoral and spatial Benders decomposition algorithms on case studies of the continental United States, considering different configurations in terms of spatial and temporal resolution. Results show that our algorithms achieve substantial performance improvement compared to existing decomposition algorithms, with runtime reductions within 15%-70%. The proposed methods leverage the generic structure of multi-sector capacity expansion models, and can thus be applied to most existing energy planning models, ensuring computational tractability without sacrificing resolution.

Authors:Martina Vanelli, Julien M. Hendrickx
Title: Physics-informed data-driven control without persistence of excitation
Abstract:
We show that data that is not sufficiently informative to allow for system re-identification can still provide meaningful information when combined with external or physical knowledge of the system, such as bounded system matrix norms. We then illustrate how this information can be leveraged for safety and energy minimization problems and to enhance predictions in unmodelled dynamics. This preliminary work outlines key ideas toward using limited data for effective control by integrating physical knowledge of the system and exploiting interpolation conditions.

Authors:Kundan Kumar, Muhammad Iqbal, Simo Särkkä
Title: Statistical Linear Regression Approach to Kalman Filtering and Smoothing under Cyber-Attacks
Abstract:
Remote state estimation in cyber-physical systems is often vulnerable to cyber-attacks due to wireless connections between sensors and computing units. In such scenarios, adversaries compromise the system by injecting false data or blocking measurement transmissions via denial-of-service attacks, distorting sensor readings. This paper develops a Kalman filter and Rauch--Tung--Striebel (RTS) smoother for linear stochastic state-space models subject to cyber-attacked measurements. We approximate the faulty measurement model via generalized statistical linear regression (GSLR). The GSLR-based approximated measurement model is then used to develop a Kalman filter and RTS smoother for the problem. The effectiveness of the proposed algorithms under cyber-attacks is demonstrated through a simulated aircraft tracking experiment.

Authors:Damola Ajeyemi, Saber Jafarpour, Emiliano Dall'Anese
Title: Neural Network-assisted Interval Reachability for Systems with Control Barrier Function-Based Safe Controllers
Abstract:
Control Barrier Functions (CBFs) have been widely utilized in the design of optimization-based controllers and filters for dynamical systems to ensure forward invariance of a given set of safe states. While CBF-based controllers offer safety guarantees, they can compromise the performance of the system, leading to undesirable behaviors such as unbounded trajectories and emergence of locally stable spurious equilibria. Computing reachable sets for systems with CBF-based controllers is an effective approach for runtime performance and stability verification, and can potentially serve as a tool for trajectory re-planning. In this paper, we propose a computationally efficient interval reachability method for performance verification of systems with optimization-based controllers by: (i) approximating the optimization-based controller by a pre-trained neural network to avoid solving optimization problems repeatedly, and (ii) using mixed monotone theory to construct an embedding system that leverages state-of-the-art neural network verification algorithms for bounding the output of the neural network. Results in terms of closeness of solutions of trajectories of the system with the optimization-based controller and the neural network are derived. Using a single trajectory of the embedding system along with our closeness of solutions result, we obtain an over-approximation of the reachable set of the system with optimization-based controllers. Numerical results are presented to corroborate the technical findings.

Authors:Erica van der Sar, Alessandro Zocca, Sandjai Bhulai
Title: Optimizing Power Grid Topologies with Reinforcement Learning: A Survey of Methods and Challenges
Abstract:
Power grid operation is becoming increasingly complex due to the rising integration of renewable energy sources and the need for more adaptive control strategies. Reinforcement Learning (RL) has emerged as a promising approach to power network control (PNC), offering the potential to enhance decision-making in dynamic and uncertain environments. The Learning To Run a Power Network (L2RPN) competitions have played a key role in accelerating research by providing standardized benchmarks and problem formulations, leading to rapid advancements in RL-based methods. This survey provides a comprehensive and structured overview of RL applications for power grid topology optimization, categorizing existing techniques, highlighting key design choices, and identifying gaps in current research. Additionally, we present a comparative numerical study evaluating the impact of commonly applied RL-based methods, offering insights into their practical effectiveness. By consolidating existing research and outlining open challenges, this survey aims to provide a foundation for future advancements in RL-driven power grid optimization.

Authors:Kousheek Chakraborty, Thijs Hof, Ayham Alharbat, Abeje Mersha
Title: RL-based Control of UAS Subject to Significant Disturbance
Abstract:
This paper proposes a Reinforcement Learning (RL)-based control framework for position and attitude control of an Unmanned Aerial System (UAS) subjected to significant disturbance that can be associated with an uncertain trigger signal. The proposed method learns the relationship between the trigger signal and disturbance force, enabling the system to anticipate and counteract the impending disturbances before they occur. We train and evaluate three policies: a baseline policy trained without exposure to the disturbance, a reactive policy trained with the disturbance but without the trigger signal, and a predictive policy that incorporates the trigger signal as an observation and is exposed to the disturbance during training. Our simulation results show that the predictive policy outperforms the other policies by minimizing position deviations through a proactive correction maneuver. This work highlights the potential of integrating predictive cues into RL frameworks to improve UAS performance.

Authors:Jayashree Yadav, Ingemar Mathiasson, Bindu Panikkar, Mads Almassalkhi
Title: Community-Centric Multi-Criteria Assessment Framework for Energy Transition
Abstract:
The transition to low-carbon energy systems demands comprehensive technical, economic, environmental, and social evaluation tools. While numerous studies address specific aspects of energy transition, few provide an integrated framework to capture the full spectrum of impacts. This work developed a community-collaborative assessment framework that integrates intelligent energy devices with optimization-based coordination of energy assets. The proposed framework uses techno-economic, environmental, and social criteria to evaluate transition pathways. A detailed case study is performed for a remote community in Alaska to assess its applicability, where the feasibility of renewable energy transitions remains underexplored. Three distinct pathways, including heat pump and battery integration, resource coordination, and expanded community solar PV, are analyzed using a year-long dataset of demand, renewable energy, and transformer data. The analysis revealed that using heat pumps lowers the overall energy costs by 30% and carbon emissions by 28%. In addition, the share of the population spending more than 10% of their income on energy falls from 74% in the existing scenario to 40% with heat pump adoption, indicating significant affordability improvements. By combining a general, community-centric assessment framework with a data-driven case study, this work offers a practical tool for utilities, community stakeholders, and policymakers to work toward equitable and sustainable energy transitions.

Authors:Dongyeong Lee, Francisco Javier Cifuentes Garcia, Jef Beerten
Title: Generalized Passivity Sensitivity Methodology for Small-Signal Stability Analysis
Abstract:
This paper proposes a generalized passivity sensitivity analysis for power system stability studies. The method uncovers the most effective instability mitigation actions for both device-level and system-level investigations. The particular structure of the admittance and nodal models is exploited in the detailed derivation of the passivity sensitivity expressions. These proposed sensitivities are validated for different parameters at device-level and at system-level. Compared to previous stability and sensitivity methods, it does not require detailed system information, such as exact system eigenvalues, while it provides valuable information for a less conservative stable system design. In addition, we demonstrate how to utilize the proposed method through case studies with different converter controls and system-wide insights showing its general applicability.

Authors:Akif Adas, Stefano Arrigoni, Mattia Brambilla, Monica Barbara Nicoli, Edoardo Sabbioni
Title: Joint Travel Route Optimization Framework for Platooning
Abstract:
Platooning represents an advanced driving technology designed to assist drivers in traffic convoys of varying lengths, enhancing road safety, reducing driver fatigue, and improving fuel efficiency. Sophisticated automated driving assistance systems have facilitated this innovation. Recent advancements in platooning emphasize cooperative mechanisms within both centralized and decentralized architectures enabled by vehicular communication technologies. This study introduces a cooperative route planning optimization framework aimed at promoting the adoption of platooning through a centralized platoon formation strategy at the system level. This approach is envisioned as a transitional phase from individual (ego) driving to fully collaborative driving. Additionally, this research formulates and incorporates travel cost metrics related to fuel consumption, driver fatigue, and travel time, considering regulatory constraints on consecutive driving durations. The performance of these cost metrics has been evaluated using Dijkstra's and A* shortest path algorithms within a network graph framework. The results indicate that the proposed architecture achieves an average cost improvement of 14 % compared to individual route planning for long road trips.

Authors:Wasseem Al-Rousan, Caisheng Wang, Feng Lin
Title: Modular Control of Discrete Event System for Modeling and Mitigating Power System Cascading Failures
Abstract:
Cascading failures in power systems caused by sequential tripping of components are a serious concern as they can lead to complete or partial shutdowns, disrupting vital services and causing damage and inconvenience. In prior work, we developed a new approach for identifying and preventing cascading failures in power systems. The approach uses supervisory control technique of discrete event systems (DES) by incorporating both on-line lookahead control and forcible events. In this paper, we use modular supervisory control of DES to reduce computation complexity and increase the robustness and reliability of control. Modular supervisory control allows us to predict and mitigate cascading failures in power systems more effectively. We implemented the proposed control technique on a simulation platform developed in MATLAB and applied the proposed DES controller. The calculations of modular supervisory control of DES are performed using an external tool and imported into the MATLAB platform. We conduct simulation studies for the IEEE 30-bus, 118-bus and 300-bus systems, and the results demonstrate the effectiveness of our proposed approach.

Authors:Saqib Abbas, Anurag Kumar, Arpan Chattopadhyay
Title: Quickest change detection for UAV-based sensing
Abstract:
This paper addresses the problem of quickest change detection (QCD) at two spatially separated locations monitored by a single unmanned aerial vehicle (UAV) equipped with a sensor. At any location, the UAV observes i.i.d. data sequentially in discrete time instants. The distribution of the observation data changes at some unknown, arbitrary time and the UAV has to detect this change in the shortest possible time. Change can occur at most at one location over the entire infinite time horizon. The UAV switches between these two locations in order to quickly detect the change. To this end, we propose Location Switching and Change Detection (LS-CD) algorithm which uses a repeated one-sided sequential probability ratio test (SPRT) based mechanism for observation-driven location switching and change detection. The primary goal is to minimize the worst-case average detection delay (WADD) while meeting constraints on the average run length to false alarm (ARL2FA) and the UAV's time-averaged energy consumption. We provide a rigorous theoretical analysis of the algorithm's performance by using theory of random walk. Specifically, we derive tight upper and lower bounds to its ARL2FA and a tight upper bound to its WADD. In the special case of a symmetrical setting, our analysis leads to a new asymptotic upper bound to the ARL2FA of the standard CUSUM algorithm, a novel contribution not available in the literature, to our knowledge. Numerical simulations demonstrate the efficacy of LS-CD.

Authors:Balint Varga, Lars Fischer, Levente Kovacs
Title: Personalized and Demand-Based Education Concept: Practical Tools for Control Engineers
Abstract:
This paper presents a personalized lecture concept using educational blocks and its demonstrative application in a new university lecture. Higher education faces daily challenges: deep and specialized knowledge is available from everywhere and accessible to almost everyone. University lecturers of specialized master courses confront the problem that their lectures are either too boring or too complex for the attending students. Additionally, curricula are changing more rapidly than they have in the past 10-30 years. The German education system comprises different educational forms, with universities providing less practical content. Consequently, many university students do not obtain the practical skills they should ideally gain through university lectures. Therefore, in this work, a new lecture concept is proposed based on the extension of the just-in-time teaching paradigm: Personalized and Demand-Based Education. This concept includes: 1) an initial assessment of students' backgrounds, 2) selecting the appropriate educational blocks, and 3) collecting ongoing feedback during the semester. The feedback was gathered via Pingo, ensuring anonymity for the students. Our concept was exemplarily tested in the new lecture "Practical Tools for Control Engineers" at the Karlsruhe Institute of Technology. The initial results indicate that our proposed concept could be beneficial in addressing the current challenges in higher education.

Authors:Yibo Shi, Cristian R. Rojas
Title: Efficient Simulation of Singularly Perturbed Systems Using a Stabilized Multirate Explicit Scheme
Abstract:
Singularly perturbed systems (SPSs) are prevalent in engineering applications, where numerically solving their initial value problems (IVPs) is challenging due to stiffness arising from multiple time scales. Classical explicit methods require impractically small time steps for stability, while implicit methods developed for SPSs are computationally intensive and less efficient for strongly nonlinear systems. This paper introduces a Stabilized Multirate Explicit Scheme (SMES) that stabilizes classical explicit methods without the need for small time steps or implicit formulations. By employing a multirate approach with variable time steps, SMES allows the fast dynamics to rapidly converge to their equilibrium manifold while slow dynamics evolve with larger steps. Analysis shows that SMES achieves numerical stability with significantly reduced computational effort and controlled error. Its effectiveness is illustrated with a numerical example.

Authors:J. S. van Hulst, W. P. M. H. Heemels, D. J. Antunes
Title: Smart Exploration in Reinforcement Learning using Bounded Uncertainty Models
Abstract:
Reinforcement learning (RL) is a powerful tool for decision-making in uncertain environments, but it often requires large amounts of data to learn an optimal policy. We propose using prior model knowledge to guide the exploration process to speed up this learning process. This model knowledge comes in the form of a model set to which the true transition kernel and reward function belong. We optimize over this model set to obtain upper and lower bounds on the Q-function, which are then used to guide the exploration of the agent. We provide theoretical guarantees on the convergence of the Q-function to the optimal Q-function under the proposed class of exploring policies. Furthermore, we also introduce a data-driven regularized version of the model set optimization problem that ensures the convergence of the class of exploring policies to the optimal policy. Lastly, we show that when the model set has a specific structure, namely the bounded-parameter MDP (BMDP) framework, the regularized model set optimization problem becomes convex and simple to implement. In this setting, we also show that we obtain finite-time convergence to the optimal policy under additional assumptions. We demonstrate the effectiveness of the proposed exploration strategy in a simulation study. The results indicate that the proposed method can significantly speed up the learning process in reinforcement learning.

Authors:Yingbo Huang, Bozhong Yuan, Haoran He, Jing Na, Yu Feng, Guang Li, Jing Zhao, Pak Kin Wong, Lin Cui
Title: Control-Oriented Modelling and Adaptive Parameter Estimation for Hybrid Wind-Wave Energy Systems
Abstract:
Hybrid wind-wave energy system, integrating floating offshore wind turbine and wave energy converters, has received much attention in recent years due to its potential benefit in increasing the power harvest density and reducing the levelized cost of electricity. Apart from the design complexities of the hybrid wind-wave energy systems, their energy conversion efficiency, power output smoothness and their safe operations introduce new challenges for their control system designs. Recent studies show that advanced model-based control strategies have the great potential to significantly improve their overall control performance. However the performance of these advanced control strategies rely on the computationally efficient control-oriented models with sufficient fidelity, which are normally difficult to derive due to the complexity of the hydro-, aero-dynamic effects and the couplings.In most available results, the hybrid wind-wave energy system models are established by using the Boundary Element Method, devoting to understanding the hydrodynamic responses and performance analysis. However, such models are complex and involved relatively heavy computational burden, which cannot be directly used for the advanced model-based control methods that are essential for improving power capture efficiency from implementing in practice. To overcome this issue, this paper proposes a control-oriented model of the hybrid windwave energy system with six degrees of freedom. First, ...

Authors:António Barros, Edoardo Peretti, Davide Fabroni, Diego Carrera, Pasqualina Fragneto, Giacomo Boracchi
Title: Adaptive Extended Kalman Filtering for Battery State of Charge Estimation on STM32
Abstract:
Accurate and computationally light algorithms for estimating the State of Charge (SoC) of a battery's cells are crucial for effective battery management on embedded systems. In this letter, we propose an Adaptive Extended Kalman Filter (AEKF) for SoC estimation using a covariance adaptation technique based on maximum likelihood estimation - a novelty in this domain. Furthermore, we tune a key design parameter - the window size - to obtain an optimal memory-performance trade-off, and experimentally demonstrate our solution achieves superior estimation accuracy with respect to existing alternative methods. Finally, we present a fully custom implementation of the AEKF for a general-purpose low-cost STM32 microcontroller, showing it can be deployed with minimal computational requirements adequate for real-world usage.

Authors:Hao Wu, Shengtian Yang, Jun Chen, Chao Chen, Anding Wang
Title: Low-Complexity AoI-Optimal Status Update Control with Partial Battery State Information in Energy Harvesting IoT Networks
Abstract:
For a two-hop IoT system consisting of multiple energy harvesting sensors, a cache-enabled edge node, and multiple monitors, the status update control at the edge node, which has partial battery state information (pBSI) of the sensors, is formulated as a pBSI problem. The concept of inferred pBSI is introduced to reduce the noiseless single-sensor pBSI problem to a Markov decision process with a moderate state-space size, enabling the optimal policy to be obtained through a value iteration algorithm. A lower bound on the expected time-average on-demand age of information performance is established for the general single-sensor status update problem. For the single-sensor pBSI problem, a semi-closed-form policy called the current-next (CN) policy is proposed, along with an efficient post-update value iteration algorithm with a per-iteration time complexity proportional to the square of the battery capacity. A weighted-update-gain-competition (WUGC) approach is further leveraged to extend the CN policy to the multi-sensor case. Numerical results in the single-sensor case demonstrate the near-optimal performance of the CN policy across various energy arrival processes. Simulations for an IoT system with $100$ sensors reveal that the WUGC-CN policy outperforms the maximum-age-first policy and the random-scheduling-based CN policy under Bernoulli energy arrival processes.

Authors:Torben Schiz, Henrik Ebel
Title: Reducing the Communication of Distributed Model Predictive Control: Autoencoders and Formation Control
Abstract:
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC schemes can require an overwhelming amount of information exchange between agents as the amount of data depends on the length of the predication horizon, for which some applications require a significant length to formally guarantee nominal asymptotic stability. This work aims to provide an approach to reduce the communication effort of DMPC by reducing the size of the communicated data between agents. Using an autoencoder, the communicated data is reduced by the encoder part of the autoencoder prior to communication and reconstructed by the decoder part upon reception within the distributed optimization algorithm that constitutes the DMPC scheme. The choice of a learning-based reduction method is motivated by structure inherent to the data, which results from the data's connection to solutions of optimal control problems. The approach is implemented and tested at the example of formation control of differential-drive robots, which is challenging for optimization-based control due to the robots' nonholonomic constraints, and which is interesting due to the practical importance of mobile robotics. The applicability of the proposed approach is presented first in form of a simulative analysis showing that the resulting control performance yields a satisfactory accuracy. In particular, the proposed approach outperforms the canonical naive way to reduce communication by reducing the length of the prediction horizon. Moreover, it is shown that numerical experiments conducted on embedded computation hardware, with real distributed computation and wireless communication, work well with the proposed way of reducing communication even in practical scenarios in which full communication fails.

Authors:Victor Monzon Baeza, Raúl Parada, Laura Concha Salor, Carlos Monzo
Title: AI-Driven Tactical Communications and Networking for Defense: A Survey and Emerging Trends
Abstract:
The integration of Artificial Intelligence (AI) in military communications and networking is reshaping modern defense strategies, enhancing secure data exchange, real-time situational awareness, and autonomous decision-making. This survey explores how AI-driven technologies improve tactical communication networks, radar-based data transmission, UAV-assisted relay systems, and electronic warfare resilience. The study highlights AI applications in adaptive signal processing, multi-agent coordination for network optimization, radar-assisted target tracking, and AI-driven electronic countermeasures. Our work introduces a novel three-criteria evaluation methodology. It systematically assesses AI applications based on general system objectives, communications constraints in the military domain, and critical tactical environmental factors. We analyze key AI techniques for different types of learning applied to multi-domain network interoperability and distributed data information fusion in military operations. We also address challenges such as adversarial AI threats, the real-time adaptability of autonomous communication networks, and the limitations of current AI models under battlefield conditions. Finally, we discuss emerging trends in self-healing networks, AI-augmented decision support systems, and intelligent spectrum allocation. We provide a structured roadmap for future AI-driven defense communications and networking research.

Authors:Takahiro Ito, Kiwamu Izumi, Isao Kawano, Ikkoh Funaki, Shuichi Sato, Tomotada Akutsu, Kentaro Komori, Mitsuru Musha, Yuta Michimura, Satoshi Satoh, Takuya Iwaki, Kentaro Yokota, Kenta Goto, Katsumi Furukawa, Taro Matsuo, Toshihiro Tsuzuki, Katsuhiko Yamada, Takahiro Sasaki, Taisei Nishishita, Yuki Matsumoto, Chikako Hirose, Wataru Torii, Satoshi Ikari, Koji Nagano, Masaki Ando, Seiji Kawamura, Hidehiro Kaneda, Shinsuke Takeuchi, Shinichiro Sakai
Title: SILVIA: Ultra-precision formation flying demonstration for space-based interferometry
Abstract:
We propose SILVIA (Space Interferometer Laboratory Voyaging towards Innovative Applications), a mission concept designed to demonstrate ultra-precision formation flying between three spacecraft separated by 100 m. SILVIA aims to achieve sub-micrometer precision in relative distance control by integrating spacecraft sensors, laser interferometry, low-thrust and low-noise micro-propulsion for real-time measurement and control of distances and relative orientations between spacecraft. A 100-meter-scale mission in a near-circular low Earth orbit has been identified as an ideal, cost-effective setting for demonstrating SILVIA, as this configuration maintains a good balance between small relative perturbations and low risk for collision. This mission will fill the current technology gap towards future missions, including gravitational wave observatories such as DECIGO (DECihertz Interferometer Gravitational wave Observatory), designed to detect the primordial gravitational wave background, and high-contrast nulling infrared interferometers like LIFE (Large Interferometer for Exoplanets), designed for direct imaging of thermal emissions from nearby terrestrial planet candidates. The mission concept and its key technologies are outlined, paving the way for the next generation of high-precision space-based observatories.

Authors:Aurora Haraldsen, Josef Matous, Kristin Y. Pettersen
Title: Hybrid Control Barrier Functions for Nonholonomic Multi-Agent Systems
Abstract:
This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions (CBFs). However, for nonholonomic vehicles that are required to keep positive speeds, existing CBFs lose their validity. To overcome this limitation, we propose a hybrid formulation based on synergistic CBFs (SCBFs), which leverages a discrete switching mechanism to avoid configurations that would render the CBF invalid. Unlike existing approaches, our method ensures safety in the presence of moving obstacles and inter-agent interactions while respecting nonzero speed restrictions. We formally analyze the feasibility of the constraints with respect to actuation limits, and the efficacy of the solution is demonstrated in simulation of a multi-agent coordination problem in the presence of moving obstacles.

Authors:Huijie Li, Yide Yu, Si Shi, Anmin Hu, Jian Huo, Wei Lin, Chaoran Wu, Wuman Luo
Title: Multi-Agent Deep Reinforcement Learning for Multiple Anesthetics Collaborative Control
Abstract:
Automated control of personalized multiple anesthetics in clinical Total Intravenous Anesthesia (TIVA) is crucial yet challenging. Current systems, including target-controlled infusion (TCI) and closed-loop systems, either rely on relatively static pharmacokinetic/pharmacodynamic (PK/PD) models or focus on single anesthetic control, limiting personalization and collaborative control. To address these issues, we propose a novel framework, Value Decomposition Multi-Agent Deep Reinforcement Learning (VD-MADRL). VD-MADRL optimizes the collaboration between two anesthetics propofol (Agent I) and remifentanil (Agent II). And It uses a Markov Game (MG) to identify optimal actions among heterogeneous agents. We employ various value function decomposition methods to resolve the credit allocation problem and enhance collaborative control. We also introduce a multivariate environment model based on random forest (RF) for anesthesia state simulation. Additionally, a data resampling and alignment technique ensures synchronized trajectory data. Our experiments on general and thoracic surgery datasets show that VD-MADRL performs better than human experience. It improves dose precision and keeps anesthesia states stable, providing great clinical value.

Authors:Laurens R. Lueg, Victor Alves, Daniel Schicksnus, John R. Kitchin, Carl D. Laird, Lorenz T. Biegler
Title: A Simultaneous Approach for Training Neural Differential-Algebraic Systems of Equations
Abstract:
Scientific machine learning is an emerging field that broadly describes the combination of scientific computing and machine learning to address challenges in science and engineering. Within the context of differential equations, this has produced highly influential methods, such as neural ordinary differential equations (NODEs). Recent works extend this line of research to consider neural differential-algebraic systems of equations (DAEs), where some unknown relationships within the DAE are learned from data. Training neural DAEs, similarly to neural ODEs, is computationally expensive, as it requires the solution of a DAE for every parameter update. Further, the rigorous consideration of algebraic constraints is difficult within common deep learning training algorithms such as stochastic gradient descent. In this work, we apply the simultaneous approach to neural DAE problems, resulting in a fully discretized nonlinear optimization problem, which is solved to local optimality and simultaneously obtains the neural network parameters and the solution to the corresponding DAE. We extend recent work demonstrating the simultaneous approach for neural ODEs, by presenting a general framework to solve neural DAEs, with explicit consideration of hybrid models, where some components of the DAE are known, e.g. physics-informed constraints. Furthermore, we present a general strategy for improving the performance and convergence of the nonlinear programming solver, based on solving an auxiliary problem for initialization and approximating Hessian terms. We achieve promising results in terms of accuracy, model generalizability and computational cost, across different problem settings such as sparse data, unobserved states and multiple trajectories. Lastly, we provide several promising future directions to improve the scalability and robustness of our approach.

Authors:Amir Bahador Javadi, Philip Pong
Title: A Review on Symbolic Regression in Power Systems: Methods, Applications, and Future Directions
Abstract:
As power systems evolve with the increasing integration of renewable energy sources and smart grid technologies, there is a growing demand for flexible and scalable modeling approaches capable of capturing the complex dynamics of modern grids. This review focuses on symbolic regression, a powerful methodology for deriving parsimonious and interpretable mathematical models directly from data. The paper presents a comprehensive overview of symbolic regression methods, including sparse identification of nonlinear dynamics, automatic regression for governing equations, and deep symbolic regression, highlighting their applications in power systems. Through comparative case studies of the single machine infinite bus system, grid-following, and grid-forming inverter, we analyze the strengths, limitations, and suitability of each symbolic regression method in modeling nonlinear power system dynamics. Additionally, we identify critical research gaps and discuss future directions for leveraging symbolic regression in the optimization, control, and operation of modern power grids. This review aims to provide a valuable resource for researchers and engineers seeking innovative, data-driven solutions for modeling in the context of evolving power system infrastructure.

Authors:Lucca Heinze Faro, Yuanbo Nie, Paul Trodden
Title: NISE-PE Constraint: Data-Driven Predictive Control with Persistence of Excitation
Abstract:
Persistence of excitation (PE) is an important requirement for the successful operation of data-driven predictive control, as it ensures that the input-output data contains sufficient information about the underlying system dynamics. Nonetheless, this property is usually assumed rather than guaranteed. This paper introduces a novel data-driven predictive control formulation that maintains PE. The technical development that allows this is the characterisation of the nonexciting input set (NIS), i.e., the set of inputs that lead to loss of PE, and the consequent derivation of a pair of disjoint, linear inequality constraints on the input, termed NIS exclusion PE (NIS-PE) constraint, that, if satisfied, maintain PE. When used in a predictive control formulation, these constraints lead to a mixed-integer optimal control problem with a single binary variable or, equivalently, a pair of disjoint quadratic programming problems that can be efficiently and reliably solved. Numerical examples show how these constraints are able to maintain PE during the controller's operation, resulting in improved performance over conventional approaches for both time-invariant and time-varying systems.

Authors:Xiaodong Shao, Haoyang Yang, Haoran Li, Zongyu Zuo, Jose Guadalupe Romero, Qinglei Hu
Title: Prescribed-Time Boresight Control of Spacecraft Under Pointing Constraints
Abstract:
This article proposes an integrated boresight guidance and control (IBGC) scheme to address the boresight reorientation problem of spacecraft under temporal and pointing constraints. A $C^1$ continuous, saturated prescribed-time adjustment (PPTA) function is presented, along with the establishment of a practical prescribed-time stability criterion. Utilizing the time scale transformation technique and the PPTA function, we propose a prescribed-time guidance law that guides the boresight vector from almost any initial orientation in free space to a small neighborhood of the goal orientation within a preassigned time, while avoiding all forbidden zones augmented with safety margins. Subsequently, a prescribed-time disturbance observer (PTDO) is derived to reconstruct the external disturbances. By leveraging barrier and PPTA functions, a PTDO-based reduced-attitude tracking controller is developed, which ensures prescribed-time boresight tracking within a ``safe tube''. By judiciously setting the safety margins, settling times, and safe tube for the guidance and control laws, the proposed IBGC scheme achieves pointing-constrained boresight reorientation within a required task completion time. Simulation and experimental results demonstrate the efficacy of the proposed IBGC scheme.

Authors:Naoto Kikuta, Issei Onda, Kazuki Abe, Masahiro Watanabe, Kenjiro Tadakuma
Title: Passive Luminescent Bellows Mechanism
Abstract:
The use of robots in disaster sites has rapidly expanded, with soft robots attracting particular interest due to their flexibility and adaptability. They can navigate through narrow spaces and debris, facilitating efficient and safe operations. However, low visibility in such environments remains a challenge. This study aims to enhance the visibility of soft robots by developing and evaluating a passive luminescent exible actuator activated by a black light. Using Ecoex mixed with phosphorescent powder, we fabricated an actuator and confirmed its fluorescence phosphorescence and deformation ability. Furthermore the effects of the mixing ratio on optical and mechanical properties were assessed.

Authors:Amin Masoumi, Mert Korkali
Title: Deep-Learning-Directed Preventive Dynamic Security Control via Coordinated Demand Response
Abstract:
Unlike common faults, three-phase short-circuit faults in power systems pose significant challenges. These faults can lead to out-of-step (OOS) conditions and jeopardize the system's dynamic security. The rapid dynamics of these faults often exceed the time of protection actions, thus limiting the effectiveness of corrective schemes. This paper proposes an end-to-end deep-learning-based mechanism, namely, a convolutional neural network with an attention mechanism, to predict OOS conditions early and enhance the system's fault resilience. The results of the study demonstrate the effectiveness of the proposed algorithm in terms of early prediction and robustness against such faults in various operating conditions.

Authors:Francesco Bernardini, Daniel Biediger, Ileana Pineda, Linda Kleist, Aaron T. Becker
Title: Using Mobile Relays to Strongly Connect a Minimum-Power Network between Terminals Complying with No-Transmission Zones
Abstract:
We present strategies for placing a swarm of mobile relays to provide a bi-directional wireless network that connects fixed (immobile) terminals. Neither terminals nor relays are permitted to transmit into disk-shaped no-transmission zones. We assume a planar environment and that each transmission area is a disk centered at the transmitter. We seek a strongly connected network between all terminals with minimal total cost, where the cost is the sum area of the transmission disks. Results for networks with increasing levels of complexity are provided. The solutions for local networks containing low numbers of relays and terminals are applied to larger networks. For more complex networks, algorithms for a minimum-spanning tree (MST) based procedure are implemented to reduce the solution cost. A procedure to characterize and determine the possible homotopies of a system of terminals and obstacles is described, and used to initialize the evolution of the network under the presented algorithms.

Authors:Carlo Karam, Matteo Tacchi-Bénard, Mirko Fiacchini
Title: Probabilistic Reachable Set Estimation for Saturated Systems with Unbounded Additive Disturbances
Abstract:
In this paper, we present an analytical approach for the synthesis of ellipsoidal probabilistic reachable sets of saturated systems subject to unbounded additive noise. Using convex optimization methods, we compute a contraction factor of the saturated error dynamics that allows us to tightly bound its evolution and therefore construct accurate reachable sets. The proposed approach is applicable to independent, zero mean disturbances with a known covariance. A numerical example illustrates the applicability and effectiveness of the proposed design.

Authors:Shuqi Wang, Yue Gao, Xiang Yin
Title: Learning-Based Conformal Tube MPC for Safe Control in Interactive Multi-Agent Systems
Abstract:
Safety assurance in multi-agent systems with coupled dynamics is a fundamental yet challenging problem, especially when agents exhibit uncertain and state-dependent behaviors. Classical robust control often assumes worst-case disturbances, leading to overly conservative actions. In this work, we propose a learning-based framework that combines conformal prediction with model predictive control (MPC) to ensure probabilistic safety under action-level uncertainty. Unlike prior approaches that predict future states, we directly model the control action of the uncontrollable agent as a stochastic function of the joint state, trained via neural networks and calibrated using conformal prediction. This enables us to construct dynamic, probabilistically guaranteed reachable tubes for the uncontrollable agent. These tubes are then embedded into an MPC formulation to synthesize control actions for the controllable agent that ensure safe interactions over a finite planning horizon. We provide formal stepwise and cumulative safety guarantees, and demonstrate the effectiveness of our approach through a pedestrian-vehicle interaction scenario. Compared to baseline methods, our framework achieves higher safety rates while maintaining high performance in terms of speed and responsiveness.

Authors:Karthik Elamvazhuthi, Abhishek Halder
Title: The Ground Cost for Optimal Transport of Angular Velocity
Abstract:
We revisit the optimal transport problem over angular velocity dynamics given by the controlled Euler equation. The solution of this problem enables stochastic guidance of spin states of a rigid body (e.g., spacecraft) over a hard deadline constraint by transferring a given initial state statistics to a desired terminal state statistics. This is an instance of generalized optimal transport over a nonlinear dynamical system. While prior work has reported existence-uniqueness and numerical solution of this dynamical optimal transport problem, here we present structural results about the equivalent Kantorovich a.k.a. optimal coupling formulation. Specifically, we focus on deriving the ground cost for the associated Kantorovich optimal coupling formulation. The ground cost is equal to the cost of transporting unit amount of mass from a specific realization of the initial or source joint probability measure to a realization of the terminal or target joint probability measure, and determines the Kantorovich formulation. Finding the ground cost leads to solving a structured deterministic nonlinear optimal control problem, which is shown to be amenable to an analysis technique pioneered by Athans et al. We show that such techniques have broader applicability in determining the ground cost (thus Kantorovich formulation) for a class of generalized optimal mass transport problems involving nonlinear dynamics with translated norm-invariant drift.

Authors:Yexiang Chen, Subhash Lakshminarayana, H. Vincent Poor
Title: Moving Target Defense Against Adversarial False Data Injection Attacks In Power Grids
Abstract:
Machine learning (ML)-based detectors have been shown to be effective in detecting stealthy false data injection attacks (FDIAs) that can bypass conventional bad data detectors (BDDs) in power systems. However, ML models are also vulnerable to adversarial attacks. A sophisticated perturbation signal added to the original BDD-bypassing FDIA can conceal the attack from ML-based detectors. In this paper, we develop a moving target defense (MTD) strategy to defend against adversarial FDIAs in power grids. We first develop an MTD-strengthened deep neural network (DNN) model, which deploys a pool of DNN models rather than a single static model that cooperate to detect the adversarial attack jointly. The MTD model pool introduces randomness to the ML model's decision boundary, thereby making the adversarial attacks detectable. Furthermore, to increase the effectiveness of the MTD strategy and reduce the computational costs associated with developing the MTD model pool, we combine this approach with the physics-based MTD, which involves dynamically perturbing the transmission line reactance and retraining the DNN-based detector to adapt to the new system topology. Simulations conducted on IEEE test bus systems demonstrate that the MTD-strengthened DNN achieves up to 94.2% accuracy in detecting adversarial FDIAs. When combined with a physics-based MTD, the detection accuracy surpasses 99%, while significantly reducing the computational costs of updating the DNN models. This approach requires only moderate perturbations to transmission line reactances, resulting in minimal increases in OPF cost.

Authors:Andrea Da Col, Cristian R. Rojas, Vikram Krishnamurthy
Title: On Word-of-Mouth and Private-Prior Sequential Social Learning
Abstract:
Social learning constitutes a fundamental framework for studying interactions among rational agents who observe each other's actions but lack direct access to individual beliefs. This paper investigates a specific social learning paradigm known as Word-of-Mouth (WoM), where a series of agents seeks to estimate the state of a dynamical system. The first agent receives noisy measurements of the state, while each subsequent agent relies solely on a degraded version of her predecessor's estimate. A defining feature of WoM is that the final agent's belief is publicly broadcast and subsequently adopted by all agents, in place of their own. We analyze this setting theoretically and through numerical simulations, noting that some agents benefit from using the belief of the last agent, while others experience performance deterioration.

Authors:Van Chung Nguyen, Hung Manh La
Title: A Class of Hierarchical Sliding Mode Control based on Extended Kalman filter for Quadrotor UAVs
Abstract:
This study introduces a novel methodology for controlling Quadrotor Unmanned Aerial Vehicles, focusing on Hierarchical Sliding Mode Control strategies and an Extended Kalman Filter. Initially, an EKF is proposed to enhance robustness in estimating UAV states, thereby reducing the impact of measured noises and external disturbances. By locally linearizing UAV systems, the EKF can mitigate the disadvantages of the Kalman filter and reduce the computational cost of other nonlinear observers. Subsequently, in comparison to other related work in terms of stability and computational cost, the HSMC framework shows its outperformance in allowing the quadrotor UAVs to track the references. Three types of HSMC Aggregated HSMC, Incremental HSMC, and Combining HSMC are investigated for their effectiveness in tracking reference trajectories. Moreover, the stability of the quadrotor UAVs is rigorously analyzed using the Lyapunov stability principle. Finally, experimental results and comparative analyses demonstrate the efficacy and feasibility of the proposed methodologies.

Authors:Yapeng Shi, Sishu Li, Yongqiang Wu, Junjie Liu, Xiaokun Leng, Xizhe Zang, Songhao Piao
Title: Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control
Abstract:
This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations of the Linear Inverted Pendulum Model (LIPM) in handling terrain elevation variations, we develop a Piecewise Slope LIPM (PS-LIPM). This innovative model enables dynamic adjustment of the Center of Mass (CoM) height to align with topographical undulations during single-step cycles. Another contribution is proposed a generalized Angular Momentum-based LIPM (G-ALIP) for CoM velocity compensation using Centroidal Angular Momentum (CAM) regulation. Building upon these advancements, we derive the DCM step-to-step dynamics for Model Predictive Control MPC formulation, enabling simultaneous optimization of step position and step duration. A hierarchical control framework integrating MPC with a Whole-Body Controller (WBC) is implemented for bipedal locomotion across uneven stepping stones. The results validate the efficacy of the proposed hierarchical control framework and the theoretical formulation.

Authors:Diana Wallison, Jessica Wert, Farnaz Safdarian, Komal Shetye, Thomas J. Overbye, Jonathan M. Snodgrass, Yanzhi Xu
Title: An Integrated Transportation Network and Power Grid Simulation Approach for Assessing Environmental Impact of Electric Vehicles
Abstract:
This study develops an integrated approach that includes EV charging and power generation to assess the complex cross-sector interactions of vehicle electrification and its environmental impact. The charging load from on-road EV operation is developed based on a regional-level transportation simulation and charging behavior simulation, considering different EV penetration levels, congestion levels, and charging strategies. The emissions from EGUs are estimated from a dispatch study in a power grid simulation using the charging load as a major input. A case study of Austin, Texas is performed to quantify the environmental impact of EV adoption on both on-road and EGU emission sources at the regional level. The results demonstrate the range of emission impact under a combination of factors.

Authors:Yichen Yao, Ryan Mbagna Nanko, Yue Wang, Xuan Wang
Title: Distributed Resource Allocation for Human-Autonomy Teaming under Coupled Constraints
Abstract:
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents with those of humans. To address this, we propose a reformulation that transforms these coupled constraints into decoupled local constraints defined over the system's communication graph. Building on this reformulation and incorporating a human response model that captures human-robot interactions while accounting for individual preferences and biases, we develop a fully distributed algorithm. This algorithm guides the states of the autonomous agents to equilibrium points which, when combined with the human responses, yield a globally optimal resource allocation. We provide both theoretical analysis and numerical simulations to validate the effectiveness of the proposed approach.

Authors:Marc Schneider, Renato Loureiro, Torbjørn Cunis, Walter Fichter
Title: Virtual Target Trajectory Prediction for Stochastic Targets
Abstract:
Trajectory prediction of other vehicles is crucial for autonomous vehicles, with applications from missile guidance to UAV collision avoidance. Typically, target trajectories are assumed deterministic, but real-world aerial vehicles exhibit stochastic behavior, such as evasive maneuvers or gliders circling in thermals. This paper uses Conditional Normalizing Flows, an unsupervised Machine Learning technique, to learn and predict the stochastic behavior of targets of guided missiles using trajectory data. The trained model predicts the distribution of future target positions based on initial conditions and parameters of the dynamics. Samples from this distribution are clustered using a time series k-means algorithm to generate representative trajectories, termed virtual targets. The method is fast and target-agnostic, requiring only training data in the form of target trajectories. Thus, it serves as a drop-in replacement for deterministic trajectory predictions in guidance laws and path planning. Simulated scenarios demonstrate the approach's effectiveness for aerial vehicles with random maneuvers, bridging the gap between deterministic predictions and stochastic reality, advancing guidance and control algorithms for autonomous vehicles.

Authors:Yue Wang, Haoyu Wang, Zhaoxing Li
Title: Quattro: Transformer-Accelerated Iterative Linear Quadratic Regulator Framework for Fast Trajectory Optimization
Abstract:
Real-time optimal control remains a fundamental challenge in robotics, especially for nonlinear systems with stringent performance requirements. As one of the representative trajectory optimization algorithms, the iterative Linear Quadratic Regulator (iLQR) faces limitations due to their inherently sequential computational nature, which restricts the efficiency and applicability of real-time control for robotic systems. While existing parallel implementations aim to overcome the above limitations, they typically demand additional computational iterations and high-performance hardware, leading to only modest practical improvements. In this paper, we introduce Quattro, a transformer-accelerated iLQR framework employing an algorithm-hardware co-design strategy to predict intermediate feedback and feedforward matrices. It facilitates effective parallel computations on resource-constrained devices without sacrificing accuracy. Experiments on cart-pole and quadrotor systems show an algorithm-level acceleration of up to 5.3$\times$ and 27$\times$ per iteration, respectively. When integrated into a Model Predictive Control (MPC) framework, Quattro achieves overall speedups of 2.8$\times$ for the cart-pole and 17.8$\times$ for the quadrotor compared to the one that applies traditional iLQR. Transformer inference is deployed on FPGA to maximize performance, achieving further up to 20.8$\times$ speedup over prevalent embedded CPUs with over 11$\times$ power reduction than GPU and low hardware resource overhead.

Authors:Sofiane Tanji, Yassine Kamri, François Glineur, Mehdi Madani
Title: Dual first-order methods for efficient computation of convex hull prices
Abstract:
Convex Hull (CH) pricing, used in US electricity markets and raising interest in Europe, is a pricing rule designed to handle markets with non-convexities such as startup costs and minimum up and down times. In such markets, the market operator makes side payments to generators to cover lost opportunity costs, and CH prices minimize the total "lost opportunity costs", which include both actual losses and missed profit opportunities. These prices can also be obtained by solving a (partial) Lagrangian dual of the original mixed-integer program, where power balance constraints are dualized. Computing CH prices then amounts to minimizing a sum of nonsmooth convex objective functions, where each term depends only on a single generator. The subgradient of each of those terms can be obtained independently by solving smaller mixed-integer programs. In this work, we benchmark a large panel of first-order methods to solve the above dual CH pricing problem. We test several dual methods, most of which not previously considered for CH pricing, namely a proximal variant of the bundle level method, subgradient methods with three different stepsize strategies, two recent parameter-free methods and an accelerated gradient method combined with smoothing. We compare those methods on two representative sets of real-world large-scale instances and complement the comparison with a (Dantzig-Wolfe) primal column generation method shown to be efficient at computing CH prices, for reference. Our numerical experiments show that the bundle proximal level method and two variants of the subgradient method perform the best among all dual methods and compare favorably with the Dantzig-Wolfe primal method.

Authors:Eric Pulick, Yonatan Mintz
Title: An Adaptive Control Approach to Treatment Selection for Substance Use Disorders
Abstract:
Despite the massive costs and widespread harms of substance use, most individuals with substance use disorders (SUDs) receive no treatment at all. Digital therapeutics platforms are an emerging low-cost and low-barrier means of extending treatment to those who need it. While there is a growing body of research focused on how treatment providers can identify which patients need SUD support (or when they need it), there is very little work that addresses how providers should select treatments that are most appropriate for a given patient. Because SUD treatment involves months or years of voluntary compliance from the patient, treatment adherence is a critical consideration for the treatment provider. In this paper we focus on algorithms that a treatment provider can use to match the burden-level of proposed treatments to the time-varying engagement state of the patient to promote adherence. We propose structured models for a patient's engagement over time and their treatment adherence decisions. Using these models we pose a stochastic control formulation of the treatment-provider's burden selection problem. We propose an adaptive control approach that estimates unknown patient parameters as new data are observed. We show that these estimates are consistent and propose algorithms that use these estimates to make appropriate treatment recommendations.

Authors:Bhargav Pavan Kumar Sistla, Wasim Akram, Debanjana Mitra, Vivek Natarajan
Title: LQR based $ω-$stabilization of a heat equation with memory
Abstract:
We consider a heat equation with memory which is defined on a bounded domain in $\mathbb{R}^d$ and is driven by $m$ control inputs acting on the interior of the domain. Our objective is to numerically construct a state feedback controller for this equation such that, for each initial state, the solution of the closed-loop system decays exponentially to zero with a decay rate larger than a given rate $ω>0$, i.e. we want to solve the $ω$-stabilization problem for the heat equation with memory. We first show that the spectrum of the state operator $A$ associated with this equation has an accumulation point at $-ω_0<0$. Given a $ω\in(0,ω_0)$, we show that the $ω$-stabilization problem for the heat equation with memory is solvable provided certain verifiable conditions on the control operator $B$ associated with this equation hold. We then consider an appropriate LQR problem for the heat equation with memory. For each $n\in\mathbb{N}$, we construct finite-dimensional approximations $A_n$ and $B_n$ of $A$ and $B$, respectively, and then show that by solving a corresponding approximation of the LQR problem a feedback operator $K_n$ can be computed such that all the eigenvalues of $A_n + B_n K_n$ have real part less than $-ω$. We prove that $K_n$ for $n$ sufficiently large solves the $ω$-stabilization problem for the heat equation with memory. A crucial and nontrivial step in our proof is establishing the uniform (in $n$) stabilizability of the pair $(A_n+ωI, B_n)$. We have validated our theoretical results numerically using two examples: an 1D example on a unit interval and a 2D example on a square domain.

Authors:Dhanika Mahipala, Trym Tengesdal, Børge Rokseth, Tor Arne Johansen
Title: Design and Validation of an Intention-Aware Probabilistic Framework for Trajectory Prediction: Integrating COLREGS, Grounding Hazards, and Planned Routes
Abstract:
Collision avoidance capability is an essential component in an autonomous vessel navigation system. To this end, an accurate prediction of dynamic obstacle trajectories is vital. Traditional approaches to trajectory prediction face limitations in generalizability and often fail to account for the intentions of other vessels. While recent research has considered incorporating the intentions of dynamic obstacles, these efforts are typically based on the own-ship's interpretation of the situation. The current state-of-the-art in this area is a Dynamic Bayesian Network (DBN) model, which infers target vessel intentions by considering multiple underlying causes and allowing for different interpretations of the situation by different vessels. However, since its inception, there have not been any significant structural improvements to this model. In this paper, we propose enhancing the DBN model by incorporating considerations for grounding hazards and vessel waypoint information. The proposed model is validated using real vessel encounters extracted from historical Automatic Identification System (AIS) data.

Authors:Weilin Deng, Daowen Qiu, Jingkai Yang
Title: New Insights into the Decidability of Opacity in Timed Automata
Abstract:
This paper investigates the decidability of opacity in timed automata (TA), a property that has been proven to be undecidable in general. First, we address a theoretical gap in recent work by J. An et al. (FM 2024) by providing necessary and sufficient conditions for the decidability of location-based opacity in TA. Based on these conditions, we identify a new decidable subclass of TA, called timed automata with integer resets (IRTA), where clock resets are restricted to occurring at integer time points. We also present a verification algorithm for opacity in IRTA. On the other hand, we consider achieving decidable timed opacity by weakening the capabilities of intruders. Specifically, we show that opacity in general TA becomes decidable under the assumption that intruders can only observe time in discrete units. These results establish theoretical foundations for modeling timed systems and intruders in security analysis, enabling an effective balance between expressiveness and decidability.

Authors:Gustave Bainier, Alessio Franci
Title: Directional excitability in Hilbert spaces
Abstract:
We introduce a generalized excitable system in which spikes can happen in a continuum of directions, therefore drastically enriching the expressivity and control capability of the spiking dynamics. In this generalized excitable system, spiking trajectories happen in a Hilbert space with an excitable resting state at the origin and spike responses that can be triggered in any direction as a function of the system's state and inputs. State-dependence of the spiking direction provide the system with a vanishing spiking memory trace, which enables robust tracking and integration of inputs in the spiking direction history. The model exhibits generalized forms of both Hodgkin's Type I and Type II excitability, capturing their usual bifurcation behaviors in an abstract setting. When used as the controller of a two-dimensional navigation task, this model facilitates both the sparseness of the actuation and its sensitivity to environmental inputs. These results highlight the potential of the proposed generalized excitable model for excitable control in high- and infinite-dimensional spaces.

Authors:Qian Feng, Wei Xing Zheng, Xiaoyu Wang, Feng Xiao
Title: Robust Control of General Linear Delay Systems under Dissipativity: Part I -- A KSD based Framework
Abstract:
This paper introduces an effective framework for designing memoryless dissipative full-state feedbacks for general linear delay systems via the KrasovskiÄ­ functional (KF) approach, where an unlimited number of pointwise and general distributed delays (DDs) exists in the state, input and output. To handle the infinite dimensionality of DDs, we employ the Kronecker-Seuret Decomposition (KSD) which we recently proposed for analyzing matrix-valued functions in the context of delay systems. The KSD enables factorization or least-squares approximation of any number of $\mathcal{L}^2$ DD kernels from any number of DDs without introducing conservatism. This also facilitates the construction of a complete-type KF with flexible integral kernels, following from an application of a novel integral inequality derived from the least-squares principle. Our solution includes two theorems and an iterative algorithm to compute controller gains without relying on nonlinear solvers. A challenging numerical example, intractable for existing methods, underscores the efficacy of this approach.

Authors:Leo Tunkle, Kamal Abdulraheem, Linyu Lin, Majdi I. Radaideh
Title: Nuclear Microreactor Control with Deep Reinforcement Learning
Abstract:
The economic feasibility of nuclear microreactors will depend on minimizing operating costs through advancements in autonomous control, especially when these microreactors are operating alongside other types of energy systems (e.g., renewable energy). This study explores the application of deep reinforcement learning (RL) for real-time drum control in microreactors, exploring performance in regard to load-following scenarios. By leveraging a point kinetics model with thermal and xenon feedback, we first establish a baseline using a single-output RL agent, then compare it against a traditional proportional-integral-derivative (PID) controller. This study demonstrates that RL controllers, including both single- and multi-agent RL (MARL) frameworks, can achieve similar or even superior load-following performance as traditional PID control across a range of load-following scenarios. In short transients, the RL agent was able to reduce the tracking error rate in comparison to PID. Over extended 300-minute load-following scenarios in which xenon feedback becomes a dominant factor, PID maintained better accuracy, but RL still remained within a 1% error margin despite being trained only on short-duration scenarios. This highlights RL's strong ability to generalize and extrapolate to longer, more complex transients, affording substantial reductions in training costs and reduced overfitting. Furthermore, when control was extended to multiple drums, MARL enabled independent drum control as well as maintained reactor symmetry constraints without sacrificing performance -- an objective that standard single-agent RL could not learn. We also found that, as increasing levels of Gaussian noise were added to the power measurements, the RL controllers were able to maintain lower error rates than PID, and to do so with less control effort.

Authors:Jonathan Dumas, Sébastien Finet, Nathalie Grisey, Ibtissam Hamdane, Paul Plessiez
Title: Analysis of the French system imbalance paving the way for a novel operating reserve sizing approach
Abstract:
This paper examines the relationship between system imbalance and several explanatory variables within the French electricity system. The factors considered include lagged imbalance values, observations of renewable energy sources (RES) generation and consumption, and forecasts for RES generation and consumption. The study analyzes the distribution of system imbalance in relation to these variables. Additionally, an HGBR machine-learning model is employed to assess the predictability of imbalances and the explanatory power of the input variables studied. The results indicate no clear correlation between RES generation or consumption and the observed imbalances. However, it is possible to predict the imbalance adequately using forecasts available a few hours before real-time, along with the lagged values of the imbalance. Predicting the imbalance a day in advance proves to be complex with the variables examined; however, the extreme quantiles of the imbalance used for reserve sizing and contracting can be predicted with sufficient accuracy.

Authors:Giulio Fattore, Maria Elena Valcher
Title: Data-Driven Distributed Output Synchronization of Heterogeneous Discrete-Time Multi-Agent Systems
Abstract:
In this paper, we assume that an autonomous exosystem generates a reference output, and we consider the problem of designing a distributed data-driven control law for a family of discrete-time heterogeneous LTI agents, connected through a directed graph, in order to synchronize the agents' outputs to the reference one. The agents of the network are split into two categories: leaders, with direct access to the exosystem output, and followers, that only receive information from their neighbors. All agents aim to achieve output synchronization by means of a state feedback that makes use of their own states as well as of an estimate of the exogenous system state, provided by an internal state observer. Such observer has a different structure for leaders and followers. Necessary and sufficient conditions for the existence of a solution are first derived in the model-based set-up and then in a data-driven context. An example illustrates both the implementation procedure and the performance of the proposed approach.

Authors:Chiaki Kojima, Yuya Muto, Hikaru Akutsu, Rinnosuke Shima, Yoshihiko Susuki
Title: Application of Battery Storage to Switching Predictive Control of Power Distribution Systems Including Road Heating
Abstract:
In regions with heavy snowfall, the living environment is becoming a serious problem due to heavy snow accumulation. A road heating is an electrical device which promotes snow melting by burying a heating cable as a thermal source underground in such regions. When integrating the road heating into power distribution systems, we need to optimize the flow of electric power by appropriately integrating distributed power sources and conventional power distribution equipment. In this paper, we introduce a battery storage to the power distribution system including road heating, and extend the predictive switching control of the systems due to the authors' previous study to the case where battery storage is installed. As a main result, we propose a predictive switching control that utilizes photovoltaic (PV) power generation and surplus power stored in the battery storage effectively, and achieves the reduction of distribution loss, attenuation of voltage fluctuation, and efficient snow melting, simultaneously. We verify the effectiveness of the application of battery storage through numerical simulation using actual time series data of weather conditions and active power of the PV power generation and load.

Authors:Johannes Mäkelburg, Diego Perez-Palacin, Raffaela Mirandola, Maribel Acosta
Title: Surveying Uncertainty Representation: A Unified Model for Cyber-Physical Systems
Abstract:
Cyber-Physical Systems (CPS) operate in dynamic environments, leading to different types of uncertainty. This work provides a comprehensive review of uncertainty representations and categorizes them based on the dimensions used to represent uncertainty. Through this categorization, key gaps and limitations in existing approaches are identified. To address these issues, a Conceptual Model of Uncertainty Representations in CPS is introduced, integrating and extending existing models. Its applicability is demonstrated through examples from the automotive domain, showing its effectiveness in capturing and structuring uncertainty in real-world scenarios.

Authors:Chenyu Jia, Guangshu Xia, Yuanhao Shi, Jianfang Jia, Jie Wen, Jianchao Zeng
Title: Incremental capacity-based multi-feature fusion model for predicting state-of-health of lithium-ion batteries
Abstract:
Lithium-ion batteries have become an indispensable part of human industrial production and daily life. For the safe use, management and maintenance of lithium-ion batteries, the state of health (SOH) of lithium-ion batteries is an important indicator so that the SOH estimation is of significant practical value. In order to accurately predict SOH, this paper proposes a fusion prediction model which combines particle swarm optimization (PSO) algorithm, bi-directional long-short time memory network (BiLSTM) and adaptive boosting (AdaBoost) algorithm. In the proposed prediction model, indirect health indicators (HIs), which characterize battery degradation, are obtained with the help of incremental capacity analysis (ICA), and is fed into BiLSTM to extract time-series features, whose parameters are optimized by employing PSO algorithm. On this basis, the AdaBoost algorithm is applied to reduce the risk of overfitting the PSO-BiLSTM model. The study based on lithium-ion battery data from Center for Advanced Life Cycle Engineering (CALCE) shows that the PSO-BiLSTM-AdaBoost model has higher accuracy, better robustness, and generalization ability.

Authors:Benjamin Bogenberger, Johannes Bürger, Vladislav Nenchev
Title: Trajectory Planning for Automated Driving using Target Funnels
Abstract:
Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input. Under noisy perception data, estimates of the road course can vary significantly, leading to indecisive and erratic steering behavior. To overcome this issue, this paper introduces a predictive trajectory planning algorithm with a novel objective function: instead of targeting a single reference trajectory based on the most likely road course, tracking a series of target reference sets, called a target funnel, is considered. The proposed planning algorithm integrates probabilistic information about the road course, and thus implicitly considers regular updates to road perception. Our solution is assessed in a case study using real driving data collected from a prototype vehicle. The results demonstrate that the algorithm maintains tracking accuracy and substantially reduces undesirable steering commands in the presence of noisy road perception, achieving a 56% reduction in input costs compared to a certainty equivalent formulation.

Authors:Zhuoyi Zhao, Vishrant Tripathi, Igor Kadota
Title: Optimizing Age of Information in Networks with Large and Small Updates
Abstract:
Modern sensing and monitoring applications typically consist of sources transmitting updates of different sizes, ranging from a few bytes (position, temperature, etc.) to multiple megabytes (images, video frames, LIDAR point scans, etc.). Existing approaches to wireless scheduling for information freshness typically ignore this mix of large and small updates, leading to suboptimal performance. In this paper, we consider a single-hop wireless broadcast network with sources transmitting updates of different sizes to a base station over unreliable links. Some sources send large updates spanning many time slots while others send small updates spanning only a few time slots. Due to medium access constraints, only one source can transmit to the base station at any given time, thus requiring careful design of scheduling policies that takes the sizes of updates into account. First, we derive a lower bound on the achievable Age of Information (AoI) by any transmission scheduling policy. Second, we develop optimal randomized policies that consider both switching and no-switching during the transmission of large updates. Third, we introduce a novel Lyapunov function and associated analysis to propose an AoI-based Max-Weight policy that has provable constant factor optimality guarantees. Finally, we evaluate and compare the performance of our proposed scheduling policies through simulations, which show that our Max-Weight policy achieves near-optimal AoI performance.

Authors:Fabian Jakob, Andrea Iannelli
Title: Online Convex Optimization and Integral Quadratic Constraints: An automated approach to regret analysis
Abstract:
We propose a novel approach for analyzing dynamic regret of first-order constrained online convex optimization algorithms for strongly convex and Lipschitz-smooth objectives. Crucially, we provide a general analysis that is applicable to a wide range of first-order algorithms that can be expressed as an interconnection of a linear dynamical system in feedback with a first-order oracle. By leveraging Integral Quadratic Constraints (IQCs), we derive a semi-definite program which, when feasible, provides a regret guarantee for the online algorithm. For this, the concept of variational IQCs is introduced as the generalization of IQCs to time-varying monotone operators. Our bounds capture the temporal rate of change of the problem in the form of the path length of the time-varying minimizer and the objective function variation. In contrast to standard results in OCO, our results do not require nerither the assumption of gradient boundedness, nor that of a bounded feasible set. Numerical analyses showcase the ability of the approach to capture the dependence of the regret on the function class condition number.

Authors:Declan Jagt, Sergei Chernyshenko, Matthew Peet
Title: Representation and Stability Analysis of 1D PDEs with Periodic Boundary Conditions
Abstract:
PDEs with periodic boundary conditions are frequently used to model processes in large spatial environments, assuming solutions to extend periodically beyond some bounded interval. However, solutions to these PDEs often do not converge to a unique equilibrium, but instead converge to non-stationary trajectories existing in the nullspace of the spatial differential operator (e.g. $\frac{\partial^2}{\partial x^2}$). To analyse this convergence behaviour, in this paper, it is shown how such trajectories can be modeled for a broad class of linear, 2nd order, 1D PDEs with periodic as well as more general boundary conditions, using the Partial Integral Equation (PIE) representation. In particular, it is first shown how any PDE state satisfying these boundary conditions can be uniquely expressed in terms of two components, existing in the image and the nullspace of the differential operator $\frac{\partial^2}{\partial x^2}$, respectively. An equivalent representation of linear PDEs is then derived as a PIE, explicitly defining the dynamics of both state components. Finally, a notion of exponential stability is defined that requires only one of the state components to converge to zero, and it is shown how this stability notion can be tested by solving a linear operator inequality. The proposed methodology is applied to examples of heat and wave equations, demonstrating that exponential stability can be verified with tight bounds on the rate of decay.

Authors:Hassan Abdelraouf, Georgios Piliouras, Jeff S. Shamma
Title: Passivity, No-Regret, and Convergent Learning in Contractive Games
Abstract:
We investigate the interplay between passivity, no-regret, and convergence in contractive games for various learning dynamic models and their higher-order variants. Our setting is continuous time. Building on prior work for replicator dynamics, we show that if learning dynamics satisfy a passivity condition between the payoff vector and the difference between its evolving strategy and any fixed strategy, then it achieves finite regret. We then establish that the passivity condition holds for various learning dynamics and their higher-order variants. Consequentially, the higher-order variants can achieve convergence to Nash equilibrium in cases where their standard order counterparts cannot, while maintaining a finite regret property. We provide numerical examples to illustrate the lack of finite regret of different evolutionary dynamic models that violate the passivity property. We also examine the fragility of the finite regret property in the case of perturbed learning dynamics. Continuing with passivity, we establish another connection between finite regret and passivity, but with the related equilibrium-independent passivity property. Finally, we present a passivity-based classification of dynamic models according to the various passivity notions they satisfy, namely, incremental passivity, $δ$-passivity, and equilibrium-independent passivity. This passivity-based classification provides a framework to analyze the convergence of learning dynamic models in contractive games.

Authors:Yu Cheng, Harun Å iljak
Title: Strategies for decentralised UAV-based collisions monitoring in rugby
Abstract:
Recent advancements in unmanned aerial vehicle (UAV) technology have opened new avenues for dynamic data collection in challenging environments, such as sports fields during fast-paced sports action. For the purposes of monitoring sport events for dangerous injuries, we envision a coordinated UAV fleet designed to capture high-quality, multi-view video footage of collision events in real-time. The extracted video data is crucial for analyzing athletes' motions and investigating the probability of sports-related traumatic brain injuries (TBI) during impacts. This research implemented a UAV fleet system on the NetLogo platform, utilizing custom collision detection algorithms to compare against traditional TV-coverage strategies. Our system supports decentralized data capture and autonomous processing, providing resilience in the rapidly evolving dynamics of sports collisions. The collaboration algorithm integrates both shared and local data to generate multi-step analyses aimed at determining the efficacy of custom methods in enhancing the accuracy of TBI prediction models. Missions are simulated in real-time within a two-dimensional model, focusing on the strategic capture of collision events that could lead to TBI, while considering operational constraints such as rapid UAV maneuvering and optimal positioning. Preliminary results from the NetLogo simulations suggest that custom collision detection methods offer superior performance over standard TV-coverage strategies by enabling more precise and timely data capture. This comparative analysis highlights the advantages of tailored algorithmic approaches in critical sports safety applications.

Authors:Collin R. Johnson, Stijn de Vries, Kerstin Wohlgemuth, Sergio Lucia
Title: Multi-stage model predictive control for slug flow crystallizers using uncertainty-aware surrogate models
Abstract:
This paper presents a novel dynamic model for slug flow crystallizers that addresses the challenges of spatial distribution without backmixing or diffusion, potentially enabling advanced model-based control. The developed model can accurately describe the main characteristics of slug flow crystallizers, including slug-to-slug variability but leads to a high computational complexity due to the consideration of partial differential equations and population balance equations. For that reason, the model cannot be directly used for process optimization and control. To solve this challenge, we propose two different approaches, conformalized quantile regression and Bayesian last layer neural networks, to develop surrogate models with uncertainty quantification capabilities. These surrogates output a prediction of the system states together with an uncertainty of these predictions to account for process variability and model uncertainty. We use the uncertainty of the predictions to formulate a robust model predictive control approach, enabling robust real-time advanced control of a slug flow crystallizer.

Authors:Bohang Fang, Yue Chen, Changhong Zhao
Title: Approximating Dispatchable Regions in Three-Phase Radial Networks with Conditions for Exact SDP Relaxation
Abstract:
The concept of dispatchable region plays a pivotal role in quantifying the capacity of power systems to accommodate renewable generation. In this paper, we extend the previous approximations of the dispatchable regions on direct current (DC), linearized, and nonlinear single-phase alternating current (AC) models to unbalanced three-phase radial (tree) networks and provide improved outer and inner approximations of dispatchable regions. Based on the nonlinear bus injection model (BIM), we relax the non-convex problem that defines the dispatchable region to a solvable semidefinite program (SDP) and derive its strong dual problem (which is also an SDP). Utilizing the special mathematical structure of the dual problem, an SDP-based projection algorithm is developed to construct a convex polytopic outer approximation to the SDP-relaxed dispatchable region. Moreover, we provide sufficient conditions to guarantee the exact SDP relaxation by adding the power loss as a penalty term, thereby providing a theoretical guarantee for determining an inner approximation of the dispatchable region. Through numerical simulations, we validate the accuracy of our approximation of the dispatchable region and verify the conditions for exact SDP relaxation.

Authors:Mohamed Yassine Arkhis, Denis Efimov
Title: Small-gain conditions for exponential incremental stability in feedback interconnections
Abstract:
We prove that under a small-gain condition, an interconnection of two globally incrementally exponentially stable systems inherits this property on any compact connected forward invariant set. It is also demonstrated that the interconnection inherits a weaker version of incremental exponential stability globally. An example illustrating the theoretical findings is given. The example also shows that the uniform negativity of the Jacobian is not necessary for incremental exponential stability.

Authors:Mohamed Yassine Arkhis, Denis Efimov
Title: Open-loop control design for contraction in affine nonlinear systems
Abstract:
In this paper, first, it is shown that if a nonlinear time-varying system is contractive, then it is incrementally exponentially stable. Second, leveraging this result, under mild restrictions, an approach is proposed to design feedforward inputs for affine in control systems providing contraction/incremental exponential stability. Unlike standard stability notions, which have well-established control design techniques, this note can be considered among the first ones to provide such a tool for a kind of incremental stability. The theoretical findings are illustrated by examples.

Authors:Haruto Nakashima, Siddhartha Ganguly, Kohei Morimoto, Kenji Kashima
Title: Formation Shape Control using the Gromov-Wasserstein Metric
Abstract:
This article introduces a formation shape control algorithm, in the optimal control framework, for steering an initial population of agents to a desired configuration via employing the Gromov-Wasserstein distance. The underlying dynamical system is assumed to be a constrained linear system and the objective function is a sum of quadratic control-dependent stage cost and a Gromov-Wasserstein terminal cost. The inclusion of the Gromov-Wasserstein cost transforms the resulting optimal control problem into a well-known NP-hard problem, making it both numerically demanding and difficult to solve with high accuracy. Towards that end, we employ a recent semi-definite relaxation-driven technique to tackle the Gromov-Wasserstein distance. A numerical example is provided to illustrate our results.

Authors:Lipo Mo, Jianjun Li, Min Zuo, Lei Wang
Title: Distributed Forgetting-factor Regret-based Online Optimization over Undirected Connected Networks
Abstract:
The evaluation of final-iteration tracking performance is a formidable obstacle in distributed online optimization algorithms. To address this issue, this paper proposes a novel evaluation metric named distributed forgetting-factor regret (DFFR). It incorporates a weight into the loss function at each iteration, which progressively reduces the weights of historical loss functions while enabling dynamic weights allocation across optimization horizon. Furthermore, we develop two distributed online optimization algorithms based on DFFR over undirected connected networks: the Distributed Online Gradient-free Algorithm for bandit-feedback problems and the Distributed Online Projection-free Algorithm for high-dimensional problems. Through theoretical analysis, we derive the upper bounds of DFFR for both algorithms and further prove that under mild conditions, DFFR either converges to zero or maintains a tight upper bound as iterations approach infinity. Experimental simulation demonstrates the effectiveness of the algorithms and the superior performance of DFFR.

Authors:Antos Cheeramban Varghese, Anamitra Pal
Title: System-wide Instrument Transformer Calibration and Line Parameter Estimation Using PMU Data
Abstract:
Uncalibrated instrument transformers (ITs) can degrade the performance of downstream applications that rely on the voltage and current measurements that ITs provide. It is also well-known that phasor measurement unit (PMU)-based system-wide IT calibration and line parameter estimation (LPE) are interdependent problems. In this paper, we present a statistical framework for solving the simultaneous LPE and IT calibration (SLIC) problem using synchrophasor data. The proposed approach not only avoids the need for a perfect IT by judiciously placing a revenue quality meter (which is an expensive but non-perfect IT), but also accounts for the variations typically occurring in the line parameters. The results obtained using the IEEE 118-bus system as well as actual power system data demonstrate the high accuracy, robustness, and practical utility of the proposed approach.

Authors:Maarten Vlaswinkel, Duarte Antunes, Frank Willems
Title: Automated and Risk-Aware Engine Control Calibration Using Constrained Bayesian Optimization
Abstract:
Decarbonization of the transport sector sets increasingly strict demands to maximize thermal efficiency and minimize greenhouse gas emissions of Internal Combustion Engines. This has led to complex engines with a surge in the number of corresponding tunable parameters in actuator set points and control settings. Automated calibration is therefore essential to keep development time and costs at acceptable levels. In this work, an innovative self-learning calibration method is presented based on in-cylinder pressure curve shaping. This method combines Principal Component Decomposition with constrained Bayesian Optimization. To realize maximal thermal engine efficiency, the optimization problem aims at minimizing the difference between the actual in-cylinder pressure curve and an Idealized Thermodynamic Cycle. By continuously updating a Gaussian Process Regression model of the pressure's Principal Components weights using measurements of the actual operating conditions, the mean in-cylinder pressure curve as well as its uncertainty bounds are learned. This information drives the optimization of calibration parameters, which are automatically adapted while dealing with the risks and uncertainties associated with operational safety and combustion stability. This data-driven method does not require prior knowledge of the system. The proposed method is successfully demonstrated in simulation using a Reactivity Controlled Compression Ignition engine model. The difference between the Gross Indicated Efficiency of the optimal solution found and the true optimum is 0.017%. For this complex engine, the optimal solution was found after 64.4s, which is relatively fast compared to conventional calibration methods.

Authors:Shibo Han, Bonan Hou, Yuhao Zhang, Xiaotong Shi, Xingwei Zhao
Title: Model Predictive Control for Tracking Bounded References With Arbitrary Dynamics
Abstract:
In this article, a model predictive control (MPC) method is proposed for constrained linear systems to track bounded references with arbitrary dynamics. Besides control inputs to be determined, artificial reference is introduced as additional decision variable, which serves as an intermediate target to cope with sudden changes of reference and enlarges domain of attraction. Cost function penalizes both artificial state error and reference error, while terminal constraint is imposed on artificial state error and artificial reference. We specify the requirements for terminal constraint and cost function to guarantee recursive feasibility of the proposed method and asymptotic stability of tracking error. Then, periodic and non-periodic references are considered and the method to determine required cost function and terminal constraint is proposed. Finally, the efficiency of the proposed MPC controller is demonstrated with simulation examples.

Authors:Taku Nishino, Yoshiyuki Onishi, Takayuki Ishizaki
Title: Small-Signal Stability Condition of Inverter-Integrated Power Systems: Closed-Form Expression by Stationary Power Flow Variables
Abstract:
This paper shows that a necessary and sufficient condition for the small-signal stability of an inverter-integrated power system can be expressed in terms of semidefinite matrix inequalities determined only by the synchronous reactance of the components, the susceptance matrix of the transmission network, and the stationary values of the power flow distribution. To derive the stability condition, we consider a class of grid-forming inverters corresponding to a singular perturbation of the synchronous generator. The resulting matrix inequality condition, which has twice as many dimensions as the number of buses and is independent of the dynamics of the connected components, is expressed in terms of each component compensating in a decentralized manner for the loss of frequency synchronization caused by the reactive power consumption in the transmission network. A simple numerical example using a 3-bus power system model shows that a grid-forming inverter load improves power system synchronization, while a grid-following inverter load disrupts it.

Authors:Ananda Chakrabarti, Indranil Nayak, Debdipta Goswami
Title: Temporally-Consistent Bilinearly Recurrent Autoencoders for Control Systems
Abstract:
This paper introduces the temporally-consistent bilinearly recurrent autoencoder (tcBLRAN), a Koopman operator based neural network architecture for modeling a control-affine nonlinear control system. The proposed method extends traditional Koopman autoencoders (KAE) by incorporating bilinear recurrent dynamics that are consistent across predictions, enabling accurate long-term forecasting for control-affine systems. This overcomes the roadblock that KAEs face when encountered with limited and noisy training datasets, resulting in a lack of generalizability due to inconsistency in training data. Through a blend of deep learning and dynamical systems theory, tcBLRAN demonstrates superior performance in capturing complex behaviors and control systems dynamics, providing a superior data-driven modeling technique for control systems and outperforming the state-of-the-art Koopman bilinear form (KBF) learned by autoencoder networks.

Authors:Yujing Liu, Zhixin Liu, Lei Guo
Title: Learning a Class of Mixed Linear Regressions: Global Convergence under General Data Conditions
Abstract:
Mixed linear regression (MLR) has attracted increasing attention because of its great theoretical and practical importance in capturing nonlinear relationships by utilizing a mixture of linear regression sub-models. Although considerable efforts have been devoted to the learning problem of such systems, i.e., estimating data labels and identifying model parameters, most existing investigations employ the offline algorithm, impose the strict independent and identically distributed (i.i.d.) or persistent excitation (PE) conditions on the regressor data, and provide local convergence results only. In this paper, we investigate the recursive estimation and data clustering problems for a class of stochastic MLRs with two components. To address this inherently nonconvex optimization problem, we propose a novel two-step recursive identification algorithm to estimate the true parameters, where the direction vector and the scaling coefficient of the unknown parameters are estimated by the least squares and the expectation-maximization (EM) principles, respectively. Under a general data condition, which is much weaker than the traditional i.i.d. and PE conditions, we establish the global convergence and the convergence rate of the proposed identification algorithm for the first time. Furthermore, we prove that, without any excitation condition on the regressor data, the data clustering performance including the cumulative mis-classification error and the within-cluster error can be optimal asymptotically. Finally, we provide a numerical example to illustrate the performance of the proposed learning algorithm.

Authors:Konstantinos Tsoupos, Stylianos Tzelepis, Georgios Sklavenitis, Dimitrios Stoupis, Grigorios Pavlakis, Panagiotis Bountzioukas, Christina Athanasiadou, Lily Ha, David Palma, Loris Franchi, Alkis Hatzopoulos
Title: The On-Board Computer of the AcubeSAT Mission
Abstract:
AcubeSAT is an open-source CubeSat mission aiming to explore the effects of microgravity and radiation on eukaryotic cells using a compact microfluidic lab-on-a-chip platform. It is developed by SpaceDot, a volunteer, interdisciplinary student team at the Aristotle University of Thessaloniki and supported by the "Fly Your Satellite! 3" program of the European Space Agency (ESA) Education Office. The nanosatellite features an in-house designed on-board computer subsystem responsible for telecommand execution, telemetry fetching, onboard time synchronization, in-orbit patching, and fault recovery. The subsystem is designed on one PC/104 standard compatible Printed Circuit Board (PCB) that hosts the On-board Computer (OBC) on the one side and the Attitude and Orbit Control Subsystem (AOCS) on the other, and it is compatible with the LibreCube standard. The hosted subsystems are functionally isolated and feature an ARM Cortex-M7, radiation-tolerant microcontroller each. Before sending anything to space thorough testing is required and specifically the on-board computer board underwent vibration and thermal cycling tests to ensure nominal operation in all conditions. This paper aims to elucidate the decision-making process, design iterations, and development stages of the custom board and accompanying in-house software. Insights garnered from the initial partially successful environmental test campaign at the ESA CubeSat Support Facility will be shared, along with the ensuing preparations, results, and lessons learned from subsequent testing endeavors in April 2024. Furthermore, the current developmental status will be discussed alongside future electromagnetic compatibility testing, integration plan on a FlatSat, and prospects for the open-source design as a cost-effective, and modular solution that can be tailored with little effort for upcoming missions.

Authors:Peter G. Jacobs, Wade Hilts, Robert Dodier, Joseph Leitschuh, Jae H. Eom, Deborah Branigan, Forrest Ling, Matthew Howard, Clara Mosquera-Lopez, Leah Wilson
Title: An AI-enabled dual-hormone model predictive control algorithm that delivers insulin and pramlintide
Abstract:
Current closed-loop insulin delivery algorithms need to be informed of carbohydrate intake disturbances. This can be a burden on people using these systems. Pramlintide is a hormone that delays gastric emptying, which enables insulin kinetics to align with the kinetics of carbohydrate absorption. Integrating pramlintide into an automated insulin delivery system can be helpful in reducing the postprandial glucose excursion and may be helpful in enabling fully-closed loop whereby meals do not need to be announced. We present an AI-enabled dual-hormone model predictive control (MPC) algorithm that delivers insulin and pramlintide without requiring meal announcements that uses a neural network to automatically detect and deliver meal insulin. The MPC algorithm includes a new pramlintide pharmacokinetics and pharmacodynamics model that was identified using data collected from people with type 1 diabetes undergoing a meal challenge. Using a simulator, we evaluated the performance of various pramlintide delivery methods and controller models, as well as the baseline insulin-only scenario. Meals were automatically dosed using a neural network meal detection and dosing (MDD) algorithm. The primary outcome was the percent time glucose is in the target range (TIR: 70-180 mg/dL). Results show that delivering pramlintide at a fixed ratio of 6 mcg pramlintide:1 u insulin using an MPC that is aware of the pramlintide achieved the most significant improved TIR compared with an insulin-only MPC (91.6% vs. 64.1%). Delivering pramlintide as a fixed ratio was better than delivering basal pramlintide at a constant rate, indicating the benefit of the MDD algorithm. There was no advantage of independent control of insulin and pramlintide compared with insulin and pramlintide delivered as a fixed ratio. Preliminary real-world results from a human subject further indicate the benefit of pramlintide delivery.

Authors:Alexis Teter, Abhishek Halder
Title: On the Hopf-Cole Transform for Control-affine Schrödinger Bridge
Abstract:
The purpose of this note is to clarify the importance of the relation $\boldsymbol{gg}^{\top}\propto \boldsymbol{σσ}^{\top}$ in solving control-affine Schrödinger bridge problems via the Hopf-Cole transform, where $\boldsymbol{g},\boldsymbolσ$ are the control and noise coefficients, respectively. We show that the Hopf-Cole transform applied to the conditions of optimality for generic control-affine Schrödinger bridge problems, i.e., without the assumption $\boldsymbol{gg}^{\top}\propto\boldsymbol{σσ}^{\top}$, gives a pair of forward-backward PDEs that are neither linear nor equation-level decoupled. We explain how the resulting PDEs can be interpreted as nonlinear forward-backward advection-diffusion-reaction equations, where the nonlinearity stem from additional drift and reaction terms involving the gradient of the log-likelihood a.k.a. the score. These additional drift and reaction vanish when $\boldsymbol{gg}^{\top}\propto\boldsymbol{σσ}^{\top}$, and the resulting boundary-coupled system of linear PDEs can then be solved by dynamic Sinkhorn recursions. A key takeaway of our work is that the numerical solution of the generic control-affine Schrödinger bridge requires further algorithmic development, possibly generalizing the dynamic Sinkhorn recursion or otherwise.

Authors:Diana Wallison, Lyric Haylow, Jessica Wert, Jonathan M. Snodgrass, Thomas J. Overbye, Yanzhi, Xu
Title: Electric Vehicle Integration using Large-Scale Combined Transmission and Distribution Grid Models
Abstract:
In this paper, we propose a unifying co-simulation framework integrating transportation demand, grid assets, land use, demographics, and emissions to optimally accelerate electric vehicle (EV) development as well as measure the impact of EV integration. 96 urban and long-haul truck charging demand simulations were developed and integrated into a combined transmission and distribution (T&D) simulation, encompassing the Houston/Dallas/Fort Worth area. The T&D scenarios are then used to develop cost optimization strategies to determine optimal placement and sizing of truck charging infrastructure that minimize infrastructure costs.

Authors:Xu Wu, Lesego E. Moloko, Pavel M. Bokov, Gregory K. Delipei, Joshua Kaizer, Kostadin N. Ivanov
Title: Uncertainty Quantification for Data-Driven Machine Learning Models in Nuclear Engineering Applications: Where We Are and What Do We Need?
Abstract:
Machine learning (ML) has been leveraged to tackle a diverse range of tasks in almost all branches of nuclear engineering. Many of the successes in ML applications can be attributed to the recent performance breakthroughs in deep learning, the growing availability of computational power, data, and easy-to-use ML libraries. However, these empirical successes have often outpaced our formal understanding of the ML algorithms. An important but under-rated area is uncertainty quantification (UQ) of ML. ML-based models are subject to approximation uncertainty when they are used to make predictions, due to sources including but not limited to, data noise, data coverage, extrapolation, imperfect model architecture and the stochastic training process. The goal of this paper is to clearly explain and illustrate the importance of UQ of ML. We will elucidate the differences in the basic concepts of UQ of physics-based models and data-driven ML models. Various sources of uncertainties in physical modeling and data-driven modeling will be discussed, demonstrated, and compared. We will also present and demonstrate a few techniques to quantify the ML prediction uncertainties. Finally, we will discuss the need for building a verification, validation and UQ framework to establish ML credibility.

Authors:Muhua Zhang, Lei Ma, Ying Wu, Kai Shen, Yongkui Sun, Henry Leung
Title: Autonomous Exploration-Based Precise Mapping for Mobile Robots through Stepwise and Consistent Motions
Abstract:
This paper presents an autonomous exploration framework. It is designed for indoor ground mobile robots that utilize laser Simultaneous Localization and Mapping (SLAM), ensuring process completeness and precise mapping results. For frontier search, the local-global sampling architecture based on multiple Rapidly Exploring Random Trees (RRTs) is employed. Traversability checks during RRT expansion and global RRT pruning upon map updates eliminate unreachable frontiers, reducing potential collisions and deadlocks. Adaptive sampling density adjustments, informed by obstacle distribution, enhance exploration coverage potential. For frontier point navigation, a stepwise consistent motion strategy is adopted, wherein the robot strictly drives straight on approximately equidistant line segments in the polyline path and rotates in place at segment junctions. This simplified, decoupled motion pattern improves scan-matching stability and mitigates map drift. For process control, the framework serializes frontier point selection and navigation, avoiding oscillation caused by frequent goal changes in conventional parallelized processes. The waypoint retracing mechanism is introduced to generate repeated observations, triggering loop closure detection and backend optimization in graph-based SLAM, thereby improving map consistency and precision. Experiments in both simulation and real-world scenarios validate the effectiveness of the framework. It achieves improved mapping coverage and precision in more challenging environments compared to baseline 2D exploration algorithms. It also shows robustness in supporting resource-constrained robot platforms and maintaining mapping consistency across various LiDAR field-of-view (FoV) configurations.

Authors:Yaowen Wang, Lipo Mo, Min Zuo, Yuanshi Zheng
Title: One-Point Residual Feedback Algorithms for Distributed Online Convex and Non-convex Optimization
Abstract:
This paper mainly addresses the distributed online optimization problem where the local objective functions are assumed to be convex or non-convex. First, the distributed algorithms are proposed for the convex and non-convex situations, where the one-point residual feedback technology is introduced to estimate gradient of local objective functions. Then the regret bounds of the proposed algorithms are derived respectively under the assumption that the local objective functions are Lipschitz or smooth, which implies that the regrets are sublinear. Finally, we give two numerical examples of distributed convex optimization and distributed resources allocation problem to illustrate the effectiveness of the proposed algorithm.

Authors:Xu Du, Jingzhe Wang
Title: Distributed Consensus Optimization with Consensus ALADIN
Abstract:
TThe paper proposes the Consensus Augmented Lagrange Alternating Direction Inexact Newton (Consensus ALADIN) algorithm, a novel approach for solving distributed consensus optimization problems (DC). Consensus ALADIN allows each agent to independently solve its own nonlinear programming problem while coordinating with other agents by solving a consensus quadratic programming (QP) problem. Building on this, we propose Broyden-Fletcher-Goldfarb-Shanno (BFGS) Consensus ALADIN, a communication-and-computation-efficient Consensus ALADIN.BFGS Consensus ALADIN improves communication efficiency through BFGS approximation techniques and enhances computational efficiency by deriving a closed form for the consensus QP problem. Additionally, by replacing the BFGS approximation with a scaled identity matrix, we develop Reduced Consensus ALADIN, a more computationally efficient variant. We establish the convergence theory for Consensus ALADIN and demonstrate its effectiveness through application to a non-convex sensor allocation problem.

Authors:Shuai Sun, Xu Wang
Title: Finite Sample Analysis of System Poles for Ho-Kalman Algorithm
Abstract:
The Ho-Kalman algorithm has been widely employed for the identification of discrete-time linear time-invariant (LTI) systems. In this paper, we investigate the pole estimation error for the Ho-Kalman algorithm based on finite input/output sample data. Building upon prior works, we derive finite sample error bounds for system pole estimation in both single-trajectory and multiple-trajectory scenarios. Specifically, we prove that, with high probability, the estimation error for an $n$-dimensional system decreases at a rate of at least $\mathcal{O}(T^{-1/2n})$ in the single-trajectory setting with trajectory length $T$, and at a rate of at least $\mathcal{O}(N^{-1/2n})$ in the multiple-trajectory setting with $N$ independent trajectories. Furthermore, we reveal that in both settings, achieving a constant estimation error requires a super-polynomial sample size in $ \max\{n/m, n/p\} $, where $n/m$ and $n/p$ denote the state-to-output and state-to-input dimension ratios, respectively. Finally, numerical experiments are conducted to validate the non-asymptotic results of system pole estimation.

Authors:Darío Slaifstein, Gautham Ram Chandra Mouli, Laura Ramirez-Elizondo, Pavol Bauer
Title: Aging-aware Energy Management for Residential Multi-Carrier Energy Systems
Abstract:
In the context of building electrification, the operation of distributed energy resources integrating multiple energy carriers (electricity, heat, mobility) poses a significant challenge due to the nonlinear device dynamics, uncertainty, and computational issues. As such, energy management systems seek to decide the power dispatch in the best way possible. The objective is to minimize and balance operative costs (energy bills or asset degradation) with user requirements (mobility, heating, etc.). Current energy management uses empirical battery ageing models outside of their specific fitting conditions, resulting in inaccuracies and poor performance. Moreover, the link to thermal systems is also overlooked. This paper presents an ageing-aware day-ahead algorithm for electrified buildings that incorporates physics-based battery ageing models. The models distinguish between energy storage systems and make explicit the trade-off between grid cost and battery degradation. The proposed day-ahead algorithm can either cut down on grid costs or extend battery lifetime (electric vehicle or stationary battery packs). Moreover, it exploits the differences between cathode chemistries improving grid costs by 25% when using LFP cells, with respect to NMC cells. Finally, the performance using aged batteries is also enhanced with 35% grid cost observed savings, when passing from new to aged batteries in the summer.

Authors:Boris Houska, Matthias A. Müller, Mario E. Villanueva
Title: Control Lyapunov Function Design via Configuration-Constrained Polyhedral Computing
Abstract:
This paper proposes novel approaches for designing control Lyapunov functions (CLFs) for constrained linear systems. We leverage recent configuration-constrained polyhedral computing techniques to devise piecewise affine convex CLFs. Additionally, we generalize these methods to uncertain systems with both additive and multiplicative disturbances. The proposed design methods are capable of approximating the infinite horizon cost function of both nominal and min-max optimal control problems by solving a single, one-stage, convex optimization problem. As such, these methods find practical applications in explicit controller design as well as in determining terminal regions and cost functions for nominal and min-max model predictive control (MPC). Numerical examples illustrate the effectiveness of this approach.

Authors:Pablo Cortés, Alejandra Tabares, Fredy Franco
Title: Advancing MG Energy Management: A Rolling Horizon Optimization Framework for Three-Phase Unbalanced Networks Integrating Convex Formulations
Abstract:
Real-world three-phase microgrids face two interconnected challenges: 1. time-varying uncertainty from renewable generation and demand, and 2. persistent phase imbalances caused by uneven distributed energy resources DERs, load asymmetries, and grid faults. Conventional energy management systems fail to address these challenges holistically and static optimization methods lack adaptability to real-time fluctuations, while balanced three-phase models ignore critical asymmetries that degrade voltage stability and efficiency. This work introduces a dynamic rolling horizon optimization framework specifically designed for unbalanced three-phase microgrids. Unlike traditional two-stage stochastic approaches that fix decisions for the entire horizon, the rolling horizon algorithm iteratively updates decisions in response to real-time data. By solving a sequence of shorter optimization windows, each incorporating the latest system state and forecasts, the method achieves three key advantages: Adaptive Uncertainty Handling by continuously re plans operations to mitigate forecast errors. Phase Imbalance Correction by dynamically adjusts power flows across phases to minimize voltage deviations and losses caused by asymmetries, and computational Tractability, i.e., shorter optimization windows, combined with the mathematical mhodel, enable better decision making holding accuracy. For comparison purposes, we derive three optimization models: a nonlinear nonconvex model for high-fidelity offline planning, a convex quadratic approximation for day-ahead scheduling, and a linearized model to important for theoretical reasons such as decomposition algorithms.

Authors:Haotian Mao, Khashayar Khorasani, Yingqing Guo
Title: Enhancing Fault Detection and Isolation in an All-Electric Auxiliary Power Unit (APU) Gas Generator by Utilizing Starter/Generator Signal
Abstract:
This study proposes a novel paradigm for enhancing fault detection and isolation (FDI) of gas generators in all-electric auxiliary power unit (APU) by utilizing shaft power information from the starter/generator. First, we conduct a pioneering investigation into the challenges and opportunities for FDI brought about by APU electrification. Our analysis reveals that the electrification of APU opens up new possibilities for utilizing shaft power estimates from starter/generator to improve gas generator FDI. We then provide comprehensive theoretical and analytical evidence demonstrating why, how, and to what extent, the shaft power information from the starter/generator can fundamentally enhance the estimation accuracy of system states and health parameters of the gas generator, while also identifying the key factors influencing these improvements in FDI performance. The effectiveness of the proposed paradigm and its theoretical foundations are validated through extensive Monte Carlo simulations. Furthermore, through comprehensive comparative analysis with state-of-the-art gas generator fault diagnosis methods, our experimental results not only demonstrate the superior performance of the proposed approach but also validate that the diagnostic capabilities of existing advanced FDI techniques can be substantially enhanced by incorporating shaft power information. And the observed performance improvement patterns strongly align with our theoretical analysis, verifying both the effectiveness and guiding significance of our theoretical framework. These research findings provide a unique perspective in answering three fundamental questions: why joint fault diagnosis of the starter/generator and gas generator is essential, how it can be implemented, and what factors determine its effectiveness, thereby opening up promising new avenues for FDI technologies in all-electric APU systems.

Authors:Partho Bhoumik, Christopher Bailey, Krishnendu Chakrabarty
Title: Defect Analysis and Built-In-Self-Test for Chiplet Interconnects in Fan-out Wafer-Level Packaging
Abstract:
Fan-out wafer-level packaging (FOWLP) addresses the demand for higher interconnect densities by offering reduced form factor, improved signal integrity, and enhanced performance. However, FOWLP faces manufacturing challenges such as coefficient of thermal expansion (CTE) mismatch, warpage, die shift, and post-molding protrusion, causing misalignment and bonding issues during redistribution layer (RDL) buildup. Moreover, the organic nature of the package exposes it to severe thermo-mechanical stresses during fabrication and operation. In order to address these challenges, we propose a comprehensive defect analysis and testing framework for FOWLP interconnects. We use Ansys Q3D to map defects to equivalent electrical circuit models and perform fault simulations to investigate the impacts of these defects on chiplet functionality. Additionally, we present a built-in self-test (BIST) architecture to detect stuck-at and bridging faults while accurately diagnosing the fault type and location. Our simulation results demonstrate the efficacy of the proposed BIST solution and provide critical insights for optimizing design decisions in packages, balancing fault detection and diagnosis with the cost of testability insertion.

Authors:Muhammad Kazim, Harun Pirim, Chau Le, Trung Le, Om Prakash Yadav
Title: Link Prediction and Navigability of Multiplex Energy Networks
Abstract:
In modern energy networks, where operational efficiency and resilience are critical, this study introduces an in-depth analysis from a multiplex network perspective - defined as a network where multiple types of connections exist between the same set of nodes. Utilizing Belgium's electricity and gas networks, we construct a five-layer multiplex network to simulate random node shutdown scenarios. We tailored the Jaccard and Adamic-Adar link prediction algorithms by integrating the concept of exclusive neighbors, thereby enhancing prediction accuracy with such multi-layered information. Emphasizing navigability, i.e., the network's ability to maintain resilience and efficiency under random failures, we analyze the impact of different random walk strategies and strategic link additions at various stages - individual layers, two-layer combinations, and three-layer combinations - on the network's navigability. Directed networks show modest improvements with new links, partly due to trapping effects, where a random walker can become circumscribed within certain network loops, limiting reachability across the network. In contrast, the undirected networks demonstrate notable increases in navigability with new link additions. Spectral gap analysis in directed networks indicates that new link additions can aid and impede navigability, depending on their configuration. This study deepens our understanding of multiplex energy network navigability and highlights the importance of strategic link additions influenced by random walk strategies in these networks.

Authors:Katayoun Eshkofti, Matthieu Barreau
Title: Vanishing Stacked-Residual PINN for State Reconstruction of Hyperbolic Systems
Abstract:
In a more connected world, modeling multi-agent systems with hyperbolic partial differential equations (PDEs) offers a compact, physics-consistent description of collective dynamics. However, classical control tools need adaptation for these complex systems. Physics-informed neural networks (PINNs) provide a powerful framework to fix this issue by inferring solutions to PDEs by embedding governing equations into the neural network. A major limitation of original PINNs is their inability to capture steep gradients and discontinuities in hyperbolic PDEs. To tackle this problem, we propose a stacked residual PINN method enhanced with a vanishing viscosity mechanism. Initially, a basic PINN with a small viscosity coefficient provides a stable, low-fidelity solution. Residual correction blocks with learnable scaling parameters then iteratively refine this solution, progressively decreasing the viscosity coefficient to transition from parabolic to hyperbolic PDEs. Applying this method to traffic state reconstruction improved results by an order of magnitude in relative $\mathcal{L}^2$ error, demonstrating its potential to accurately estimate solutions where original PINNs struggle with instability and low fidelity.

Authors:Daniel Racz, Mihaly Petreczky, Balint Daroczy
Title: A finite-sample bound for identifying partially observed linear switched systems from a single trajectory
Abstract:
We derive a finite-sample probabilistic bound on the parameter estimation error of a system identification algorithm for Linear Switched Systems. The algorithm estimates Markov parameters from a single trajectory and applies a variant of the Ho-Kalman algorithm to recover the system matrices. Our bound guarantees statistical consistency under the assumption that the true system exhibits quadratic stability. The proof leverages the theory of weakly dependent processes. To the best of our knowledge, this is the first finite-sample bound for this algorithm in the single-trajectory setting.

Authors:Travis Barrett, Amit Kumar Mishra
Title: Statistical Study of Sensor Data and Investigation of ML-based Calibration Algorithms for Inexpensive Sensor Modules: Experiments from Cape Point
Abstract:
In this paper we present the statistical analysis of data from inexpensive sensors. We also present the performance of machine learning algorithms when used for automatic calibration such sensors. In this we have used low-cost Non-Dispersive Infrared CO$_2$ sensor placed at a co-located site at Cape Point, South Africa (maintained by Weather South Africa). The collected low-cost sensor data and site truth data are investigated and compared. We compare and investigate the performance of Random Forest Regression, Support Vector Regression, 1D Convolutional Neural Network and 1D-CNN Long Short-Term Memory Network models as a method for automatic calibration and the statistical properties of these model predictions. In addition, we also investigate the drift in performance of these algorithms with time.

Authors:Zhi-Da Zhang, Yao Song, Wen-Zheng Dong, Xiu-Hao Deng
Title: Enhanced Quantum Signal Control and Sensing Under Multicolored Noise via Generalized Filter Function Framework
Abstract:
We introduce a generalized filter-function framework that treats noise coupling strength as a tunable control parameter, enabling target noise suppression across user-defined frequency bands. By optimizing this generalized filter function, we design band-selective control pulses that achieve $0.9999$ fidelity of single- and two-qubit gates under strong noise with diverse spectral profiles. We further extend the method to selectively enhance the signal-to-noise ratio for quantum sensing of AC signals with an enhanced precision of up to $10$ dB. The resulting control pulses are experimentally feasible, offering a practical pathway toward robust quantum operations and high-precision signal processing under spectrally complex noises.

Authors:Eva Julia Schmitt, Benjamin Noack
Title: A Unified Framework for Innovation-based Stochastic and Deterministic Event Triggers
Abstract:
Resources such as bandwidth and energy are limited in many wireless communications use cases, especially when large numbers of sensors and fusion centers need to exchange information frequently. One opportunity to overcome resource constraints is the use of event-based transmissions and estimation to transmit only information that contributes significantly to the reconstruction of the system's state. The design of efficient triggering policies and estimators is crucial for successful event-based transmissions. While previously deterministic and stochastic event triggering policies have been treated separately, this paper unifies the two approaches and gives insights into the design of consistent trigger-matching estimators. Two different estimators are presented, and different pairs of triggers and estimators are evaluated through simulation studies.

Authors:Yunhui Qin, Yaru Fu, Haijun Zhang
Title: Joint Antenna Position and Transmit Power Optimization for Pinching Antenna-Assisted ISAC Systems
Abstract:
This letter explores how pinching antennas, an advanced flexible-antenna system, can enhance the performance of integrated sensing and communication (ISAC) systems by leveraging their adaptability, cost-effectiveness, and ability to facilitate line-of-sight transmission. To achieve this, a joint antenna positioning and transmit power optimization problem is formulated to maximize the total communication data rate while meeting the target sensing requirements and the system energy constraint. To address the complex non-convex optimization problem, we propose a maximum entropy-based reinforcement learning (MERL) solution. By maximizing cumulative reward and policy entropy, this approach effectively balances exploration and exploitation to enhance robustness. Numerical results demonstrate that the proposed MERL algorithm surpasses other benchmark schemes in cumulative reward, total data rate, sensing signal-to-noise ratio, and stability.

Authors:Yuansheng Lian, Ke Zhang, Meng Li
Title: CDKFormer: Contextual Deviation Knowledge-Based Transformer for Long-Tail Trajectory Prediction
Abstract:
Predicting the future movements of surrounding vehicles is essential for ensuring the safe operation and efficient navigation of autonomous vehicles (AVs) in urban traffic environments. Existing vehicle trajectory prediction methods primarily focus on improving overall performance, yet they struggle to address long-tail scenarios effectively. This limitation often leads to poor predictions in rare cases, significantly increasing the risk of safety incidents. Taking Argoverse 2 motion forecasting dataset as an example, we first investigate the long-tail characteristics in trajectory samples from two perspectives, individual motion and group interaction, and deriving deviation features to distinguish abnormal from regular scenarios. On this basis, we propose CDKFormer, a Contextual Deviation Knowledge-based Transformer model for long-tail trajectory prediction. CDKFormer integrates an attention-based scene context fusion module to encode spatiotemporal interaction and road topology. An additional deviation feature fusion module is proposed to capture the dynamic deviations in the target vehicle status. We further introduce a dual query-based decoder, supported by a multi-stream decoder block, to sequentially decode heterogeneous scene deviation features and generate multimodal trajectory predictions. Extensive experiments demonstrate that CDKFormer achieves state-of-the-art performance, significantly enhancing prediction accuracy and robustness for long-tailed trajectories compared to existing methods, thus advancing the reliability of AVs in complex real-world environments.

Authors:Neelanga Thelasingha, Agung Julius, James Humann, James Dotterweich
Title: Iterative Motion Planning in Multi-agent Systems with Opportunistic Communication under Disturbance
Abstract:
In complex multi-agent systems involving heterogeneous teams, uncertainty arises from numerous sources like environmental disturbances, model inaccuracies, and changing tasks. This causes planned trajectories to become infeasible, requiring replanning. Further, different communication architectures used in multi-agent systems give rise to asymmetric knowledge of planned trajectories across the agents. In such systems, replanning must be done in a communication-aware fashion. This paper establishes the conditions for synchronization and feasibility in epistemic planning scenarios introduced by opportunistic communication architectures. We also establish conditions on task satisfaction based on quantified recoverability of disturbances in an iterative planning scheme. We further validate these theoretical results experimentally in a UAV--UGV task assignment problem.

Authors:Yanshu Niu, Zhe Yang, Bikash C. Pal
Title: Power Swing Trajectory Influenced by Virtual Impedance-Based Current-Limiting Strategy
Abstract:
Grid-forming (GFM) inverter-based resources (IBRs) can emulate the external characteristics of synchronous generators (SGs) through appropriate control loop design. However, in systems with GFM IBRs, the apparent impedance trajectory under current limitation differs significantly from that of SG-based systems due to the limited overcurrent capability of power electronic devices. This difference challenges the power swing detection functions of distance relays designed for SG-based systems. This paper presents a theoretical analysis of the apparent impedance trajectory over a full power swing cycle under two typical current-limiting strategies: variable virtual impedance (VI) and adaptive VI. The analysis reveals that the trajectory under VI current-limiting strategies differs significantly from that of a conventional SG. The results also indicate that the control parameters affect the characteristics of the trajectory. In addition, the new trajectories challenge conventional power swing detection functions, increasing the risk of malfunction. Furthermore, the implementation of VI leads to a deterioration in system stability. The theoretical analysis is further validated through simulations on the MATLAB/Simulink platform.

Authors:Tianyu Sima, Mingyu Yan, Jianfeng Wen, Wensheng Luo, Mariusz Malinowski
Title: A Profit Sharing Mechanism for Coordinated Power Traffic System
Abstract:
During the scheduling process, the traffic network operator (TNO) and the distribution network operator (DNO) act noncooperatively. Under the TNO management, the distribution of charging loads may exacerbate the local supply demand imbalance in the power distribution network (PDN), which negatively impacts the economic operation of the PDN. This paper proposes a profitsharing mechanism based on the principle of incentive compatibility for coordinating the traffic network (TN) and the PDN to minimize the operation cost of PDN. Under this mechanism, the scheduling process of the power traffic system is divided into two stages. At the prescheduling stage, the TNO allocates traffic flow and charging loads without considering the operation of the PDN, after which the DNO schedules and obtains the original cost. At the rescheduling stage, the DNO shares part of benefits of the optimal operation to the TNO to redispatch the EV charging to obtain a more effective charging plan, thus minimize the overall cost of PDN. Then, a bilevel model is developed to simulate the operation of the power traffic system with the proposed sharing scheme and identify the best sharing ratio. Finally, numerical results demonstrate that the PDN can achieve the minimum total cost and simultaneously the TN can also benefit from the proposed profit sharing mechanism.

Authors:Meng Song, Xinyi Jing, Jianyong Ding, Ciwei Gao, Mingyu Yan, Wensheng Luo, Mariusz Malinowski
Title: Exergy Battery Modeling and P2P Trading Based Optimal Operation of Virtual Energy Station
Abstract:
Virtual energy stations (VESs) work as retailers to provide electricity and natural gas sale services for integrated energy systems (IESs), and guide IESs energy consumption behaviors to tackle the varying market prices via integrated demand response (IDR). However, IES customers are risk averse and show low enthusiasm in responding to the IDR incentive signals. To address this problem, exergy is utilized to unify different energies and allowed to be virtually stored and withdrawn for arbitrage by IESs. The whole incentive mechanism operating process is innovatively characterized by a virtual exergy battery. Peer to peer (P2P) exergy trading based on shared exergy storage is also developed to reduce the energy cost of IESs without any extra transmission fee. In this way, IES can reduce the economic loss risk caused by the market price fluctuation via the different time (time dimension), multiple energy conversion (energy dimension), and P2P exergy trading (space dimension) arbitrage. Moreover, the optimal scheduling of VES and IESs is modeled by a bilevel optimization model. The consensus based alternating direction method of multipliers (CADMM) algorithm is utilized to solve this problem in a distributed way. Simulation results validate the effectiveness of the proposed incentive mechanism and show that the shared exergy storage can enhance the benefits of different type IESs by 18.96%, 3.49%, and 3.15 %, respectively.

Authors:Meng Yuan, Adam Burman, Changfu Zou
Title: Robust Model Predictive Control of Fast Lithium-ion Battery Pretreatment for Safe Recycling
Abstract:
The proper disposal and repurposing of end-of-life electric vehicle batteries are critical for maximizing their environmental benefits. This study introduces a robust model predictive control (MPC) framework designed to optimize the battery discharging process during pre-treatment, ensuring both efficiency and safety. The proposed method explicitly incorporates temperature constraints to prevent overheating and potential hazards. By leveraging a control-oriented equivalent circuit model integrated with thermal dynamics, the MPC algorithm dynamically adjusts the discharging profile to maintain safe operating temperatures. Additionally, the robust controller is designed to account for model mismatches between the nonlinear battery dynamics and the linearized model, ensuring reliable performance under varying conditions. The effectiveness of this approach is demonstrated through simulations comparing the robust MPC method with conventional discharging strategies, including constant current-constant voltage (CC-CV) and constant current-constant temperature (CC-CT) methods. Results indicate that the robust MPC framework significantly reduces discharging time while adhering to safety constraints, offering a promising solution for the recycling and second-life applications of lithium-ion batteries.

Authors:Arthur Cartel Foahom Gouabou, Mohammed Al-Kharaz, Faouzi Hakimi, Tarek Khaled, Kenza Amzil
Title: Forecasting Empty Container availability for Vehicle Booking System Application
Abstract:
Container terminals, pivotal nodes in the network of empty container movement, hold significant potential for enhancing operational efficiency within terminal depots through effective collaboration between transporters and terminal operators. This collaboration is crucial for achieving optimization, leading to streamlined operations and reduced congestion, thereby benefiting both parties. Consequently, there is a pressing need to develop the most suitable forecasting approaches to address this challenge. This study focuses on developing and evaluating a data-driven approach for forecasting empty container availability at container terminal depots within a Vehicle Booking System (VBS) framework. It addresses the gap in research concerning optimizing empty container dwell time and aims to enhance operational efficiencies in container terminal operations. Four forecasting models-Naive, ARIMA, Prophet, and LSTM-are comprehensively analyzed for their predictive capabilities, with LSTM emerging as the top performer due to its ability to capture complex time series patterns. The research underscores the significance of selecting appropriate forecasting techniques tailored to the specific requirements of container terminal operations, contributing to improved operational planning and management in maritime logistics.

Authors:Ao Cao, Fuyong Wang, Zhongxin Liu
Title: Propensity Formation-Containment Control of Fully Heterogeneous Multi-Agent Systems via Online Data-Driven Learning
Abstract:
This paper introduces an online data-driven learning scheme designed to address a novel problem in propensity formation and containment control for fully heterogeneous multi-agent systems. Unlike traditional approaches that rely on the eigenvalues of the Laplacian matrix, this problem considers the determination of follower positions based on propensity factors released by leaders. To address the challenge of incomplete utilization of leader information in existing multi-leader control methods, the concept of an influential transit formation leader (ITFL) is introduced. An adaptive observer is developed for the agents, including the ITFL, to estimate the state of the tracking leader or the leader's formation. Building on these observations, a model-based control protocol is proposed, elucidating the relationship between the regulation equations and control gains, ensuring the asymptotic convergence of the agent's state. To eliminate the necessity for model information throughout the control process, a new online data-driven learning algorithm is devised for the control protocol. Finally, numerical simulation results are given to verify the effectiveness of the proposed method.

Authors:Alessandro Fogli, Bo Zhao, Peter Pietzuch, Jana Giceva
Title: ARCAS: Adaptive Runtime System for Chiplet-Aware Scheduling
Abstract:
The growing disparity between CPU core counts and available memory bandwidth has intensified memory contention in servers. This particularly affects highly parallelizable applications, which must achieve efficient cache utilization to maintain performance as CPU core counts grow. Optimizing cache utilization, however, is complex for recent chiplet-based CPUs, whose partitioned L3 caches lead to varying latencies and bandwidths, even within a single NUMA domain. Classical NUMA optimizations and task scheduling approaches unfortunately fail to address the performance issues of chiplet-based CPUs. We describe Adaptive Runtime system for Chiplet-Aware Scheduling (ARCAS), a new runtime system designed for chiplet-based CPUs. ARCAS combines chiplet-aware task scheduling heuristics, hardware-aware memory allocation, and fine-grained performance monitoring to optimize workload execution. It implements a lightweight concurrency model that combines user-level thread features-such as individual stacks, per-task scheduling, and state management-with coroutine-like behavior, allowing tasks to suspend and resume execution at defined points while efficiently managing task migration across chiplets. Our evaluation across diverse scenarios shows ARCAS's effectiveness for optimizing the performance of memory-intensive parallel applications.

Authors:Marco Zamponi, Emilio Incerto, Daniele Masti, Mirco Tribastone
Title: Certified Inductive Synthesis for Online Mixed-Integer Optimization
Abstract:
In fields such as autonomous and safety-critical systems, online optimization plays a crucial role in control and decision-making processes, often requiring the integration of continuous and discrete variables. These tasks are frequently modeled as mixed-integer programming (MIP) problems, where feedback data are incorporated as parameters. However, solving MIPs within strict time constraints is challenging due to their $\mathcal{NP}$-complete nature. A promising solution to this challenge involves leveraging the largely invariant structure of these problems to perform most computations offline, thus enabling efficient online solving even on platforms with limited hardware capabilities. In this paper we present a novel implementation of this strategy that uses counterexample-guided inductive synthesis to split the MIP solution process into two stages. In the offline phase, we construct a mapping that provides feasible assignments for binary variables based on parameter values within a specified range. In the online phase, we solve the remaining continuous part of the problem by fixing the binary variables to the values predicted by this mapping. Our numerical evaluation demonstrates the efficiency and solution quality of this approach compared to standard mixed-integer solvers, highlighting its potential for real-time applications in resource-constrained environments.

Authors:Zixiao Ma, Baosen Zhang
Title: Inverter Control with Time-Varying and Nonconvex State and Input Constraints
Abstract:
The growing integration of inverter-based resources (IBRs) into modern power systems poses significant challenges for maintaining reliable operation under dynamic and constrained conditions. This paper focuses on the power tracking problem for grid-connected IBRs, addressing the complexities introduced by voltage and power factor constraints. Voltage constraints, being time-varying and nonlinear input constraints, often conflict with power factor constraints, which are state constraints. These conflicts, coupled with stability requirements, add substantial complexity to control design. To overcome these challenges, we propose a computationally efficient static state-feedback controller that guarantees stability and satisfies operational constraints. The concept of achievability is introduced to evaluate whether power setpoints can be accurately tracked while adhering to all constraints. Using a parameterization framework and the S-lemma, we develop criteria to assess and maximize the continuous achievable region for IBR operation. This framework allows system operators to ensure safety and stability by precomputing a finite set of control gains, significantly reducing online computational requirements. The proposed approach is validated through simulations, demonstrating its effectiveness in handling time-varying grid disturbances and achieving reliable control performance.

Authors:Peter Böhm, Pauline Pounds, Archie C. Chapman
Title: Low-cost Real-world Implementation of the Swing-up Pendulum for Deep Reinforcement Learning Experiments
Abstract:
Deep reinforcement learning (DRL) has had success in virtual and simulated domains, but due to key differences between simulated and real-world environments, DRL-trained policies have had limited success in real-world applications. To assist researchers to bridge the \textit{sim-to-real gap}, in this paper, we describe a low-cost physical inverted pendulum apparatus and software environment for exploring sim-to-real DRL methods. In particular, the design of our apparatus enables detailed examination of the delays that arise in physical systems when sensing, communicating, learning, inferring and actuating. Moreover, we wish to improve access to educational systems, so our apparatus uses readily available materials and parts to reduce cost and logistical barriers. Our design shows how commercial, off-the-shelf electronics and electromechanical and sensor systems, combined with common metal extrusions, dowel and 3D printed couplings provide a pathway for affordable physical DRL apparatus. The physical apparatus is complemented with a simulated environment implemented using a high-fidelity physics engine and OpenAI Gym interface.

Authors:Bruno Pinheiro, M. C. Llerena Velasquez, Giovane Faria, A. F. C. Aquino, Diego Issicaba, Daniel Dotta
Title: Evaluation of the Impact of IBR on the Frequency Dynamics in the Brazilian Power System
Abstract:
In this paper, the impact of inverter-based resources (IBRs) on the frequency dynamics of the Brazilian Interconnected Power System (BIPS) is evaluated. A measurement-based framework is proposed to assess the impact of IBR penetration on the system-wide and regional/local frequency dynamic. The analysis leverages data from a low-voltage wide area monitoring system (WAMS) and publicly available historical generation records from the Brazilian System Operator. A methodology is introduced to extract local frequency fluctuations across regions using a variational mode decomposition (VMD) approach. The findings reveal a continuous degradation in the system-wide frequency and local frequency variations, underscoring the need for enhanced regional monitoring and evaluation metrics to maintain frequency stability in large-scale interconnected systems.

Authors:Mingzhou Yin, Matthias A. Müller
Title: Low-Rank Matrix Regression via Least-Angle Regression
Abstract:
Low-rank matrix regression is a fundamental problem in data science with various applications in systems and control. Nuclear norm regularization has been widely applied to solve this problem due to its convexity. However, it suffers from high computational complexity and the inability to directly specify the rank. This work introduces a novel framework for low-rank matrix regression that addresses both unstructured and Hankel matrices. By decomposing the low-rank matrix into rank-1 bases, the problem is reformulated as an infinite-dimensional sparse learning problem. The least-angle regression (LAR) algorithm is then employed to solve this problem efficiently. For unstructured matrices, a closed-form LAR solution is derived with equivalence to a normalized nuclear norm regularization problem. For Hankel matrices, a real-valued polynomial basis reformulation enables effective LAR implementation. Two numerical examples in network modeling and system realization demonstrate that the proposed approach significantly outperforms the nuclear norm method in terms of estimation accuracy and computational efficiency.

Authors:Hussein N. Naser, Hashim A. Hashim, Mojtaba Ahmadi
Title: Human Physical Interaction based on UAV Cooperative Payload Transportation System using Adaptive Backstepping and FNTSMC
Abstract:
This paper presents a nonlinear control strategy for an aerial cooperative payload transportation system consisting of two quadrotor UAVs rigidly connected to a payload. The system includes human physical interaction facilitated by an admittance control. The proposed control framework integrates an adaptive Backstepping controller for the position subsystem and a Fast Nonsingular Terminal Sliding Mode Control (FNTSMC) for the attitude subsystem to ensure asymptotic stabilization. The admittance controller interprets the interaction forces from the human operator, generating reference trajectories for the position controller to ensure accurate tracking of the operator's guidance. The system aims to assist humans in payload transportation, providing both stability and responsiveness. The robustness and effectiveness of the proposed control scheme in maintaining system stability and performance under various conditions are presented.

Authors:Qiang Li, Jin Niu, Qin Luo, Lina Yu
Title: Large-scale Regional Traffic Signal Control Based on Single-Agent Reinforcement Learning
Abstract:
In the context of global urbanization and motorization, traffic congestion has become a significant issue, severely affecting the quality of life, environment, and economy. This paper puts forward a single-agent reinforcement learning (RL)-based regional traffic signal control (TSC) model. Different from multi - agent systems, this model can coordinate traffic signals across a large area, with the goals of alleviating regional traffic congestion and minimizing the total travel time. The TSC environment is precisely defined through specific state space, action space, and reward functions. The state space consists of the current congestion state, which is represented by the queue lengths of each link, and the current signal phase scheme of intersections. The action space is designed to select an intersection first and then adjust its phase split. Two reward functions are meticulously crafted. One focuses on alleviating congestion and the other aims to minimize the total travel time while considering the congestion level. The experiments are carried out with the SUMO traffic simulation software. The performance of the TSC model is evaluated by comparing it with a base case where no signal-timing adjustments are made. The results show that the model can effectively control congestion. For example, the queuing length is significantly reduced in the scenarios tested. Moreover, when the reward is set to both alleviate congestion and minimize the total travel time, the average travel time is remarkably decreased, which indicates that the model can effectively improve traffic conditions. This research provides a new approach for large-scale regional traffic signal control and offers valuable insights for future urban traffic management.

Authors:Zeynep Engin, Jon Crowcroft, David Hand, Philip Treleaven
Title: The Algorithmic State Architecture (ASA): An Integrated Framework for AI-Enabled Government
Abstract:
As artificial intelligence transforms public sector operations, governments struggle to integrate technological innovations into coherent systems for effective service delivery. This paper introduces the Algorithmic State Architecture (ASA), a novel four-layer framework conceptualising how Digital Public Infrastructure, Data-for-Policy, Algorithmic Government/Governance, and GovTech interact as an integrated system in AI-enabled states. Unlike approaches that treat these as parallel developments, ASA positions them as interdependent layers with specific enabling relationships and feedback mechanisms. Through comparative analysis of implementations in Estonia, Singapore, India, and the UK, we demonstrate how foundational digital infrastructure enables systematic data collection, which powers algorithmic decision-making processes, ultimately manifesting in user-facing services. Our analysis reveals that successful implementations require balanced development across all layers, with particular attention to integration mechanisms between them. The framework contributes to both theory and practice by bridging previously disconnected domains of digital government research, identifying critical dependencies that influence implementation success, and providing a structured approach for analysing the maturity and development pathways of AI-enabled government systems.

Authors:Hossein Nourollahi Hokmabad, Tala Hemmati Shahsavar, Pedro P. Vergara, Oleksandr Husev, Juri Belikov
Title: Forecast-Driven Scenario Generation for Building Energy Management Using Stochastic Optimization
Abstract:
Buildings are essential components of power grids, and their energy performance directly affects overall power system operation. This paper presents a novel stochastic optimization framework for building energy management systems, aiming to enhance buildings' energy performance and facilitate their effective integration into emerging intelligent power grids. In this method, solar power generation and building electricity demand forecasts are combined with historical data, leveraging statistical characteristics to generate probability matrices and corresponding scenarios with associated probabilities. These scenarios are then used to solve the stochastic optimization problem, optimizing building energy flow while accounting for existing uncertainties. The results demonstrate that the proposed methodology effectively manages inherent uncertainties while maintaining performance and outperforming rule-based and custom build reinforcement learning based solutions.

Authors:Shimmy Rukundo, David Wang, Front Wongnonthawitthaya, Youssouf Sidibé, Minsik Kim, Emily Su, Jiale Zhang
Title: A Survey of Challenges and Sensing Technologies in Autonomous Retail Systems
Abstract:
Autonomous stores leverage advanced sensing technologies to enable cashier-less shopping, real-time inventory tracking, and seamless customer interactions. However, these systems face significant challenges, including occlusion in vision-based tracking, scalability of sensor deployment, theft prevention, and real-time data processing. To address these issues, researchers have explored multi-modal sensing approaches, integrating computer vision, RFID, weight sensing, vibration-based detection, and LiDAR to enhance accuracy and efficiency. This survey provides a comprehensive review of sensing technologies used in autonomous retail environments, highlighting their strengths, limitations, and integration strategies. We categorize existing solutions across inventory tracking, environmental monitoring, people-tracking, and theft detection, discussing key challenges and emerging trends. Finally, we outline future directions for scalable, cost-efficient, and privacy-conscious autonomous store systems.

Authors:Chen Feng, Andrew L. Liu
Title: Decentralized Integration of Grid Edge Resources into Wholesale Electricity Markets via Mean-field Games
Abstract:
Grid edge resources refer to distributed energy resources (DERs) located on the consumer side of the electrical grid, controlled by consumers rather than utility companies. Integrating DERs with real-time electricity pricing can better align distributed supply with system demand, improving grid efficiency and reliability. However, DER owners, known as prosumers, often lack the expertise and resources to directly participate in wholesale energy markets, limiting their ability to fully realize the economic potential of their assets. Meanwhile, as DER adoption grows, the number of prosumers participating in the energy system is expected to increase significantly, creating additional challenges in coordination and market participation. To address these challenges, we propose a mean-field game framework that enables prosumers to autonomously learn optimal decision policies based on dynamic market prices and their variable solar generation. Our framework is designed to accommodate heterogeneous agents and demonstrates the existence of a mean-field equilibrium (MFE) in a wholesale energy market with many prosumers. Additionally, we introduce an algorithm that automates prosumers' resource control, facilitating real-time decision-making for energy storage management. Numerical experiments suggest that our approach converges towards an MFE and effectively reduces peak loads and price volatility, especially during periods of external demand or supply shocks. This study highlights the potential of a fully decentralized approach to integrating DERs into wholesale markets while improving market efficiency.

Authors:Md Sharif Hossen, Anil Gurses, Mihail Sichitiu, Ismail Guvenc
Title: Accelerating Development in UAV Network Digital Twins with a Flexible Simulation Framework
Abstract:
Unmanned aerial vehicles (UAVs) enhance coverage and provide flexible deployment in 5G and next-generation wireless networks. The performance of such wireless networks can be improved by developing new navigation and wireless adaptation approaches in digital twins (DTs). However, challenges such as complex propagation conditions and hardware complexities in real-world scenarios introduce a realism gap with the DTs. Moreover, while using real-time full-stack protocols in DTs enables subsequent deployment and testing in a real-world environment, development in DTs requires high computational complexity and involves a long development time. In this paper, to accelerate the development cycle, we develop a measurement-calibrated Matlab-based simulation framework to replicate performance in a full-stack UAV wireless network DT. In particular, we use the DT from the NSF AERPAW platform and compare its reports with those generated by our developed simulation framework in wireless networks with similar settings. In both environments, we observe comparable results in terms of RSRP measurement, hence motivating iterative use of the developed simulation environment with the DT.

Authors:Ellen Davenport, Khoa Nguyen, Junsu Jang, Clair Ma, Sean Fish, Luc Lenain, Florian Meyer
Title: A Landmark-Aided Navigation Approach Using Side-Scan Sonar
Abstract:
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that handle nonlinear measurement models and different forms of measurement uncertainty will accelerate the development of field-ready technology. This paper details a Bayesian estimation method for landmark-aided navigation using a Side-scan Sonar (SSS) sensor. The method bounds navigation filter error in the GPS-denied undersea environment and captures the highly nonlinear nature of slant range measurements while remaining computationally tractable. Combining a novel measurement model with the chosen statistical framework facilitates the efficient use of SSS data and, in the future, could be used in real time. The proposed filter has two primary steps: a prediction step using an unscented transform and an update step utilizing particles. The update step performs probabilistic association of sonar detections with known landmarks. We evaluate algorithm performance and tractability using synthetic data and real data collected field experiments. Field experiments were performed using two different marine robotic platforms with two different SSS and at two different sites. Finally, we discuss the computational requirements of the proposed method and how it extends to real-time applications.

Authors:Hamza El-Kebir, Melkior Ornik
Title: Sum-of-Squares Data-driven Robustly Stabilizing and Contracting Controller Synthesis for Polynomial Nonlinear Systems
Abstract:
This work presents a computationally efficient approach to data-driven robust contracting controller synthesis for polynomial control-affine systems based on a sum-of-squares program. In particular, we consider the case in which a system alternates between periods of high-quality sensor data and low-quality sensor data. In the high-quality sensor data regime, we focus on robust system identification based on the data informativity framework. In low-quality sensor data regimes we employ a robustly contracting controller that is synthesized online by solving a sum-of-squares program based on data acquired in the high-quality regime, so as to limit state deviation until high-quality data is available. This approach is motivated by real-life control applications in which systems experience periodic data blackouts or occlusion, such as autonomous vehicles undergoing loss of GPS signal or solar glare in machine vision systems. We apply our approach to a planar unmanned aerial vehicle model subject to an unknown wind field, demonstrating its uses for verifiably tight control on trajectory deviation.

Authors:Gianni Bianchini, Marco Casini, Milad Gholami
Title: Optimal Operation of Renewable Energy Communities under Demand Response Programs
Abstract:
Within the context of renewable energy communities, this paper focuses on optimal operation of producers equipped with energy storage systems in the presence of demand response. A novel strategy for optimal scheduling of the storage systems of the community members under price-volume demand response programs, is devised. The underlying optimization problem is designed as a low-complexity mixed-integer linear program that scales well with the community size. Once the optimal solution is found, an algorithm for distributing the demand response rewards is introduced in order to guarantee fairness among participants. The proposed approach ensures increased benefits for producers joining a community compared to standalone operation.

Authors:Ali Baheri, Cecilia O. Alm
Title: Hierarchical Neuro-Symbolic Decision Transformer
Abstract:
We present a hierarchical neuro-symbolic control framework that tightly couples a classical symbolic planner with a transformer-based policy to address long-horizon decision-making under uncertainty. At the high level, the planner assembles an interpretable sequence of operators that guarantees logical coherence with task constraints, while at the low level each operator is rendered as a sub-goal token that conditions a decision transformer to generate fine-grained actions directly from raw observations. This bidirectional interface preserves the combinatorial efficiency and explainability of symbolic reasoning without sacrificing the adaptability of deep sequence models, and it permits a principled analysis that tracks how approximation errors from both planning and execution accumulate across the hierarchy. Empirical studies in stochastic grid-world domains demonstrate that the proposed method consistently surpasses purely symbolic, purely neural and existing hierarchical baselines in both success and efficiency, highlighting its robustness for sequential tasks.

Authors:Marta Zagorowska, Lars Imsland
Title: Sensitivity of Online Feedback Optimization to time-varying parameters
Abstract:
Online Feedback Optimization uses optimization algorithms as dynamic systems to design optimal control inputs. The results obtained from Online Feedback Optimization depend on the setup of the chosen optimization algorithm. In this work we analyse the sensitivity of Online Feedback Optimization to the parameters of projected gradient descent as the algorithm of choice. We derive closed-form expressions for sensitivities of the objective function with respect to the parameters of the projected gradient and to time-varying model mismatch. The formulas are then used for analysis of model mismatch in a gas lift optimization problem. The results of the case study indicate that the sensitivity of Online Feedback Optimization to the model mismatch depends on how long the controller has been running, with decreasing sensitivity to mismatch in individual timesteps for long operation times.

Authors:Travis Barrett, Amit Kumar Mishra
Title: Agile Climate-Sensor Design and Calibration Algorithms Using Machine Learning: Experiments From Cape Point
Abstract:
In this paper, we describe the design of an inexpensive and agile climate sensor system which can be repurposed easily to measure various pollutants. We also propose the use of machine learning regression methods to calibrate CO2 data from this cost-effective sensing platform to a reference sensor at the South African Weather Service's Cape Point measurement facility. We show the performance of these methods and found that Random Forest Regression was the best in this scenario. This shows that these machine learning methods can be used to improve the performance of cost-effective sensor platforms and possibly extend the time between manual calibration of sensor networks.

Authors:Nachiket U. Bapat, Randy C. Paffenroth, Raghvendra V. Cowlagi
Title: Synthetic Data Generation for Minimum-Exposure Navigation in a Time-Varying Environment using Generative AI Models
Abstract:
We study the problem of synthetic generation of samples of environmental features for autonomous vehicle navigation. These features are described by a spatiotemporally varying scalar field that we refer to as a threat field. The threat field is known to have some underlying dynamics subject to process noise. Some "real-world" data of observations of various threat fields are also available. The assumption is that the volume of ``real-world'' data is relatively small. The objective is to synthesize samples that are statistically similar to the data. The proposed solution is a generative artificial intelligence model that we refer to as a split variational recurrent neural network (S-VRNN). The S-VRNN merges the capabilities of a variational autoencoder, which is a widely used generative model, and a recurrent neural network, which is used to learn temporal dependencies in data. The main innovation in this work is that we split the latent space of the S-VRNN into two subspaces. The latent variables in one subspace are learned using the ``real-world'' data, whereas those in the other subspace are learned using the data as well as the known underlying system dynamics. Through numerical experiments we demonstrate that the proposed S-VRNN can synthesize data that are statistically similar to the training data even in the case of very small volume of ``real-world'' training data.

Authors:Farzam Tajdari, Amin Rezasoltani
Title: Intelligent Control of Merging Car-following and Lane-Changing Behavior
Abstract:
Recent research has paid little attention to complex driving behaviors, namely merging car-following and lane-changing behavior, and how lane-changing affects algorithms designed to model and control a car-following vehicle. During the merging behavior, the Follower Vehicle (FV) might significantly diverge from typical car-following models. Thus, this paper aims to control the FV witnessing lane-changing behavior based on anticipation, perception, preparation, and relaxation states defined by a novel measurable human perception index. Data from human drivers are utilized to create a perception-based fuzzy controller for the behavior vehicle's route guidance, taking into account the opacity of human driving judgments. We illustrate the efficacy of the established technique using simulated trials and data from actual drivers, focusing on the benefits of the increased comfort, safety, and uniformity of traffic flow and the decreased of wait time and motion sickness this brings about.

Authors:Nuoa Lei, Arman Shehabi, Jun Lu, Zhi Cao, Jonathan Koomey, Sarah Smith, Eric Masanet
Title: Generalizable Machine Learning Models for Predicting Data Center Server Power, Efficiency, and Throughput
Abstract:
In the rapidly evolving digital era, comprehending the intricate dynamics influencing server power consumption, efficiency, and performance is crucial for sustainable data center operations. However, existing models lack the ability to provide a detailed and reliable understanding of these intricate relationships. This study employs a machine learning-based approach, using the SPECPower_ssj2008 database, to facilitate user-friendly and generalizable server modeling. The resulting models demonstrate high accuracy, with errors falling within approximately 10% on the testing dataset, showcasing their practical utility and generalizability. Through meticulous analysis, predictive features related to hardware availability date, server workload level, and specifications are identified, providing insights into optimizing energy conservation, efficiency, and performance in server deployment and operation. By systematically measuring biases and uncertainties, the study underscores the need for caution when employing historical data for prospective server modeling, considering the dynamic nature of technology landscapes. Collectively, this work offers valuable insights into the sustainable deployment and operation of servers in data centers, paving the way for enhanced resource use efficiency and more environmentally conscious practices.

Authors:Alexander Schperberg, Marcel Menner, Stefano Di Cairano
Title: Energy-Efficient Motion Planner for Legged Robots
Abstract:
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to determine when and how to execute steps. In particular, the proposed planner uses virtual placement sets beneath the hip joints of the legs and executes a step when the foot is outside of such placement set. Furthermore, we propose a parameter design framework that considers both energy-efficiency and robustness measures to optimize the gait by changing the shape of the placement set along with other parameters, such as step height and swing time, as a function of walking speed. We show that the planner produces trajectories that have a low Cost of Transport (CoT) and high robustness measure, and evaluate our approach against model-free Reinforcement Learning (RL) and motion imitation using biological dog motion priors as the reference. Overall, within low to medium velocity range, we show a 50.4% improvement in CoT and improved robustness over model-free RL, our best performing baseline. Finally, we show ability to handle slippery surfaces, gait transitions, and disturbances in simulation and hardware with the Unitree A1 robot.

Authors:Mostafa A. Mostafa, Mohamed K. Mohamed, Radwa W. Ezzat
Title: Enhancing AUTOSAR-Based Firmware Over-the-Air Updates in the Automotive Industry with a Practical Implementation on a Steering System
Abstract:
The automotive industry is increasingly reliant on software to manage complex vehicle functionalities, making efficient and secure firmware updates essential. Traditional firmware update methods, requiring physical connections through On-Board Diagnostics (OBD) ports, are inconvenient, costly, and time-consuming. Firmware Over-the-Air (FOTA) technology offers a revolutionary solution by enabling wireless updates, reducing operational costs, and enhancing the user experience. This project aims to design and implement an advanced FOTA system tailored for modern vehicles, incorporating the AUTOSAR architecture for scalability and standardization, and utilizing delta updating to minimize firmware update sizes, thereby improving bandwidth efficiency and reducing flashing times. To ensure security, the system integrates the UDS 0x27 protocol for authentication and data integrity during the update process. Communication between Electronic Control Units (ECUs) is achieved using the CAN protocol, while the ESP8266 module and the master ECU communicate via SPI for data transfer. The system's architecture includes key components such as a bootloader, boot manager, and bootloader updater to facilitate seamless firmware updates. The functionality of the system is demonstrated through two applications: a blinking LED and a Lane Keeping Assist (LKA) system, showcasing its versatility in handling critical automotive features. This project represents a significant step forward in automotive technology, offering a user-centric, efficient, and secure solution for automotive firmware management.

Authors:Weishu Zhan, Zheng Liang, Hongyu Song, Wei Pan
Title: Safe Distributed Learning-Enhanced Predictive Control for Multiple Quadrupedal Robots
Abstract:
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents significant challenges due to dynamic obstacles, communication constraints, and the complexity of legged locomotion. This paper proposes a distributed model predictive control framework for multi-quadruped formation control, integrating Control Lyapunov Functions to ensure formation stability and Control Barrier Functions for decentralized safety enforcement. To address the challenge of dynamically changing team structures, we introduce Scale-Adaptive Permutation-Invariant Encoding (SAPIE), which enables robust feature encoding of neighboring robots while preserving permutation invariance. Additionally, we develop a low-latency Data Distribution Service-based communication protocol and an event-triggered deadlock resolution mechanism to enhance real-time coordination and prevent motion stagnation in constrained spaces. Our framework is validated through high-fidelity simulations in NVIDIA Omniverse Isaac Sim and real-world experiments using our custom quadrupedal robotic system, XG. Results demonstrate stable formation control, real-time feasibility, and effective collision avoidance, validating its potential for large-scale deployment.

Authors:Alexey A. Margun, Alexey A. Bobtsov, Denis V. Efimov, Alexandr D. Panin, Mariia O. Rassolova
Title: Synthesis of Functional Unknown Input Observers for LTV and MIMO LTI Systems with Arbitrary Relative Degree
Abstract:
This article focuses on the development of functional unknown input observers for systems with arbitrary relative degree. Two distinct approaches are presented to address this challenge. The first approach is tailored to a class of time-varying systems expressed in a canonical controllable form. This method leverages the Generalized Parameter Estimation-Based Observer framework. The article derives the conditions for applicability of this solution and outlines the limitations on the number of estimable state variables. The second approach targets multi-input multi-output systems. In contrast to existing methods, the proposed solution is applicable to systems with arbitrary relative degree, significantly broadening its scope of application. The theoretical results are validated through simulation studies, which demonstrate the effectiveness of the proposed observers.

Authors:Junhao Ren, Kai Zhao, Guangxiao Zhang, Xinghua Liu, Chao Zhai, Gaoxi Xiao
Title: GNN-Enhanced Fault Diagnosis Method for Parallel Cyber-physical Attacks in Power Grids
Abstract:
Parallel cyber-physical attacks (PCPA) simultaneously damage physical transmission lines and block measurement data transmission in power grids, impairing or delaying system protection and recovery. This paper investigates the fault diagnosis problem for a linearized (DC) power flow model under PCPA. The physical attack mechanism includes not only line disconnection but also admittance modification, for example via compromised distributed flexible AC transmission system (D-FACTS) devices. To address this problem, we propose a fault diagnosis framework based on meta-mixed-integer programming (MMIP), integrating graph attention network-based fault localization (GAT-FL). First, we derive measurement reconstruction conditions that allow reconstructing unknown measurements in attacked areas from available measurements and the system topology. Based on these conditions, we formulate the diagnosis task as an MMIP model. The GAT-FL predicts a probability distribution over potential physical attacks, which is then incorporated as objective coefficients in the MMIP. Solving the MMIP yields optimal attack location and magnitude estimates, from which the system states are also reconstructed. Experimental simulations are conducted on IEEE 30/118 bus standard test cases to demonstrate the effectiveness of the proposed fault diagnosis algorithms.

Authors:Yunsong Zhang, Xinyu Zhou, Feitian Zhang
Title: Design, Dynamic Modeling and Control of a 2-DOF Robotic Wrist Actuated by Twisted and Coiled Actuators
Abstract:
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for multi-degree-of-freedom (DOF) configurations. This paper presents a novel design of a 2-DOF robotic wrist, envisioned as a fundamental building block for such advanced robotic systems. The wrist module is actuated by twisted and coiled actuators (TCAs) and utilizes a compact 3RRRR parallel mechanism to achieve a lightweight structure with enhanced motion capability. A comprehensive Lagrangian dynamic model is developed to capture the module's complex nonlinear behavior. Leveraging this model, a nonlinear model predictive controller (NMPC) is designed to ensure accurate trajectory tracking. A physical prototype of the robotic wrist is fabricated, and extensive experiments are performed to validate its motion performance and the fidelity of the proposed dynamic model. Subsequently, comparative evaluations between the NMPC and a conventional PID controller are conducted under various operating conditions. Experimental results demonstrate the effectiveness and robustness of the dynamic model-based control approach in managing the motion of TCA-driven robotic wrists. Finally, to illustrate its practical utility and integrability, the wrist module is incorporated into a multi-segment soft robotic arm, where it successfully executes a trajectory tracking task.

Authors:J. C. Geromel, L. Hsu, E. V. L. Nunes
Title: Optimal and Robust Multivariable Reaching Time Sliding Mode Control Design
Abstract:
This paper addresses two minimum reaching time control problems within the context of finite stable systems. The well-known Variable Structure Control (VSC) and Unity Vector Control (UVC) strategies are analyzed, with the primary objective of designing optimal and robust state feedback gains that ensure minimum finite time convergence to the origin. This is achieved in the presence of convex bounded parameter uncertainty and norm-bounded exogenous disturbances. In both cases, the optimality conditions are expressed through Linear Matrix Inequalities (LMIs), which are solved efficiently within the framework of multivariable systems using existing numerical tools. The theoretical results are demonstrated with two practically motivated examples.

Authors:Yiping Liu, Xiaozhe Wang, Geza Joos
Title: An Extended State Space Model of Aggregated Electric Vehicles for Flexibility Estimation and Power Control
Abstract:
The increasing penetration of electric vehicles (EVs) can provide substantial electricity to the grid, supporting the grids' stability. The state space model (SSM) has been proposed as an effective modeling method for power prediction and centralized control of aggregated EVs, offering low communication requirements and computational complexity. However, the SSM may overlook specific scenarios, leading to significant prediction and control inaccuracies. This paper proposes an extended state space model (eSSM) for aggregated EVs and develops associated control strategies. By accounting for the limited flexibility of fully charged and discharged EVs, the eSSM more accurately captures the state transition dynamics of EVs in various states of charge (SOC). Comprehensive simulations show that the eSSM will provide more accurate predictions of the flexibility and power trajectories of aggregated EVs, and more effectively tracks real-time power references compared to the conventional SSM method.

Authors:Yin Li, Hua Chen, Fugee Tsung
Title: Vibration Analysis and Mitigation in Semiconductor Motion Stages Using DMAIC Methodology- A Case Study
Abstract:
Motion stages are critical in semiconductor manufacturing equipment for processes like die bonding, wafer loading, and chip packaging, as their performance must meet the industry's stringent precision requirements. Vibration, a significant yet often overlooked adversary to precision motion stages, is challenging to identify and mitigate due to its subtle nature. This study, conducted at a motion stage manufacturer facing frequent vibration-related complaints, proposes a novel approach to resolving vibration issues. By leveraging the DMAIC methodology, it introduces VIBGUARD, an active vibration monitoring and mitigation solution, instead of solely focusing on traditional hardware vibration control. This comprehensive strategy enhances value and competitiveness, increasing UPH (units per hour) by 15.3% from 8,500 to 9,800 and reducing downtime by 68.2% from 2.2 to 0.7 occurrences per month. This case study and the DMAIC methodology offer valuable resources for quality control and problem analysis in the semiconductor industry.

Authors:Waqar Muhammad Ashraf, Vivek Dua, Ramit Debnath
Title: Domain Consistent Industrial Decarbonisation of Global Coal Power Plants
Abstract:
Machine learning and optimisation techniques (MLOPT) hold significant potential to accelerate the decarbonisation of industrial systems by enabling data-driven operational improvements. However, the practical application of MLOPT in industrial settings is often hindered by a lack of domain compliance and system-specific consistency, resulting in suboptimal solutions with limited real-world applicability. To address this challenge, we propose a novel human-in-the-loop (HITL) constraint-based optimisation framework that integrates domain expertise with data-driven methods, ensuring solutions are both technically sound and operationally feasible. We demonstrate the efficacy of this framework through a case study focused on enhancing the thermal efficiency and reducing the turbine heat rate of a 660 MW supercritical coal-fired power plant. By embedding domain knowledge as constraints within the optimisation process, our approach yields solutions that align with the plant's operational patterns and are seamlessly integrated into its control systems. Empirical validation confirms a mean improvement in thermal efficiency of 0.64\% and a mean reduction in turbine heat rate of 93 kJ/kWh. Scaling our analysis to 59 global coal power plants with comparable capacity and fuel type, we estimate a cumulative lifetime reduction of 156.4 million tons of carbon emissions. These results underscore the transformative potential of our HITL-MLOPT framework in delivering domain-compliant, implementable solutions for industrial decarbonisation, offering a scalable pathway to mitigate the environmental impact of coal-based power generation worldwide.

Authors:Marcus Becker, Maarten J. van den Broek, Dries Allaerts, Jan-Willem van Wingerden
Title: Closed-loop model-predictive wind farm flow control under time-varying inflow using FLORIDyn
Abstract:
Wind farm flow control has been a key research focus in recent years, driven by the idea that a collectively operating wind farm can outperform individually controlled turbines. Control strategies are predominantly applied in an open-loop manner, where the current flow conditions are used to look up precomputed steady-state set points. Closed-loop control approaches, on the other hand, take measurements from the farm into account and optimize their set points online, which makes them more flexible and resilient. This paper introduces a closed-loop model-predictive wind farm controller using the dynamic engineering model FLORIDyn to maximize the energy generated by a ten-turbine wind farm. The framework consists of an Ensemble Kalman Filter to continuously correct the flow field estimate, as well as a novel optimization strategy. To this end the paper discusses two dynamic ways to maximize the farm energy and compares this to the current look-up table industry standard. The framework relies solely on turbine measurements without using a flow field preview. In a 3-hour case study with time-varying conditions, the derived controllers achieve an overall energy gain of 3 to 4.4 % with noise-free wind direction measurements. If disturbed and biased measurements are used, this performance decreases to 1.9 to 3 % over the greedy control baseline with the same measurements. The comparison to look-up table controllers shows that the closed-loop framework performance is more robust to disturbed measurements but can only match the performance in noise-free conditions.

Authors:Mostafa A. Mostafa, Abdallah A. Mohamed, Ahmed H. Aborehab, Mohamed A. Shabaan, Mohamed K. Mohamed, Mostafa O. Mohamed, Tarek M. Shohdy
Title: Implementing PID Controller on a hand follower robot using Numerical Methods
Abstract:
Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating the steady state errors connected to typical PID systems is crucial for achieving stability. To plot the transfer function's responses with various integrator gains for auto tuning, a MATLAB M-file was developed. Auto tuning techniques were then applied to PID systems to eliminate steady state defects. this paper analyzes and tests the improvement of PID controller over the regular P-controller taking a hand follower robot as a system example using methods with simulation and numerical analysis study.

Authors:Wolfgang Seiringer, Klaus Altendorfer, Reha Uzsoy
Title: Release Date Optimization Using Clearing Functions in MRP
Abstract:
This paper integrates a clearing function (CF)-based release planning approach into Material Requirements Planning (MRP) to address its limitations in modeling capacity constraints and dynamic lead times. The proposed CF-based optimization model replaces MRP's backward scheduling step while preserving its overall structure. Performance is evaluated through simulation experiments on two flow shop systems: a compact three-level system with three shared resources (PS1) and a more complex four-stage system with 32 end items and 16 machines (PS2). The experiments explore a range of demand uncertainties and utilization levels. Results show that CF-based planning consistently reduces total costs and tardiness while improving schedule feasibility, particularly under imperfect forecasts. These findings demonstrate the potential of CFs to enhance MRP by introducing workload responsiveness and dynamic adaptability, without compromising computational tractability.

Authors:Qiulin Xu, Tatsuya Masada, Hideaki Ishii
Title: Stability Analysis and Intervention Strategies on a Coupled SIS Epidemic Model with Polar Opinion Dynamics
Abstract:
This paper investigates the spread of infectious diseases within a networked community by integrating epidemic transmission and public opinion dynamics. We propose a novel discrete-time networked SIS (Susceptible-Infectious-Susceptible) epidemic model coupled with opinion dynamics that includes stubborn agents with biased views. The model captures the interplay between perceived and actual epidemic severity, offering insights into epidemic dynamics in socially interconnected environments. We introduce the SIS-opinion reproduction number to assess epidemic severity and analyze conditions for disease eradication and the global stability of endemic equilibria. Additionally, we explore opinion-based intervention strategies, providing a framework for policymakers to design effective prevention measures. Numerical examples are provided to illustrate our theoretical findings and the model's practical implications.

Authors:An-Chi He, Jungsoo Park, Benjamin Beiter, Bhaben Kalita, Alexander Leonessa
Title: Design and Development of a Locomotion Interface for Virtual Reality Lower-Body Haptic Interaction
Abstract:
This work presents the design, build, control, and preliminary user data of a locomotion interface called ForceBot. It delivers lower-body haptic interaction in virtual reality (VR), enabling users to walk in VR while interacting with various simulated terrains. It utilizes two planar gantries to give each foot two degrees of freedom and passive heel-lifting motion. The design used motion capture data with dynamic simulation for ergonomic human-robot workspace and hardware selection. Its system framework uses open-source robotic software and pairs with a custom-built power delivery system that offers EtherCAT communication with a 1,000 Hz soft real-time computation rate. This system features an admittance controller to regulate physical human-robot interaction (pHRI) alongside a walking algorithm to generate walking motion and simulate virtual terrains. The system's performance is explored through three measurements that evaluate the relationship between user input force and output pHRI motion. Overall, this platform presents a unique approach by utilizing planar gantries to realize VR terrain interaction with an extensive workspace, reasonably compact footprint, and preliminary user data.

Authors:Hengye Yang, Yanxiao Chen, Zexuan Fan, Lin Shao, Tao Sun
Title: Adaptive Wall-Following Control for Unmanned Ground Vehicles Using Spiking Neural Networks
Abstract:
Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and obstacle avoidance. This paper introduces an adaptive control approach based on spiking neural networks for wall fitting and tracking, which learns and adapts to unforeseen disturbances. We propose real-time wall-fitting algorithms to model unknown wall shapes and generate corresponding trajectories for the vehicle to follow. A discretized linear quadratic regulator is developed to provide a baseline control signal based on an ideal vehicle model. Point matching algorithms then identify the nearest matching point on the trajectory to generate feedforward control inputs. Finally, an adaptive spiking neural network controller, which adjusts its connection weights online based on error signals, is integrated with the aforementioned control algorithms. Numerical simulations demonstrate that this adaptive control framework outperforms the traditional linear quadratic regulator in tracking complex trajectories and following irregular walls, even in the presence of partial actuator failures and state estimation errors.

Authors:Abdallah Alalem Albustami, Ahmad F. Taha, Elias Bou-Harb
Title: Unmasking Stealthy Attacks on Nonlinear DAE Models of Power Grids
Abstract:
Smart grids are inherently susceptible to various types of malicious cyberattacks that have all been documented in the recent literature. Traditional cybersecurity research on power systems often utilizes simplified models that fail to capture the interactions between dynamic and steady-state behaviors, potentially underestimating the impact of cyber threats. This paper presents the first attempt to design and assess stealthy false data injection attacks (FDIAs) against nonlinear differential algebraic equation (NDAE) models of power networks. NDAE models, favored in industry for their ability to accurately capture both dynamic and steady-state behaviors, provide a more accurate representation of power system behavior by coupling dynamic and algebraic states. We propose novel FDIA strategies that simultaneously evade both dynamic and static intrusion detection systems while respecting the algebraic power flow and operational constraints inherent in NDAE models. We demonstrate how the coupling between dynamic and algebraic states in NDAE models significantly restricts the attacker's ability to manipulate state estimates while maintaining stealthiness. This highlights the importance of using more comprehensive power system models in cybersecurity analysis and reveals potential vulnerabilities that may be overlooked in simplified representations. The proposed attack strategies are validated through simulations on the IEEE 39-bus system.

Authors:Qinan Zhou, Gabrielle Vuylsteke, R. Dyche Anderson, Jing Sun
Title: Battery State of Health Estimation and Incremental Capacity Analysis under General Charging Profiles Using Neural Networks
Abstract:
Incremental capacity analysis (ICA) and differential voltage analysis (DVA) are two effective approaches for battery degradation monitoring. One limiting factor for their real-world application is that they require constant-current charging profiles. This research removes this limitation and proposes an approach that enables ICA/DVA-based degradation monitoring under general charging profiles. A novel concept of virtual incremental capacity (VIC) and virtual differential voltage (VDV) is proposed. Then, two related convolutional neural networks (CNNs), called U-Net and Conv-Net, are proposed to construct VIC/VDV curves and estimate the state of health (SOH) from general charging profiles across any state-of-charge (SOC) ranges that satisfy some constraints. Finally, for onboard implementations, two CNNs called Mobile U-Net and Mobile-Net are proposed as replacements for the U-Net and Conv-Net, respectively, to reduce the computational footprint and memory requirements. Using an extensive experimental dataset of battery modules, the proposed CNNs are demonstrated to provide accurate VIC/VDV curves and enable ICA/DVA-based battery degradation monitoring under various fast-charging protocols and different SOC ranges.

Authors:Xiangming Du, Shuowen Zhang, Francis C. -M. Lau
Title: Handover-Aware Trajectory Optimization for Cellular-Connected UAV
Abstract:
In this letter, we study a cellular-connected unmanned aerial vehicle (UAV) which aims to complete a mission of flying between two pre-determined locations while maintaining satisfactory communication quality with the ground base stations (GBSs). Due to the potentially long distance of the UAV's flight, frequent handovers may be incurred among different GBSs, which leads to various practical issues such as large delay and synchronization overhead. To address this problem, we investigate the trajectory optimization of the UAV to minimize the number of GBS handovers during the flight, subject to a communication quality constraint and a maximum mission completion time constraint. Although this problem is non-convex and difficult to solve, we derive useful structures of the optimal solution, based on which we propose an efficient algorithm based on graph theory and Lagrangian relaxation for finding a high-quality suboptimal solution in polynomial time. Numerical results validate the effectiveness of our proposed trajectory design.

Authors:J. C. Geromel, E. V. L. Nunes, L. Hsu
Title: Multivariable Generalized Super-Twisting Algorithm Robust Control of Linear Time-Invariant Systems
Abstract:
This paper presents a novel procedure for robust control design of linear time-invariant systems using a Multivariable Generalized Super-Twisting Algorithm (MGSTA). The proposed approach addresses robust stability and performance conditions, considering convex bounded parameter uncertainty in all matrices of the plant state-space realization and Lipschitz exogenous disturbances. The primary characteristic of the closed-loop system, sliding mode finite-time convergence, is thoroughly examined and evaluated. The design conditions, obtained through the proposal of a novel max-type non-differentiable piecewise-continuous Lyapunov function are formulated as Linear Matrix Inequalities (LMIs), which can be efficiently solved using existing computational tools. A fault-tolerant MGSTA control is designed for a mechanical system with three degrees of freedom, illustrating the efficacy of the proposed LMI approach.

Authors:Christos Papandreou, Michail Mathioudakis, Theodoros Stouraitis, Petros Iatropoulos, Antonios Nikitakis, Stavros Paschalakis, Konstantinos Kyriakopoulos
Title: Interpretable Data-Driven Ship Dynamics Model: Enhancing Physics-Based Motion Prediction with Parameter Optimization
Abstract:
The deployment of autonomous navigation systems on ships necessitates accurate motion prediction models tailored to individual vessels. Traditional physics-based models, while grounded in hydrodynamic principles, often fail to account for ship-specific behaviors under real-world conditions. Conversely, purely data-driven models offer specificity but lack interpretability and robustness in edge cases. This study proposes a data-driven physics-based model that integrates physics-based equations with data-driven parameter optimization, leveraging the strengths of both approaches to ensure interpretability and adaptability. The model incorporates physics-based components such as 3-DoF dynamics, rudder, and propeller forces, while parameters such as resistance curve and rudder coefficients are optimized using synthetic data. By embedding domain knowledge into the parameter optimization process, the fitted model maintains physical consistency. Validation of the approach is realized with two container ships by comparing, both qualitatively and quantitatively, predictions against ground-truth trajectories. The results demonstrate significant improvements, in predictive accuracy and reliability, of the data-driven physics-based models over baseline physics-based models tuned with traditional marine engineering practices. The fitted models capture ship-specific behaviors in diverse conditions with their predictions being, 51.6% (ship A) and 57.8% (ship B) more accurate, 72.36% (ship A) and 89.67% (ship B) more consistent.

Authors:Mohamed Tarek Ibn Ziad, Sana Damani, Mark Stephenson, Stephen W. Keckler, Aamer Jaleel
Title: GPUArmor: A Hardware-Software Co-design for Efficient and Scalable Memory Safety on GPUs
Abstract:
Memory safety errors continue to pose a significant threat to current computing systems, and graphics processing units (GPUs) are no exception. A prominent class of memory safety algorithms is allocation-based solutions. The key idea is to maintain each allocation's metadata (base address and size) in a disjoint table and retrieve it at runtime to verify memory accesses. While several previous solutions have adopted allocation-based algorithms (e.g., cuCatch and GPUShield), they typically suffer from high memory overheads or scalability problems. In this work, we examine the key characteristics of real-world GPU workloads and observe several differences between GPU and CPU applications regarding memory access patterns, memory footprint, number of live allocations, and active allocation working set. Our observations motivate GPUArmor, a hardware-software co-design framework for memory safety on GPUs. We show that a simple compiler analysis combined with lightweight hardware support using a small Memory Lookaside Buffer (MLB) can help prevent spatial and temporal memory violations on modern GPU workloads with 2.3% average run time overheads. More importantly, GPUArmor achieves speed-of-light performance with negligible storage requirements. This result benefits both base and bounds solutions and memory tagging techniques, which we showcase with GPUArmor-HWOnly, a variation of GPUArmor that does not require recompilation, and achieves 2.2% slowdowns while significantly reducing storage overheads beyond traditional memory tagging approaches.

Authors:Aritra Pal, Anandsingh Chauhan, Mayank Baranwal
Title: Together We Rise: Optimizing Real-Time Multi-Robot Task Allocation using Coordinated Heterogeneous Plays
Abstract:
Efficient task allocation among multiple robots is crucial for optimizing productivity in modern warehouses, particularly in response to the increasing demands of online order fulfillment. This paper addresses the real-time multi-robot task allocation (MRTA) problem in dynamic warehouse environments, where tasks emerge with specified start and end locations. The objective is to minimize both the total travel distance of robots and delays in task completion, while also considering practical constraints such as battery management and collision avoidance. We introduce MRTAgent, a dual-agent Reinforcement Learning (RL) framework inspired by self-play, designed to optimize task assignments and robot selection to ensure timely task execution. For safe navigation, a modified linear quadratic controller (LQR) approach is employed. To the best of our knowledge, MRTAgent is the first framework to address all critical aspects of practical MRTA problems while supporting continuous robot movements.

Authors:Piyushi Manupriya, Himanshu, SakethaNath Jagarlapudi, Ganesh Ghalme
Title: Multi-agent Multi-armed Bandits with Minimum Reward Guarantee Fairness
Abstract:
We investigate the problem of maximizing social welfare while ensuring fairness in a multi-agent multi-armed bandit (MA-MAB) setting. In this problem, a centralized decision-maker takes actions over time, generating random rewards for various agents. Our goal is to maximize the sum of expected cumulative rewards, a.k.a. social welfare, while ensuring that each agent receives an expected reward that is at least a constant fraction of the maximum possible expected reward. Our proposed algorithm, RewardFairUCB, leverages the Upper Confidence Bound (UCB) technique to achieve sublinear regret bounds for both fairness and social welfare. The fairness regret measures the positive difference between the minimum reward guarantee and the expected reward of a given policy, whereas the social welfare regret measures the difference between the social welfare of the optimal fair policy and that of the given policy. We show that RewardFairUCB algorithm achieves instance-independent social welfare regret guarantees of $\tilde{O}(T^{1/2})$ and a fairness regret upper bound of $\tilde{O}(T^{3/4})$. We also give the lower bound of $Ω(\sqrt{T})$ for both social welfare and fairness regret. We evaluate RewardFairUCB's performance against various baseline and heuristic algorithms using simulated data and real world data, highlighting trade-offs between fairness and social welfare regrets.

Authors:Gregg Rabideau, Joseph Russino, Andrew Branch, Nihal Dhamani, Tiago Stegun Vaquero, Steve Chien, Jean-Pierre de la Croix, Federico Rossi
Title: Planning, scheduling, and execution on the Moon: the CADRE technology demonstration mission
Abstract:
NASA's Cooperative Autonomous Distributed Robotic Exploration (CADRE) mission, slated for flight to the Moon's Reiner Gamma region in 2025/2026, is designed to demonstrate multi-agent autonomous exploration of the Lunar surface and sub-surface. A team of three robots and a base station will autonomously explore a region near the lander, collecting the data required for 3D reconstruction of the surface with no human input; and then autonomously perform distributed sensing with multi-static ground penetrating radars (GPR), driving in formation while performing coordinated radar soundings to create a map of the subsurface. At the core of CADRE's software architecture is a novel autonomous, distributed planning, scheduling, and execution (PS&E) system. The system coordinates the robots' activities, planning and executing tasks that require multiple robots' participation while ensuring that each individual robot's thermal and power resources stay within prescribed bounds, and respecting ground-prescribed sleep-wake cycles. The system uses a centralized-planning, distributed-execution paradigm, and a leader election mechanism ensures robustness to failures of individual agents. In this paper, we describe the architecture of CADRE's PS&E system; discuss its design rationale; and report on verification and validation (V&V) testing of the system on CADRE's hardware in preparation for deployment on the Moon.

Authors:Riddhi Mohan Bora, Bhabani Shankar Dey, Indra Narayan Kar
Title: On the Contraction Analysis of Nonlinear System with Multiple Equilibrium Points
Abstract:
In this work, we leverage the 2-contraction theory, which extends the capabilities of classical contraction theory, to develop a global stability framework. Coupled with powerful geometric tools such as the Poincare index theory, the 2-contraction theory enables us to analyze the stability of planar nonlinear systems without relying on local equilibrium analysis. By utilizing index theory and 2-contraction results, we efficiently characterize the nature of equilibrium points and delineate regions in 2-dimensional state space where periodic solutions, closed orbits, or stable dynamics may exist. A key focus of this work is the identification of regions in the state space where periodic solutions may occur, as well as 2-contraction regions that guarantee the nonexistence of such solutions. Additionally, we address a critical problem in engineering the determination of the basin of attraction (BOA) for stable equilibrium points. For systems with multiple equilibria identifying candidate BOAs becomes highly nontrivial. We propose a novel methodology leveraging the 2-contraction theory to approximate a common BOA for a class of nonlinear systems with multiple stable equilibria. Theoretical findings are substantiated through benchmark examples and numerical simulations, demonstrating the practical utility of the proposed approach. Furthermore, we extend our framework to analyze networked systems, showcasing their efficacy in an opinion dynamics problem.

Authors:Damiano Paniccia, Francesco Aldo Tucci, Joel Guerrero, Luigi Capone, Nicoletta Sanguini, Tommaso Benacchio, Luigi Bottasso
Title: A Supervised Machine-Learning Approach For Turboshaft Engine Dynamic Modeling Under Real Flight Conditions
Abstract:
Rotorcraft engines are highly complex, nonlinear thermodynamic systems that operate under varying environmental and flight conditions. Simulating their dynamics is crucial for design, fault diagnostics, and deterioration control phases, and requires robust and reliable control systems to estimate engine performance throughout flight envelope. However, the development of detailed physical models of the engine based on numerical simulations is a very challenging task due to the complex and entangled physics driving the engine. In this scenario, data-driven machine-learning techniques are of great interest to the aircraft engine community, due to their ability to describe nonlinear systems' dynamic behavior and enable online performance estimation, achieving excellent results with accuracy competitive with the state of the art. In this work, we explore different Neural Network architectures to model the turboshaft engine of Leonardo's AW189P4 prototype, aiming to predict the engine torque. The models are trained on an extensive database of real flight tests featuring a variety of operational maneuvers performed under different flight conditions, providing a comprehensive representation of the engine's performance. To complement the neural network approach, we apply Sparse Identification of Nonlinear Dynamics (SINDy) to derive a low-dimensional dynamical model from the available data, describing the relationship between fuel flow and engine torque. The resulting model showcases SINDy's capability to recover the actual physics underlying the engine dynamics and demonstrates its potential for investigating more complex aspects of the engine. The results prove that data-driven engine models can exploit a wider range of parameters than standard transfer function-based approaches, enabling the use of trained schemes to simulate nonlinear effects in different engines and helicopters.

Authors:Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
Title: Hybrid Visual Servoing of Tendon-driven Continuum Robots
Abstract:
This paper introduces a novel Hybrid Visual Servoing (HVS) approach for controlling tendon-driven continuum robots (TDCRs). The HVS system combines Image-Based Visual Servoing (IBVS) with Deep Learning-Based Visual Servoing (DLBVS) to overcome the limitations of each method and improve overall performance. IBVS offers higher accuracy and faster convergence in feature-rich environments, while DLBVS enhances robustness against disturbances and offers a larger workspace. By enabling smooth transitions between IBVS and DLBVS, the proposed HVS ensures effective control in dynamic, unstructured environments. The effectiveness of this approach is validated through simulations and real-world experiments, demonstrating that HVS achieves reduced iteration time, faster convergence, lower final error, and smoother performance compared to DLBVS alone, while maintaining DLBVS's robustness in challenging conditions such as occlusions, lighting changes, actuator noise, and physical impacts.

Authors:Sean Anderson, Katie Byl, João P. Hespanha
Title: Experiment Design with Gaussian Process Regression with Applications to Chance-Constrained Control
Abstract:
Learning for control in repeated tasks allows for well-designed experiments to gather the most useful data. We consider the setting in which we use a data-driven controller that does not have access to the true system dynamics. Rather, the controller uses inferred dynamics based on the available information. In order to acquire data that is beneficial for this controller, we present an experimental design approach that leverages the current data to improve expected control performance. We focus on the setting in which inference on the unknown dynamics is performed using Gaussian processes. Gaussian processes not only provide uncertainty quantification but also allow us to leverage structures inherent to Gaussian random variables. Through this structure, we design experiments via gradient descent on the expected control performance with respect to the experiment input. In particular, we focus on a chance-constrained minimum expected time control problem. Numerical demonstrations of our approach indicate our experimental design outperforms relevant benchmarks.

Authors:Renhe Guan, Yuanzhe Wang, Tao Liu, Yan Wang
Title: Low-Complexity Cooperative Payload Transportation for Nonholonomic Mobile Robots Under Scalable Constraints
Abstract:
Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and extend to multiple constraints. Instead, optimization-based methods handle constraints effectively, but they are usually centralized, time-consuming and thus not easily scalable to numerous robots. To overcome drawbacks of both, we propose a novel cooperative transportation method for nonholonomic mobile robots by im proving conventional formation control, which is distributed, has a low time-complexity and accommodates scalable constraints. The proposed control-based method is testified on a cable suspended payload and divided into two parts, including robot trajectory generation and trajectory tracking. Unlike most time consuming trajectory generation methods, ours can generate trajectories with only constant time-complexity, needless of global maps. As for trajectory tracking, our control-based method not only scales easily to multiple constraints as those optimization based methods, but reduces their time-complexity from poly nomial to linear. Simulations and experiments can verify the feasibility of our method.

Authors:C. Beldek, J. Cunningham, M. Aydin, E. Sariyildiz, S. L. Phung, G. Alici
Title: Sensing-based Robustness Challenges in Agricultural Robotic Harvesting
Abstract:
This paper presents the challenges agricultural robotic harvesters face in detecting and localising fruits under various environmental disturbances. In controlled laboratory settings, both the traditional HSV (Hue Saturation Value) transformation and the YOLOv8 (You Only Look Once) deep learning model were employed. However, only YOLOv8 was utilised in outdoor experiments, as the HSV transformation was not capable of accurately drawing fruit contours. Experiments include ten distinct fruit patterns with six apples and six oranges. A grid structure for homography (perspective) transformation was employed to convert detected midpoints into 3D world coordinates. The experiments evaluated detection and localisation under varying lighting and background disturbances, revealing accurate performance indoors, but significant challenges outdoors. Our results show that indoor experiments using YOLOv8 achieved 100% detection accuracy, while outdoor conditions decreased performance, with an average accuracy of 69.15% for YOLOv8 under direct sunlight. The study demonstrates that real-world applications reveal significant limitations due to changing lighting, background disturbances, and colour and shape variability. These findings underscore the need for further refinement of algorithms and sensors to enhance the robustness of robotic harvesters for agricultural use.

Authors:Yi-Hsuan Hsiao, Wei-Tung Chen, Yun-Sheng Chang, Pulkit Agrawal, YuFeng Chen
Title: Hovering Flight of Soft-Actuated Insect-Scale Micro Aerial Vehicles using Deep Reinforcement Learning
Abstract:
Soft-actuated insect-scale micro aerial vehicles (IMAVs) pose unique challenges for designing robust and computationally efficient controllers. At the millimeter scale, fast robot dynamics ($\sim$ms), together with system delay, model uncertainty, and external disturbances significantly affect flight performances. Here, we design a deep reinforcement learning (RL) controller that addresses system delay and uncertainties. To initialize this neural network (NN) controller, we propose a modified behavior cloning (BC) approach with state-action re-matching to account for delay and domain-randomized expert demonstration to tackle uncertainty. Then we apply proximal policy optimization (PPO) to fine-tune the policy during RL, enhancing performance and smoothing commands. In simulations, our modified BC substantially increases the mean reward compared to baseline BC; and RL with PPO improves flight quality and reduces command fluctuations. We deploy this controller on two different insect-scale aerial robots that weigh 720 mg and 850 mg, respectively. The robots demonstrate multiple successful zero-shot hovering flights, with the longest lasting 50 seconds and root-mean-square errors of 1.34 cm in lateral direction and 0.05 cm in altitude, marking the first end-to-end deep RL-based flight on soft-driven IMAVs.

Authors:Panagiotis Rousseas, Dimitra Panagou
Title: Feasibility Evaluation of Quadratic Programs for Constrained Control
Abstract:
This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a QP can be determined by the solution of a properly-defined Linear Program (LP). Our analysis yields a LP that can be solved more efficiently compared to the original QP problem, and more importantly, is simpler in form and can be solved more efficiently compared to existing methods that assess feasibility via LPs. The computational efficiency of the proposed method compared to existing methods for feasibility evaluation is demonstrated in comparative case studies as well as a feasible-constraint selection problem, indicating its promise for online feasibility evaluation of optimization-based controllers.

Authors:Sebastian Durst, Kilian Barth, Tobias Müller, Pascal Marquardt
Title: QoS based resource management for concurrent operation using MCTS
Abstract:
Modern AESA technology enables RF systems to not only perform various radar, communication and electronic warfare tasks on a single aperture, but even to execute multiple tasks concurrently. These capabilities increase system complexity and require intelligent or cognitive resource management. This paper introduces such a resource management framework based on quality of service based resource allocation and Monte Carlo tree search allowing for optimal system usage and profound decision-making. Furthermore, we present experimental verification in a complex application scenario.

Authors:Seung Min Baik, Yongkyu Cho
Title: Lifetime Analysis of Circular $k$-out-of-$n$: G Balanced Systems in a Shock Environment
Abstract:
This paper examines the lifetime distributions of circular $k$-out-of-$n$: G balanced systems operating in a shock environment, providing a unified framework for both discrete- and continuous-time perspectives. The system remains functioning only if at least $k$ operating units satisfy a predefined balance condition (BC). Building on this concept, we demonstrate that the shock numbers to failure (SNTF) follow a discrete phase-type distribution by modeling the system's stochastic dynamics with a finite Markov chain and applying BC-based state space consolidation. Additionally, we develop a computationally efficient method for directly computing multi-step transition probabilities of the underlying Markov chain. Next, assuming the inter-arrival times between shocks follow a phase-type distribution, we establish that the continuous-time system lifetime, or the time to system failure (TTF), also follows a phase-type distribution with different parameters. Extensive numerical studies illustrate the impact of key parameters-such as the number of units, minimum requirement of the number of operating units, individual unit reliability, choice of balance condition, and inter-shock time distribution-on the SNTF, TTF, and their variability.

Authors:Rijad Alisic, Junsoo Kim, Henrik Sandberg
Title: Anomaly Detection with LWE Encrypted Control
Abstract:
Detecting attacks using encrypted signals is challenging since encryption hides its information content. We present a novel mechanism for anomaly detection over Learning with Errors (LWE) encrypted signals without using decryption, secure channels, nor complex communication schemes. Instead, the detector exploits the homomorphic property of LWE encryption to perform hypothesis tests on transformations of the encrypted samples. The specific transformations are determined by solutions to a hard lattice-based minimization problem. While the test's sensitivity deteriorates with suboptimal solutions, similar to the exponential deterioration of the (related) test that breaks the cryptosystem, we show that the deterioration is polynomial for our test. This rate gap can be exploited to pick parameters that lead to somewhat weaker encryption but large gains in detection capability. Finally, we conclude the paper by presenting a numerical example that simulates anomaly detection, demonstrating the effectiveness of our method in identifying attacks.

Authors:Mohan Du, Xiaozhe Wang
Title: A Data-Driven Method for Microgrid System Identification: Physically Consistent Sparse Identification of Nonlinear Dynamics
Abstract:
Microgrids (MGs) play a crucial role in utilizing distributed energy resources (DERs) like solar and wind power, enhancing the sustainability and flexibility of modern power systems. However, the inherent variability in MG topology, power flow, and DER operating modes poses significant challenges to the accurate system identification of MGs, which is crucial for designing robust control strategies and ensuring MG stability. This paper proposes a Physically Consistent Sparse Identification of Nonlinear Dynamics (PC-SINDy) method for accurate MG system identification. By leveraging an analytically derived library of candidate functions, PC-SINDy extracts accurate dynamic models using only phasor measurement unit (PMU) data. Simulations on a 4-bus system demonstrate that PC-SINDy can reliably and accurately predict frequency trajectories under large disturbances, including scenarios not encountered during the identification/training phase, even when using noisy, low-sampled PMU data.

Authors:Guanhao Xu, Jianfei Chen, Zejiang Wang, Anye Zhou, Max Schrader, Joshua Bittle, Yunli Shao
Title: Enhancing Traffic Safety Analysis with Digital Twin Technology: Integrating Vehicle Dynamics and Environmental Factors into Microscopic Traffic Simulation
Abstract:
Traffic safety is a critical concern in transportation engineering and urban planning. Traditional traffic safety analysis requires trained observers to collect data in the field, which is time-consuming, labor-intensive, and sometimes inaccurate. In recent years, microscopic traffic simulation, which simulates individual vehicles' movements within a transportation network, have been utilized to study traffic safety. However, microscopic traffic simulation only focuses on traffic-related factors, such as traffic volume, traffic signals, and lane configurations, neglecting vehicle dynamics and environment-related factors like weather and lighting conditions, which can significantly impact traffic safety. In light of this, this paper explores the application of digital twin technology in traffic safety analysis, integrating vehicle simulators, which consider vehicle dynamics and environmental factors, and microscopic traffic simulators, which simulate the operations of traffic flow, for enhanced safety evaluations. Various scenarios, including different weather conditions and visibility levels, are simulated using a digital twin of a road segment in Tuscaloosa, Alabama. The simulations employ Surrogate Safety Measures (SSMs) like Time to Collision (TTC) and Deceleration Rate to Avoid a Crash (DRAC) to assess safety under varying conditions. The results demonstrate that traffic digital twin can identify potential safety issues that traditional microscopic simulation cannot, providing insights for improving traffic control strategies and transportation infrastructure to enhance traffic safety.

Authors:Matthew D. Kvalheim, Eduardo D. Sontag
Title: Global linearization of asymptotically stable systems without hyperbolicity
Abstract:
We give a proof of an extension of the Hartman-Grobman theorem to nonhyperbolic but asymptotically stable equilibria of vector fields. Moreover, the linearizing topological conjugacy is (i) defined on the entire basin of attraction if the vector field is complete, and (ii) a $C^{k\geq 1}$-diffeomorphism on the complement of the equilibrium if the vector field is $C^k$ and the underlying space is not $5$-dimensional. We also show that the $C^k$ statement in the $5$-dimensional case is equivalent to the $4$-dimensional smooth Poincaré conjecture.

Authors:Aharon Levin, Itay Grinberg, Elon Rimon, Amir Shapiro
Title: Dual Arm Steering of Deformable Linear Objects in 2-D and 3-D Environments Using Euler's Elastica Solutions
Abstract:
This paper describes a method for steering deformable linear objects using two robot hands in environments populated by sparsely spaced obstacles. The approach involves manipulating an elastic inextensible rod by varying the gripping endpoint positions and tangents. Closed form solutions that describe the flexible linear object shape in planar environments, Euler's elastica, are described. The paper uses these solutions to formulate criteria for non self-intersection, stability and obstacle avoidance. These criteria are formulated as constraints in the flexible object six-dimensional configuration space that represents the robot gripping endpoint positions and tangents. In particular, this paper introduces a novel criterion that ensures the flexible object stability during steering. All safety criteria are integrated into a scheme for steering flexible linear objects in planar environments, which is lifted into a steering scheme in three-dimensional environments populated by sparsely spaced obstacles. Experiments with a dual-arm robot demonstrate the method.

Authors:Pushkal Purohit, Anoop Jain
Title: On Event-Triggered Resilient Consensus Using Auxiliary Layer
Abstract:
Due to its design simplicity, auxiliary layer-based resilient control is widely discussed in the literature to mitigate the effects of False Data Injection (FDI) attacks. However, the increased communication burden due to additional communication links for connecting an extra layer is often overlooked in the literature. This paper bridges this gap by considering an event-triggered approach for inter-layer communication between the physical layer (containing actual agents) and the auxiliary layer (containing virtual agents) for the resilient state consensus in a multi-agent system. We provide state-based and dynamic event-triggering mechanisms, the former being the motivation for the latter. The exclusion of Zeno behavior is established by proving positive minimum inter-event time (MIET). Extensive simulation and experimental results are provided to illustrate the proposed methodology.

Authors:Kenneth Rudinger, J. P. Marceaux, Akel Hashim, David I. Santiago, Irfan Siddiqi, Kevin C. Young
Title: Heisenberg-limited calibration of entangling gates with robust phase estimation
Abstract:
The calibration of high-quality two-qubit entangling gates is an essential component in engineering large-scale, fault-tolerant quantum computers. However, many standard calibration techniques are based on randomized circuits that are only quadratically sensitive to calibration errors. As a result, these approaches are inefficient, requiring many experimental shots to achieve acceptable performance. In this work, we demonstrate that robust phase estimation can enable high-precision, Heisenberg-limited estimates of coherent errors in multi-qubit gates. Equipped with an efficient estimator, the calibration problem may be reduced to a simple optimization loop that minimizes the estimated coherent error. We experimentally demonstrate our calibration protocols by improving the operation of a two-qubit controlled-Z gate on a superconducting processor, and we validate the improved performance with gate set tomography. Our methods are applicable to gates in other quantum hardware platforms such as ion traps and neutral atoms, and on other multi-qubit gates, such as CNOT or iSWAP.

Authors:Nicolas Espitia, Miroslav Krstic, Jorge I. Poveda
Title: Prescribed-Time Newton Extremum Seeking using Delays and Time-Periodic Gains
Abstract:
We study prescribed-time extremum seeking (PT-ES) for scalar maps in the presence of time delay. The PT-ES problem has been solved by Yilmaz and Krstic in 2023 using chirpy probing and time-varying singular gains. To alleviate the gain singularity, we present an alternative approach, employing delays with bounded time-periodic gains, for achieving prescribed-time convergence to the extremum. Our results are not extensions or refinements but a new methodological direction, even in the absence of the delay on the map. The main result we present compensates the map's delay and uses perturbation-based and the Newton (rather than gradient) approaches. With the help of averaging theorems in infinite dimension, specifically Retarded Functional Differential Equations (RFDEs), we conduct a prescribed-time convergence analysis on a suitable perturbation-averaged target ES system, which contains the time-periodic gains of the map and feedback delays. We further extend our method to multi-variable static maps and illustrate our results through numerical simulations.

Authors:Keshab Patra, Arpita Sinha, Anirban Guha
Title: Motion Planning of Nonholonomic Cooperative Mobile Manipulators
Abstract:
We propose a real-time implementable motion planning technique for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in an environment with static and dynamic obstacles. The proposed motion planning technique works in two steps. A novel visibility vertices-based path planning algorithm computes a global piece-wise linear path between the start and the goal location in the presence of static obstacles offline. It defines the static obstacle free space around the path with a set of convex polygons for the online motion planner. We employ a Nonliner Model Predictive Control (NMPC) based online motion planning technique for nonholonomic MMRs that jointly plans for the mobile base and the manipulators arm. It efficiently utilizes the locomotion capability of the mobile base and the manipulation capability of the arm. The motion planner plans feasible motion for the MMRs and generates trajectory for object transportation considering the kinodynamic constraints and the static and dynamic obstacles. The efficiency of our approach is validated by numerical simulation and hardware experiments in varied environments.

Authors:Jingyi Wu, Chao Ning
Title: Distributionally Robust Model Predictive Control with Mixture of Gaussian Processes
Abstract:
Despite the success of Gaussian process based Model Predictive Control (MPC) in robotic control, its applicability scope is greatly hindered by multimodal disturbances that are prevalent in real-world settings. Here we propose a novel Mixture of Gaussian Processes based Distributionally Robust MPC (MoGP-DR-MPC) framework for linear time invariant systems subject to potentially multimodal state-dependent disturbances. This framework utilizes MoGP to automatically determine the number of modes from disturbance data. Using the mean and variance information provided by each mode-specific predictive distribution, it constructs a data-driven state-dependent ambiguity set, which allows for flexible and fine-grained disturbance modeling. Based on this ambiguity set, we impose Distributionally Robust Conditional Value-at Risk (DR-CVaR) constraints to effectively achieve distributional robustness against errors in the predictive distributions. To address the computational challenge posed by these constraints in the resulting MPC problem, we equivalently reformulate the DR-CVaR constraints into tractable second-order cone constraints. Furthermore, we provide theoretical guarantees on the recursive feasibility and stability of the proposed framework. The enhanced control performance of MoGP-DR-MPC is validated through both numerical experiments and simulations on a quadrotor system, demonstrating notable reductions in closed-loop cost by 17% and 4% respectively compared against Gaussian process based MPC.

Authors:Amine Salaje, Thomas Chevet, Nicolas Langlois
Title: Convergent NMPC-based Reinforcement Learning Using Deep Expected Sarsa and Nonlinear Temporal Difference Learning
Abstract:
In this paper, we present a learning-based nonlinear model predictive controller (NMPC) using an original reinforcement learning (RL) method to learn the optimal weights of the NMPC scheme, for which two methods are proposed. Firstly, the controller is used as the current action-value function of a deep Expected Sarsa where the subsequent action-value function, usually obtained with a secondary NMPC, is approximated with a neural network (NN). With respect to existing methods, we add to the NN's input the current value of the NMPC's learned parameters so that the network is able to approximate the action-value function and stabilize the learning performance. Additionally, with the use of the NN, the real-time computational burden is approximately halved without affecting the closed-loop performance. Secondly, we combine gradient temporal difference methods with a parametrized NMPC as a function approximator of the Expected Sarsa RL method to overcome the potential parameters' divergence and instability issues when nonlinearities are present in the function approximation. The simulation results show that the proposed approach converges to a locally optimal solution without instability problems.

Authors:Saswat Priyadarshi Nayak, Matthew Barth
Title: The Role of Integrity Monitoring in Connected and Automated Vehicles: Current State-of-Practice and Future Directions
Abstract:
Positioning integrity refers to the trust in the performance of a navigation system. Accurate and reliable position information is needed to meet the requirements of connected and Automated Vehicle (CAV) applications, particularly in safety-critical scenarios. Receiver Autonomous Integrity Monitoring (RAIM) and its variants have been widely studied for Global Navigation Satellite System (GNSS)-based vehicle positioning, often fused with kinematic (e.g., Odometry) and perception sensors (e.g., camera). However, integrity monitoring (IM) for cooperative positioning solutions leveraging Vehicle-to-Everything (V2X) communication has received comparatively limited attention. This paper reviews existing research in the field of positioning IM and identifies various research gaps. Particular attention has been placed on identifying research that highlights cooperative IM methods. It also examines key automotive safety standards and public V2X datasets to map current research priorities and uncover critical gaps. Finally, the paper outlines promising future directions, highlighting research topics aimed at advancing and benchmarking positioning integrity.

Authors:Domingos Barbosa, Diogo Regateiro, João Paulo Barraca, Dzianis Bartashevich, Marco Bartolini, Matteo di Carlo, Piers Harding, Dalmiro Maia, Bruno Morgado, Domingos Nunes, Bruno Ribeiro, Bruno Coelho, Valério Ribeiro, Allan K. de Almeida, Timothée Vaillant, Uğur Yilmaz
Title: A Cloud-native Agile approach to cyber platform prototyping and integration for astronomy: the ENGAGE SKA case
Abstract:
The Square Kilometre Array (SKA) Observatory is gearing up the formal construction of its two radio interferometers in Australia and South Africa after the end of design and pre-construction phases. Agile methodologies, the Cloud native Computing technologies and the DevOps software ideas are influencing the design of compute infrastructures that will be key to reduce the operational costs of SKA while improving the control and monitoring of the SKA antennas and ancillary systems, Correlators, HPC facilities or related data centre tiered systems. These tools will likely include advanced power metering technologies and efficient distribution automation and Network Operation Centres (NOC). SKA will become the world's largest radio telescope and is expected to achieve its first science by 2026. To cope with this dimension and complexity, a key part of this distributed Observatory is the overall software control and monitoring system embodied in the Observatory Management and Control (OMC) and the Services Teams that requires specialized Agile Teams to assist in software and cyber infrastructure building using an Agile development environment that includes test automation, Continuous Integration, and Continuous Deployment. To manage such a large and distributed machine, the Agile approach was adopted for the core software package of the SKA Telescope aimed at scheduling observations, controlling their execution, monitoring the telescope status and ensuring scalability and reliability. Here, we report on the ENGAGE SKA ciberinfrastructure prototyping support to the SKA Agile Software Development Life Cycle (SDLC).

Authors:Trung Duc Tran, Ngoc-Doanh Nguyen, Hong T. M. Chu, Laurent El Ghaoui, Luca Ambrosino, Giuseppe Calafiore
Title: A Robust Optimization Model for Cost-Efficient and Fast Electric Vehicle Charging with L2-norm Uncertainty
Abstract:
In this paper, we propose a robust optimization model that addresses both the cost-efficiency and fast charging requirements for electric vehicles (EVs) at charging stations. By combining elements from traditional cost-minimization models and a fast charging objective, we construct an optimization model that balances user costs with rapid power allocation. Additionally, we incorporate L2-norm uncertainty into the charging cost, ensuring that the model remains resilient under cost fluctuations. The proposed model is tested under real-world scenarios and demonstrates its potential for efficient and flexible EV charging solutions.

Authors:Ellie Pond, Matthew Hale
Title: Verification and Synthesis Methods for High-Order Control Barrier Functions
Abstract:
High-order control barrier functions (HOCBFs) can be used to provide autonomous systems with safety, though computational methods to verify and synthesize these functions remain lacking. In this work, we address this need by formulating SOS programs that verify and synthesize HOCBFs, such that continued safety is always guaranteed forward in time. We first propose a verification SOS program for systems with (i) one or multiple HOCBFs, (ii) a control Lyapunov function (CLF), and (iii) input constraints, and we show that a solution to this problem guarantees that the online implementation of the system is always safe. Next, we propose a sequence of SOS programs that synthesize the class K functions used in an HOCBF, and we show that this sequence of problems ensures that a system is guaranteed to remain safe while running. After that, a synthesis framework is given that ensures real-time safety for systems with (i) multiple HOCBFs, (ii) a CLF, and (iii) input constraints. Our developments are illustrated in numerical simulations for a system with seven HOCBFs of maximum relative degree two, with 14 total unknown class K functions, all of which are successfully synthesized in a way that produces safe autonomy.

Authors:Fabian Mohn, Florian Thieben, Tobias Knopp
Title: Low-cost analog signal chain for transmit-receive circuits of passive induction-based resonators
Abstract:
Passive wireless sensors are crucial in modern medical and industrial settings to monitor procedures and conditions. We demonstrate a circuit to inductively excite passive resonators and to conduct their decaying signal response to a low noise amplifier. Two design variations of a generic transmit-receive signal chain are proposed, measured, and described in detail for the purpose of facilitating replication. Instrumentation and design aim to be scalable for multi-channel array configurations, using either off-the-shelf class-D audio amplifiers or a custom full H-bridge. Measurements are conducted on miniature magneto-mechanical resonators in the ultra low frequency range to enable sensing and tracking applications of such devices in different environments.

Authors:Ziyue Li, Joseph Y. J. Chow, Qianwen Guo
Title: Runway capacity expansion planning for public airports under demand uncertainty
Abstract:
Flight delay is a significant issue affecting air travel. The runway system, frequently falling short of demand, serves as a bottleneck. As demand increases, runway capacity expansion becomes imperative to mitigate congestion. However, the decision to expand runway capacity is challenging due to inherent uncertainties in demand forecasts. This paper presents a novel approach to modeling air traffic demand growth as a jump diffusion process, incorporating two layers of uncertainty: Geometric Brownian Motion (GBM) for continuous variability and a Poisson process to capture the impact of crisis events, such as natural disasters or public health emergencies, on decision-making. We propose a real options model to jointly evaluate the interrelated factors of optimal runway capacity and investment timing under uncertainty, with investment timing linked to trigger demand. The findings suggest that increased uncertainty indicates more conservative decision-making. Furthermore, the relationship between optimal investment timing and expansion size is complex: if the expansion size remains unchanged, the trigger demand decreases as the demand growth rate increases; if the expansion size experiences a jump, the trigger demand also exhibits a sharp rise. This work provides valuable insights for airport authorities for informed capacity expansion decision-making.

Authors:Tapas Dutta, Fikru Adamu-Lema, Djamel Bensouiah, Asen Asenov
Title: A Methodology for Process Design Kit Re-Centering Using TCAD and Experimental Data for Cryogenic Temperatures
Abstract:
In this work, we describe and demonstrate a novel Technology Computer Aided Design (TCAD) driven methodology that allows measurement data from 'non-ideal' silicon wafers to be used for re-centering a room temperature-based Process Design Kit (PDK) to cryogenic temperatures. This comprehensive approach holds promise for advancing cryogenic CMOS design in the absence of foundry supplied cryogenic PDKs.

Authors:Jean Panaioti Jordanou, Eduardo Camponogara, Eduardo Gildin
Title: Identifying Large-Scale Linear Parameter Varying Systems with Dynamic Mode Decomposition Methods
Abstract:
Linear Parameter Varying (LPV) Systems are a well-established class of nonlinear systems with a rich theory for stability analysis, control, and analytical response finding, among other aspects. Although there are works on data-driven identification of such systems, the literature is quite scarce in terms of works that tackle the identification of LPV models for large-scale systems. Since large-scale systems are ubiquitous in practice, this work develops a methodology for the local and global identification of large-scale LPV systems based on nonintrusive reduced-order modeling. The developed method is coined as DMD-LPV for being inspired in the Dynamic Mode Decomposition (DMD). To validate the proposed identification method, we identify a system described by a discretized linear diffusion equation, with the diffusion gain defined by a polynomial over a parameter. The experiments show that the proposed method can easily identify a reduced-order LPV model of a given large-scale system without the need to perform identification in the full-order dimension, and with almost no performance decay over performing a reduction, given that the model structure is well-established.

Authors:MohammadSadegh KhajueeZadeh, Farid Tootoonchian, Ali Pourghoraba
Title: Hybrid Resolver Model Generalization for Fault Condition Modeling: A Promising Tool for Reliability Study
Abstract:
Resolvers, like all electromagnetic devices, are constantly under investigation, both operationally and structurally. In this regard, proposing a modeling methodology that can save significant time without compromising accuracy is a big honor. In this study, a generalized hybrid model is suggested that, in addition to the above benefits, has sufficient capability to ease reliability study in the field of resolvers, where a large number of faulty conditions must be investigated under different operating conditions, including changes in angular velocity, voltage, and frequency of excitation; all of which are highlighted in the context of fault coverage. This model also serves as a promising tool for generating large datasets, which is advantageous for fault diagnosis. A resolver with a non-uniform air gap is chosen as a case study to challenge the suggested model, particularly in relation to eccentricity faults. We generalize the suggested model to account for the most common faulty conditions of resolvers: in-turn short circuits in signal and excitation windings, as well as static and dynamic eccentricity faults. The close agreement between the results of the suggested model and those from Time-Stepping Finite Element Analysis (TS-FEA), along with significant time savings in both healthy and faulty conditions, highlights the generality and proficiency of the suggested model. Finally, the case study is prototyped, and we verify the accuracy of the suggested model experimentally.

Authors:Yan Chen, Cheng Liu
Title: Sequential Multi-objective Multi-agent Reinforcement Learning Approach for Predictive Maintenance
Abstract:
Existing predictive maintenance (PdM) methods typically focus solely on whether to replace system components without considering the costs incurred by inspection. However, a well-considered approach should be able to minimize Remaining Useful Life (RUL) at engine replacement while maximizing inspection interval. To achieve this, multi-agent reinforcement learning (MARL) can be introduced. However, due to the sequential and mutually constraining nature of these 2 objectives, conventional MARL is not applicable. Therefore, this paper introduces a novel framework and develops a Sequential Multi-objective Multi-agent Proximal Policy Optimization (SMOMA-PPO) algorithm. Furthermore, to provide comprehensive and effective degradation information to RL agents, we also employed Gated Recurrent Unit, quantile regression, and probability distribution fitting to develop a GRU-based RUL Prediction (GRP) model. Experiments demonstrate that the GRP method significantly improves the accuracy of RUL predictions in the later stages of system operation compared to existing methods. When incorporating its output into SMOMA-PPO, we achieve at least a 15% reduction in average RUL without unscheduled replacements (UR), nearly a 10% increase in inspection interval, and an overall decrease in maintenance costs. Importantly, our approach offers a new perspective for addressing multi-objective maintenance planning with sequential constraints, effectively enhancing system reliability and reducing maintenance expenses.

Authors:Akshar Chavan, Rudra Joshi, Marco Brocanelli
Title: Rethinking Energy Management for Autonomous Ground Robots on a Budget
Abstract:
Autonomous Ground Robots (AGRs) face significant challenges due to limited energy reserve, which restricts their overall performance and availability. Prior research has focused separately on energy-efficient approaches and fleet management strategies for task allocation to extend operational time. A fleet-level scheduler, however, assumes a specific energy consumption during task allocation, requiring the AGR to fully utilize the energy for maximum performance, which contrasts with energy-efficient practices. This paper addresses this gap by investigating the combined impact of computing frequency and locomotion speed on energy consumption and performance. We analyze these variables through experiments on our prototype AGR, laying the foundation for an integrated approach that optimizes cyber-physical resources within the constraints of a specified energy budget. To tackle this challenge, we introduce PECC (Predictable Energy Consumption Controller), a framework designed to optimize computing frequency and locomotion speed to maximize performance while ensuring the system operates within the specified energy budget. We conducted extensive experiments with PECC using a real AGR and in simulations, comparing it to an energy-efficient baseline. Our results show that the AGR travels up to 17\% faster than the baseline in real-world tests and up to 31\% faster in simulations, while consuming 95\% and 91\% of the given energy budget, respectively. These results prove that PECC can effectively enhance AGR performance in scenarios where prioritizing the energy budget outweighs the need for energy efficiency.

Authors:Chaitanya Goswami, Pulkit Grover
Title: HingePlace: Harnessing the neural thresholding behavior to optimize Transcranial Electrical Stimulation
Abstract:
Transcranial Electrical Stimulation (tES) is a neuromodulation technique that utilizes electrodes on the scalp to stimulate target brain regions. tES has shown promise in treating many neurological conditions, such as stroke rehabilitation and chronic pain. Several electrode placement algorithms have been proposed to optimize tES-based therapies by designing multi-electrode montages that create focal neural responses. We first extend a well-known unification result by Fernandez-Corazza et al. to unify all major traditional electrode placement algorithms. We utilize this unification result to identify a common restriction among traditional electrode placement algorithms: they do not harness the thresholding behavior of neural response. Consequently, these algorithms only partially harness the properties of neural response to optimize tES, particularly increasing the focality of neural response. We propose a new electrode placement algorithm, HingePlace, that utilizes a symmetrized hinge loss to harness the thresholding behavior of neural response. We extensively compare the HingePlace algorithm with traditional electrode placement algorithms in two simulation platforms. Across both platforms, we find that HingePlace-designed montages consistently generate more focal neural responses -- by as much as 60% -- than the electrode montages designed by traditional electrode placement algorithms.

Authors:Paulo Cesar Souza Silva, Paulo Cesar Pellanda, Tiago Roux Oliveira
Title: Multivariable Stochastic Newton-Based Extremum Seeking with Delays
Abstract:
This paper presents a Newton-based stochastic extremum-seeking control method for real-time optimization in multi-input systems with distinct input delays. It combines predictor-based feedback and Hessian inverse estimation via stochastic perturbations to enable delay compensation with user-defined convergence rates. The method ensures exponential stability and convergence near the unknown extremum, even under long delays. It extends to multi-input, single-output systems with cross-coupled channels. Stability is analyzed using backstepping and infinite-dimensional averaging. Numerical simulations demonstrate its effectiveness in handling time-delayed channels, showcasing both the challenges and benefits of real-time optimization in distributed parameter settings.

Authors:Jiaqi Yan, Ivan Markovsky, John Lygeros
Title: Secure Data Reconstruction: A Direct Data-Driven Approach
Abstract:
This paper addresses the problem of secure data reconstruction for unknown systems, where data collected from the system are susceptible to malicious manipulation. We aim to recover the real trajectory without prior knowledge of the system model. To achieve this, a behavioral language is used to represent the system, describing it using input/output trajectories instead of state-space models. We consider two attack scenarios. In the first scenario, up to $k$ entries of the collected data are malicious. On the other hand, the second scenario assumes that at most $k$ channels from sensors or actuators can be compromised, implying that any data collected from these channels might be falsified. For both scenarios, we formulate the trajectory recovery problem as an optimization problem and introduce sufficient conditions to ensure successful recovery of the true data. Since finding exact solutions to these problems can be computationally inefficient, we further approximate them using an $\ell_1$-norm and group Least Absolute Shrinkage and Selection Operator (LASSO). We demonstrate that under certain conditions, these approximation problems also find the true trajectory while maintaining low computation complexity. Finally, we extend the proposed algorithms to noisy data. By reconstructing the secure trajectory, this work serves as a safeguard mechanism for subsequent data-driven control methods.

Authors:Anran Li, John P. Swensen, Mehdi Hosseinzadeh
Title: Provably-Stable Neural Network-Based Control of Nonlinear Systems
Abstract:
In recent years, Neural Networks (NNs) have been employed to control nonlinear systems due to their potential capability in dealing with situations that might be difficult for conventional nonlinear control schemes. However, to the best of our knowledge, the current literature on NN-based control lacks theoretical guarantees for stability and tracking performance. This precludes the application of NN-based control schemes to systems where stringent stability and performance guarantees are required. To address this gap, this paper proposes a systematic and comprehensive methodology to design provably-stable NN-based control schemes for affine nonlinear systems. Rigorous analysis is provided to show that the proposed approach guarantees stability of the closed-loop system with the NN in the loop. Also, it is shown that the resulting NN-based control scheme ensures that system states asymptotically converge to a neighborhood around the desired equilibrium point, with a tunable proximity threshold. The proposed methodology is validated and evaluated via simulation studies on an inverted pendulum and experimental studies on a Parrot Bebop 2 drone.

Authors:Mahdi Chalaki, Amir Zakerimanesh, Abed Soleymani, Vivian Mushahwar, Mahdi Tavakoli
Title: Vision-Based Fuzzy Control System for Smart Walkers: Enhancing Usability for Stroke Survivors with Unilateral Upper Limb Impairments
Abstract:
Mobility impairments, particularly those caused by stroke-induced hemiparesis, significantly impact independence and quality of life. Current smart walker controllers operate by using input forces from the user to control linear motion and input torques to dictate rotational movement; however, because they predominantly rely on user-applied torque exerted on the device handle as an indicator of user intent to turn, they fail to adequately accommodate users with unilateral upper limb impairments. This leads to increased physical strain and cognitive load. This paper introduces a novel smart walker equipped with a fuzzy control algorithm that leverages shoulder abduction angles to intuitively interpret user intentions using just one functional hand. By integrating a force sensor and stereo camera, the system enhances walker responsiveness and usability. Experimental evaluations with five participants showed that the fuzzy controller outperformed the traditional admittance controller, reducing wrist torque while using the right hand to operate the walker by 12.65% for left turns, 80.36% for straight paths, and 81.16% for right turns. Additionally, average user comfort ratings on a Likert scale increased from 1 to 4. Results confirmed a strong correlation between shoulder abduction angles and directional intent, with users reporting decreased effort and enhanced ease of use. This study contributes to assistive robotics by providing an adaptable control mechanism for smart walkers, suggesting a pathway towards enhancing mobility and independence for individuals with mobility impairments.

Authors:Prakash Poudel, Raghvendra V. Cowlagi
Title: Optimal Coupled Sensor Placement and Path-Planning in Unknown Time-Varying Environments
Abstract:
We address path-planning for a mobile agent to navigate in an unknown environment with minimum exposure to a spatially and temporally varying threat field. The threat field is estimated using pointwise noisy measurements from a mobile sensor network. For this problem, we present a new information gain measure for optimal sensor placement that quantifies reduction in uncertainty in the path cost rather than the environment state. This measure, which we call the context-relevant mutual information (CRMI), couples the sensor placement and path-planning problem. We propose an iterative coupled sensor configuration and path-planning (CSCP) algorithm. At each iteration, this algorithm places sensors to maximize CRMI, updates the threat estimate using new measurements, and recalculates the path with minimum expected exposure to the threat. The iterations converge when the path cost variance, which is an indicator of risk, reduces below a desired threshold. We show that CRMI is submodular, and therefore, greedy optimization provides near-optimal sensor placements while maintaining computational efficiency of the CSCP algorithm. Distance-based sensor reconfiguration costs are introduced in a modified CRMI measure, which we also show to be submodular. Through numerical simulations, we demonstrate that the principal advantage of this algorithm is that near-optimal low-variance paths are achieved using far fewer sensor measurements as compared to a standard sensor placement method.

Authors:Hao Lyu, Yanyong Guo, Pan Liu, Nan Zheng, Ting Wang, Quansheng Yue
Title: Mitigating Traffic Oscillations in Mixed Traffic Flow with Scalable Deep Koopman Predictive Control
Abstract:
Mitigating traffic oscillations in mixed flows of connected automated vehicles (CAVs) and human-driven vehicles (HDVs) is critical for enhancing traffic stability. A key challenge lies in modeling the nonlinear, heterogeneous behaviors of HDVs within computationally tractable predictive control frameworks. This study proposes an adaptive deep Koopman predictive control framework (AdapKoopPC) to address this issue. The framework features a novel deep Koopman network, AdapKoopnet, which represents complex HDV car-following dynamics as a linear system in a high-dimensional space by adaptively learning from naturalistic data. This learned linear representation is then embedded into a Model Predictive Control (MPC) scheme, enabling real-time, scalable, and optimal control of CAVs. We validate our framework using the HighD dataset and extensive numerical simulations. Results demonstrate that AdapKoopnet achieves superior trajectory prediction accuracy over baseline models. Furthermore, the complete AdapKoopPC controller significantly dampens traffic oscillations with lower computational cost, exhibiting strong performance even at low CAV penetration rates. The proposed framework offers a scalable and data-driven solution for enhancing stability in realistic mixed traffic environments. The code is made publicly available.

Authors:Mohamed Hassaan M. Hydher, Markus Schuss, Olga Saukh, Kay Römer, Carlo Alberto Boano
Title: APEX: Automated Parameter Exploration for Low-Power Wireless Protocols
Abstract:
Careful parametrization of networking protocols is crucial to maximize the performance of low-power wireless systems and ensure that stringent application requirements can be met. This is a non-trivial task involving thorough characterization on testbeds and requiring expert knowledge. Unfortunately, the community still lacks a tool to facilitate parameter exploration while minimizing the necessary experimentation time on testbeds. Such a tool would be invaluable, as exhaustive parameter searches can be time-prohibitive or unfeasible given the limited availability of testbeds, whereas non-exhaustive unguided searches rarely deliver satisfactory results. In this paper, we present APEX, a framework enabling an automated and informed parameter exploration for low-power wireless protocols and allowing to converge to an optimal parameter set within a limited number of testbed trials. We design APEX using Gaussian processes to effectively handle noisy experimental data and estimate the optimality of a certain parameter combination. After developing a prototype of APEX, we demonstrate its effectiveness by parametrizing two IEEE 802.15.4 protocols for a wide range of application requirements. Our results show that APEX can return the best parameter set with up to 10.6x, 4.5x and 3.25x less testbed trials than traditional solutions based on exhaustive search, greedy approaches, and reinforcement learning, respectively.

Authors:Shuai Sun, Weikang Hu, Xu Wang
Title: Finite Sample Analysis of Subspace Identification for Stochastic Systems
Abstract:
The subspace identification method (SIM) has become a widely adopted approach for the identification of discrete-time linear time-invariant (LTI) systems. In this paper, we derive finite sample high-probability error bounds for the system matrices $A,C$, the Kalman filter gain $K$ and the estimation of system poles. Specifically, we demonstrate that, ignoring the logarithmic factors, for an $n$-dimensional LTI system with no external inputs, the estimation error of these matrices decreases at a rate of at least $ \mathcal{O}(\sqrt{1/N}) $, while the estimation error of the system poles decays at a rate of at least $ \mathcal{O}(N^{-1/2n}) $, where $ N $ represents the number of sample trajectories. Furthermore, we reveal that achieving a constant estimation error requires a super-polynomial sample size in $n/m $, where $n/m$ denotes the state-to-output dimension ratio. Finally, numerical experiments are conducted to validate the non-asymptotic results.

Authors:Hans-Dieter Lang, Michel A. Nyffenegger, Heinz Mathis, Xingqi Zhang
Title: Reducing Simulation Effort for RIS Optimization using an Efficient Far-Field Approximation
Abstract:
Optimization of Reconfigurable Intelligent Surfaces (RIS) via a previously introduced method is effective, but time-consuming, because multiport impedance or scatter matrices are required for each transmitter and receiver position, which generally must be obtained through full-wave simulation. Herein, a simple and efficient far-field approximation is introduced, to extrapolate scatter matrices for arbitrary receiver and transmitter positions from only a single simulation while still maintaining high accuracy suitable for optimization purposes. This is demonstrated through comparisons of the optimized capacitance values and further supported by empirical measurements.

Authors:Julian D. Schiller, Lars Grüne, and Matthias A. Müller
Title: Performance guarantees for optimization-based state estimation using turnpike properties
Abstract:
In this paper, we develop novel accuracy and performance guarantees for optimal state estimation of general nonlinear systems (in particular, moving horizon estimation, MHE). Our results rely on a turnpike property of the optimal state estimation problem, which essentially states that the omniscient infinite-horizon solution involving all past and future data serves as turnpike for the solutions of finite-horizon estimation problems involving a subset of the data. This leads to the surprising observation that MHE problems naturally exhibit a leaving arc, which may have a strong negative impact on the estimation accuracy. To address this, we propose a delayed MHE scheme, and we show that the resulting performance (both averaged and non-averaged) is approximately optimal and achieves bounded dynamic regret with respect to the infinite-horizon solution, with error terms that can be made arbitrarily small by an appropriate choice of the delay. In various simulation examples, we observe that already a very small delay in the MHE scheme is sufficient to significantly improve the overall estimation error by 20-25 % compared to standard MHE (without delay). This finding is of great importance for practical applications (especially for monitoring, fault detection, and parameter estimation) where a small delay in the estimation is rather irrelevant but may significantly improve the estimation results.

Authors:Se-Wook Yoo, Seung-Woo Seo
Title: DIAL: Distribution-Informed Adaptive Learning of Multi-Task Constraints for Safety-Critical Systems
Abstract:
Safe reinforcement learning has traditionally relied on predefined constraint functions to ensure safety in complex real-world tasks, such as autonomous driving. However, defining these functions accurately for varied tasks is a persistent challenge. Recent research highlights the potential of leveraging pre-acquired task-agnostic knowledge to enhance both safety and sample efficiency in related tasks. Building on this insight, we propose a novel method to learn shared constraint distributions across multiple tasks. Our approach identifies the shared constraints through imitation learning and then adapts to new tasks by adjusting risk levels within these learned distributions. This adaptability addresses variations in risk sensitivity stemming from expert-specific biases, ensuring consistent adherence to general safety principles even with imperfect demonstrations. Our method can be applied to control and navigation domains, including multi-task and meta-task scenarios, accommodating constraints such as maintaining safe distances or adhering to speed limits. Experimental results validate the efficacy of our approach, demonstrating superior safety performance and success rates compared to baselines, all without requiring task-specific constraint definitions. These findings underscore the versatility and practicality of our method across a wide range of real-world tasks.

Authors:Yanshu Niu, Zhe Yang, Bikash C. Pal
Title: Impedance Trajectory Analysis during Power Swing for Grid-Forming Inverter with Different Current Limiters
Abstract:
Grid-forming (GFM) inverter-based resources (IBRs) are capable of emulating the external characteristics of synchronous generators (SGs) through the careful design of the control loops. However, the current limiter in the control loops of the GFM IBR poses challenges to the effectiveness of power swing detection functions designed for SG-based systems. Among various current limiting strategies, current saturation algorithms (CSAs), widely employed for their strict current limiting capability, are the focus of this paper. The paper presents a theoretical analysis of the conditions for entering and exiting the current saturation mode of the GFM IBR under three CSAs. Furthermore, the corresponding impedance trajectories observed by the distance relay on the GFM IBR side are investigated. The analysis results reveal that the unique impedance trajectories under these CSAs markedly differ from those associated with SGs. Moreover, it is demonstrated that the conventional power swing detection scheme may lose functionality due to the rapid movement of the trajectory or its failure to pass through the detection zones. Conclusions are validated through simulations in MATLAB/Simulink.

Authors:Naoya Ozaki, Yuki Akiyama, Akira Hatakeyama, Shota Ito, Takuya Chikazawa, Takayuki Yamamoto
Title: Low-Thrust Many-Revolution Trajectory Design Under Operational Uncertainties for DESTINY+ Mission
Abstract:
DESTINY+ is a planned JAXA medium-class Epsilon mission from Earth to deep space using a low-thrust, many-revolution orbit. Such a trajectory design is a challenging problem not only for trajectory design but also for flight operations, and in particular, it is essential to evaluate the impact of operational uncertainties to ensure mission success. In this study, we design the low-thrust trajectory from Earth orbit to a lunar transfer orbit by differential dynamic programming using the Sundman transformation. The results of Monte Carlo simulations with operational uncertainties confirm that the spacecraft can be successfully guided to the lunar transfer orbit by using the feedback control law of differential dynamic programming in the angular domain.

Authors:Manuel Reis Carneiro, Anibal T. de Almeida, Mahmoud Tavakoli, Carmel Majidi
Title: Recyclable Thin-Film Soft Electronics for Smart Packaging and E-Skins
Abstract:
Despite advances in soft, sticker_like electronics, few efforts have dealt with the challenge of electronic waste. Here, this is addressed by introducing an eco friendly conductive ink for thin_film circuitry composed of silver flakes and a water_based polyurethane dispersion. This ink uniquely combines high electrical conductivity (1.6 x 105 S m_1), high resolution digital printability, robust adhesion for microchip integration, mechanical resilience, and recyclability. Recycling is achieved with an ecologically friendly processing method to decompose the circuits into constituent elements and recover the conductive ink with a decrease of only 2.4 per cent in conductivity. Moreover, adding liquid metal enables stretchability of up to 200 per cent strain, although this introduces the need for more complex recycling steps. Finally, on_skin electrophysiological monitoring biostickers along with a recyclable smart package with integrated sensors for monitoring safe storage of perishable foods are demonstrated.

Authors:Pedro G. Alves, Maria Pinto, Rosa Moreira, Derick Sivakumaran, Fabian C. Landers, Maria Guix, Bradley J. Nelson, Andreas D. Flouris, Salvador Pané, Josep Puigmartí-Luis, Tiago Sotto Mayor
Title: Analysis of the navigation of magnetic microrobots through cerebral bifurcations
Abstract:
Local administration of thrombolytics in ischemic stroke could accelerate clot lysis and the ensuing reperfusion while minimizing the side effects of systemic administration. Medical microrobots could be injected into the bloodstream and magnetically navigated to the clot for administering the drugs directly to the target. The magnetic manipulation required to navigate medical microrobots will depend on various parameters such as the microrobots size, the blood velocity, and the imposed magnetic field gradients. Numerical simulation was used to study the motion of magnetically controlled microrobots flowing through representative cerebral bifurcations, for predicting the magnetic gradients required to navigate the microrobots from the injection point until the target location. Upon thorough validation of the model against several independent analytical and experimental results, the model was used to generate maps and a predictive equation providing quantitative information on the required magnetic gradients, for different scenarios. The developed maps and predictive equation are crucial to inform the design, operation and optimization of magnetic navigation systems for healthcare applications.

Authors:Silvia Tulli, Stylianos Loukas Vasileiou, Mohamed Chetouani, Sarath Sreedharan
Title: Inferring Implicit Goals Across Differing Task Models
Abstract:
One of the significant challenges to generating value-aligned behavior is to not only account for the specified user objectives but also any implicit or unspecified user requirements. The existence of such implicit requirements could be particularly common in settings where the user's understanding of the task model may differ from the agent's estimate of the model. Under this scenario, the user may incorrectly expect some agent behavior to be inevitable or guaranteed. This paper addresses such expectation mismatch in the presence of differing models by capturing the possibility of unspecified user subgoal in the context of a task captured as a Markov Decision Process (MDP) and querying for it as required. Our method identifies bottleneck states and uses them as candidates for potential implicit subgoals. We then introduce a querying strategy that will generate the minimal number of queries required to identify a policy guaranteed to achieve the underlying goal. Our empirical evaluations demonstrate the effectiveness of our approach in inferring and achieving unstated goals across various tasks.

Authors:Jan Kretinsky, Tobias Meggendorfer, Maximilian Prokop, Ashkan Zarkhah
Title: SemML: Enhancing Automata-Theoretic LTL Synthesis with Machine Learning
Abstract:
Synthesizing a reactive system from specifications given in linear temporal logic (LTL) is a classical problem, finding its applications in safety-critical systems design. We present our tool SemML, which won this year's LTL realizability tracks of SYNTCOMP, after years of domination by Strix. While both tools are based on the automata-theoretic approach, ours relies heavily on (i) Semantic labelling, additional information of logical nature, coming from recent LTL-to-automata translations and decorating the resulting parity game, and (ii) Machine Learning approaches turning this information into a guidance oracle for on-the-fly exploration of the parity game (whence the name SemML). Our tool fills the missing gaps of previous suggestions to use such an oracle and provides an efficeint implementation with additional algorithmic improvements. We evaluate SemML both on the entire set of SYNTCOMP as well as a synthetic data set, compare it to Strix, and analyze the advantages and limitations. As SemML solves more instances on SYNTCOMP and does so significantly faster on larger instances, this demonstrates for the first time that machine-learning-aided approaches can out-perform state-of-the-art tools in real LTL synthesis.

Authors:Bazeela Banday, Chandan Kumar Sah, Jishnu Keshavan
Title: Event-Based Adaptive Koopman Framework for Optic Flow-Guided Landing on Moving Platforms
Abstract:
This paper presents an optic flow-guided approach for achieving soft landings by resource-constrained unmanned aerial vehicles (UAVs) on dynamic platforms. An offline data-driven linear model based on Koopman operator theory is developed to describe the underlying (nonlinear) dynamics of optic flow output obtained from a single monocular camera that maps to vehicle acceleration as the control input. Moreover, a novel adaptation scheme within the Koopman framework is introduced online to handle uncertainties such as unknown platform motion and ground effect, which exert a significant influence during the terminal stage of the descent process. Further, to minimize computational overhead, an event-based adaptation trigger is incorporated into an event-driven Model Predictive Control (MPC) strategy to regulate optic flow and track a desired reference. A detailed convergence analysis ensures global convergence of the tracking error to a uniform ultimate bound while ensuring Zeno-free behavior. Simulation results demonstrate the algorithm's robustness and effectiveness in landing on dynamic platforms under ground effect and sensor noise, which compares favorably to non-adaptive event-triggered and time-triggered adaptive schemes.

Authors:Afsaneh L. Sanati, Timur Nikitin, Rui Fausto, Carmel Majidi, Mahmoud Tavakoli
Title: Graphene-Assisted Chemical Stabilization of Liquid Metal Nano Droplets for Liquid Metal Based Energy Storage
Abstract:
Energy storage devices with liquid_metal electrodes have attracted interest in recent years due to their potential for mechanical resilience, self_healing, dendrite_free operation, and fast reaction kinetics. Gallium alloys like Eutectic Gallium Indium (EGaIn) are appealing due to their low melting point and high theoretical specific capacity. However, EGaIn electrodes are unstable in highly alkaline electrolytes due to Gallium oxide dissolution. In this letter, this bottleneck is addressed by introducing chemically stable films in which nanoscale droplets of EGaIn are coated with trace amounts of graphene oxide (GO). It is demonstrated that a GO to EGaIn weight ratio as low as 0.01 provides enough protection for a thin film formed by GO EGaIn nanocomposite against significantly acidic or alkaline environments (pH 1-14). It is shown that GO coating significantly enhances the surface stability in such environments, thus improving the energy storage capacity by over 10x. Microstructural analysis confirms GO EGaIn composite stability and enhanced electrochemical performance. Utilizing this, a thin film supercapacitor is fabricated. Results indicate that when coating the EGaIn with GO to EGaIn ratio of 0.001 the areal capacitance improves by 10 times, reaching 20.02 mF cm_2. This breakthrough paves the way for advanced liquid metal-based thin film electrodes, promising significant improvements in energy storage applications.

Authors:Hoang Anh Tran, Nikolai Lauvås, Tor Arne Johansen, Rudy R. Negenborn
Title: Asynchronous distributed collision avoidance with intention consensus for inland autonomous ships
Abstract:
This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC) algorithm that allows ships to directly negotiate their intention to avoid collision in a synchronous communication framework. Moreover, we introduce a new approach to shape the ship's behavior to follow the waterway traffic regulations. The conditional convergence toward a stationary solution of this algorithm is guaranteed by the theory of the Alternating Direction Method of Multipliers (ADMM). To overcome the problem of asynchronous communication between ships, we adopt a new asynchronous nonlinear ADMM and present an asynchronous distributed MPC algorithm based on it. Several simulations and field experiments show that the proposed algorithms can prevent ship collisions even in complex scenarios.

Authors:Mingzhou Yin, Matthias A. Müller
Title: Gaussian Process-Based Prediction and Control of Hammerstein-Wiener Systems
Abstract:
This work investigates data-driven prediction and control of Hammerstein-Wiener systems using physics-informed Gaussian process models. Data-driven prediction algorithms have been developed for structured nonlinear systems based on Willems' fundamental lemma. However, existing frameworks cannot treat output nonlinearities and require a dictionary of basis functions for Hammerstein systems. In this work, an implicit predictor structure is considered, leveraging the multi-step-ahead ARX structure for the linear part of the model. This implicit function is learned by Gaussian process regression with kernel functions designed from Gaussian process priors for the nonlinearities. The linear model parameters are estimated as hyperparameters by assuming a stable spline hyperprior. The implicit Gaussian process model provides explicit output prediction by optimizing selected optimality criteria. The model is also applied to receding horizon control with the expected control cost and chance constraint satisfaction guarantee. Numerical results demonstrate that the proposed prediction and control algorithms are superior to black-box Gaussian process models.

Authors:Alice Smith, Bob Johnson, Michael Geller
Title: Integrating Personalized Federated Learning with Control Systems for Enhanced Performance
Abstract:
In the expanding field of machine learning, federated learning has emerged as a pivotal methodology for distributed data environments, ensuring privacy while leveraging decentralized data sources. However, the heterogeneity of client data and the need for tailored models necessitate the integration of personalization techniques to enhance learning efficacy and model performance. This paper introduces a novel framework that amalgamates personalized federated learning with robust control systems, aimed at optimizing both the learning process and the control of data flow across diverse networked environments. Our approach harnesses personalized algorithms that adapt to the unique characteristics of each client's data, thereby improving the relevance and accuracy of the model for individual nodes without compromising the overall system performance. To manage and control the learning process across the network, we employ a sophisticated control system that dynamically adjusts the parameters based on real-time feedback and system states, ensuring stability and efficiency. Through rigorous experimentation, we demonstrate that our integrated system not only outperforms standard federated learning models in terms of accuracy and learning speed but also maintains system integrity and robustness in face of varying network conditions and data distributions. The experimental results, obtained from a multi-client simulated environment with non-IID data distributions, underscore the benefits of integrating control systems into personalized federated learning frameworks, particularly in scenarios demanding high reliability and precision.

Authors:Subhrajit Barick, Chetna Singhal
Title: UAV-Assisted MEC Architecture for Collaborative Task Offloading in Urban IoT Environment
Abstract:
Mobile edge computing (MEC) is a promising technology to meet the increasing demands and computing limitations of complex Internet of Things (IoT) devices. However, implementing MEC in urban environments can be challenging due to factors like high device density, complex infrastructure, and limited network coverage. Network congestion and connectivity issues can adversely affect user satisfaction. Hence, in this article, we use unmanned aerial vehicle (UAV)-assisted collaborative MEC architecture to facilitate task offloading of IoT devices in urban environments. We utilize the combined capabilities of UAVs and ground edge servers (ESs) to maximize user satisfaction and thereby also maximize the service provider's (SP) profit. We design IoT task-offloading as joint IoT-UAV-ES association and UAV-network topology optimization problem. Due to NP-hard nature, we break the problem into two subproblems: offload strategy optimization and UAV topology optimization. We develop a Three-sided Matching with Size and Cyclic preference (TMSC) based task offloading algorithm to find stable association between IoTs, UAVs, and ESs to achieve system objective. We also propose a K-means based iterative algorithm to decide the minimum number of UAVs and their positions to provide offloading services to maximum IoTs in the system. Finally, we demonstrate the efficacy of the proposed task offloading scheme over benchmark schemes through simulation-based evaluation. The proposed scheme outperforms by 19%, 12%, and 25% on average in terms of percentage of served IoTs, average user satisfaction, and SP profit, respectively, with 25% lesser UAVs, making it an effective solution to support IoT task requirements in urban environments using UAV-assisted MEC architecture.

Authors:Mevan Wijewardena, Michael J. Neely
Title: Automatic Link Selection in Multi-Channel Multiple Access with Link Failures
Abstract:
This paper focuses on the problem of automatic link selection in multi-channel multiple access control using bandit feedback. In particular, a controller assigns multiple users to multiple channels in a time slotted system, where in each time slot at most one user can be assigned to a given channel and at most one channel can be assigned to a given user. Given that user $i$ is assigned to channel $j$, the transmission fails with a fixed probability $f_{i,j}$. The failure probabilities are not known to the controller. The assignments are made dynamically using success/failure feedback. The goal is to maximize the time average utility, where we consider an arbitrary (possibly nonsmooth) concave and entrywise nondecreasing utility function. The problem of merely maximizing the total throughput has a solution of always assigning the same user-channel pairs and can be unfair to certain users, particularly when the number of channels is less than the number of users. Instead, our scheme allows various types of fairness, such as proportional fairness, maximizing the minimum, or combinations of these by defining the appropriate utility function. We propose two algorithms for this task. The first algorithm is adaptive and gets within $\mathcal{O}(\log(T)/T^{1/3})$ of optimality over any interval of $T$ consecutive slots over which the success probabilities do not change. The second algorithm has faster $\mathcal{O}(\sqrt{\log(T)/T})$ performance over the first $T$ slots, but does not adapt well if probabilities change.

Authors:Pietro Favaro, Jean-François Toubeau, François Vallée, Yury Dvorkin
Title: Decision-Focused Learning for Complex System Identification: HVAC Management System Application
Abstract:
As opposed to conventional training methods tailored to minimize a given statistical metric or task-agnostic loss (e.g., mean squared error), Decision-Focused Learning (DFL) trains machine learning models for optimal performance in downstream decision-making tools. We argue that DFL can be leveraged to learn the parameters of system dynamics, expressed as constraint of the convex optimization control policy, while the system control signal is being optimized, thus creating an end-to-end learning framework. This is particularly relevant for systems in which behavior changes once the control policy is applied, hence rendering historical data less applicable. The proposed approach can perform system identification - i.e., determine appropriate parameters for the system analytical model - and control simultaneously to ensure that the model's accuracy is focused on areas most relevant to control. Furthermore, because black-box systems are non-differentiable, we design a loss function that requires solely to measure the system response. We propose pre-training on historical data and constraint relaxation to stabilize the DFL and deal with potential infeasibilities in learning. We demonstrate the usefulness of the method on a building Heating, Ventilation, and Air Conditioning day-ahead management system for a realistic 15-zone building located in Denver, US. The results show that the conventional RC building model, with the parameters obtained from historical data using supervised learning, underestimates HVAC electrical power consumption. For our case study, the ex-post cost is on average six times higher than the expected one. Meanwhile, the same RC model with parameters obtained via DFL underestimates the ex-post cost only by 3%.

Authors:Shuhao Zhang, Jan Swevers
Title: Robustified Time-optimal Point-to-point Motion Planning and Control under Uncertainty
Abstract:
This paper proposes a novel approach to formulate time-optimal point-to-point motion planning and control under uncertainty. The approach defines a robustified two-stage Optimal Control Problem (OCP), in which stage 1, with a fixed time grid, is seamlessly stitched with stage 2, which features a variable time grid. Stage 1 optimizes not only the nominal trajectory, but also feedback gains and corresponding state covariances, which robustify constraints in both stages. The outcome is a minimized uncertainty in stage 1 and a minimized total motion time for stage 2, both contributing to the time optimality and safety of the total motion. A timely replanning strategy is employed to handle changes in constraints and maintain feasibility, while a tailored iterative algorithm is proposed for efficient, real-time OCP execution.

Authors:Yang Liu, Yitong Shang, Sen Li
Title: Joint Infrastructure Planning and Order Assignment for On-Demand Food-Delivery Services with Coordinated Drones and Human Couriers
Abstract:
This paper investigates the optimal infrastructure planning and order assignment problem of an on-demand food-delivery platform with a mixed fleet of drones and human couriers. The platform has two delivery modes: (a) ground delivery and (b) drone-assisted delivery (i.e., air delivery). In ground delivery, couriers directly collect and transport orders from restaurants to destinations. For air delivery, the delivery process involves three legs: initially, a human courier picks up the order from the restaurant and transports it to a nearby launchpad, where personnel load the orders onto drones and replace batteries as needed. The loaded drone then transports the order from the launchpad to a kiosk, where another courier retrieves the order from the kiosk for final delivery. The platform must determine the optimal locations for launchpads and kiosks within a transportation network, and devise an order assignment strategy that allocates food-delivery orders between ground and air delivery considering the bundling probabilities of ground deliveries and the waiting times at launchpads and kiosks. We formulate the platform's problem as a mixed-integer nonlinear program and develop a novel neural network-assisted optimization method to obtain high-quality solutions. A case study in Hong Kong validates our model and algorithm, revealing that drone delivery reduces operational costs, minimizes courier fleet size, and increases order bundling opportunities. We also find that the expansion of air delivery services may entail larger delivery times due to the trade-off between the travel time savings induced by the faster air delivery and the associated detours incurred by intermodal transfer and extra waiting times at launchpads and kiosks, which crucially depends on the distance of the orders and the sequence of activating long-distance air delivery routes versus short-distance ones.

Authors:Nicholas P. Nurre, Ehsan Taheri
Title: Constrained Fuel and Time Optimal 6DOF Powered Descent Guidance Using Indirect Optimization
Abstract:
Powered descent guidance (PDG) problems subject to six-degrees-of-freedom (6DOF) dynamics allow for enforcement of practical attitude constraints. However, numerical solutions to 6DOF PDG problems are challenging due to fast rotational dynamics coupled with translational dynamics, and the presence of highly nonlinear state/control path inequality constraints. In this work, constrained fuel- and time-optimal 6DOF PDG problems are solved leveraging a regularized indirect method, subject to inequality constraints on the thrust magnitude, thruster gimbal angle, rocket tilt angle, glideslope angle, and angular velocity magnitude. To overcome the challenges associated with solving the resulting multipoint boundary-value problems (MPBVPs), the state-only path inequality constraints (SOPICs) are enforced through an interior penalty function method, which embeds the resulting MPBVPs into a multi-parameter smooth neighboring families of two-point BVPs. Extremal solutions are obtained using an indirect multiple-shooting solution method with numerical continuation. Moreover, an empirical relation is derived for the directly-adjoined Lagrange multipliers associated with SOPICs. The fuel- and time-optimal trajectories are compared against solutions of DIDO -- a capable pseudospectral-based software for solving practical constrained optimal control problems.

Authors:Michail Mathioudakis, Christos Papandreou, Theodoros Stouraitis, Vicky Margari, Antonios Nikitakis, Stavros Paschalakis, Konstantinos Kyriakopoulos, Kostas J. Spyrou
Title: Towards Real-World Validation of a Physics-Based Ship Motion Prediction Model
Abstract:
The maritime industry aims towards a sustainable future, which requires significant improvements in operational efficiency. Current approaches focus on minimising fuel consumption and emissions through greater autonomy. Efficient and safe autonomous navigation requires high-fidelity ship motion models applicable to real-world conditions. Although physics-based ship motion models can predict ships' motion with sub-second resolution, their validation in real-world conditions is rarely found in the literature. This study presents a physics-based 3D dynamics motion model that is tailored to a container-ship, and compares its predictions against real-world voyages. The model integrates vessel motion over time and accounts for its hydrodynamic behavior under different environmental conditions. The model's predictions are evaluated against real vessel data both visually and using multiple distance measures. Both methodologies demonstrate that the model's predictions align closely with the real-world trajectories of the container-ship.

Authors:Claire Bizon Monroc, Ana Bušić, Donatien Dubuc, Jiamin Zhu
Title: WFCRL: A Multi-Agent Reinforcement Learning Benchmark for Wind Farm Control
Abstract:
The wind farm control problem is challenging, since conventional model-based control strategies require tractable models of complex aerodynamical interactions between the turbines and suffer from the curse of dimension when the number of turbines increases. Recently, model-free and multi-agent reinforcement learning approaches have been used to address this challenge. In this article, we introduce WFCRL (Wind Farm Control with Reinforcement Learning), the first open suite of multi-agent reinforcement learning environments for the wind farm control problem. WFCRL frames a cooperative Multi-Agent Reinforcement Learning (MARL) problem: each turbine is an agent and can learn to adjust its yaw, pitch or torque to maximize the common objective (e.g. the total power production of the farm). WFCRL also offers turbine load observations that will allow to optimize the farm performance while limiting turbine structural damages. Interfaces with two state-of-the-art farm simulators are implemented in WFCRL: a static simulator (FLORIS) and a dynamic simulator (FAST.Farm). For each simulator, $10$ wind layouts are provided, including $5$ real wind farms. Two state-of-the-art online MARL algorithms are implemented to illustrate the scaling challenges. As learning online on FAST.Farm is highly time-consuming, WFCRL offers the possibility of designing transfer learning strategies from FLORIS to FAST.Farm.

Authors:Gabriel Behrendt, Matthew Hale, Alexander Soderlund, Sean Phillips, Evan Kain
Title: Time-Constrained Model Predictive Control for Autonomous Satellite Rendezvous, Proximity Operations, and Docking
Abstract:
This paper presents a time-constrained model predictive control strategy for the six degree-of-freedom autonomous rendezvous, proximity, operations and docking problem between a controllable "deputy" satellite and an uncontrolled "chief" satellite. The objective is to achieve a docking configuration defined by both the translational and attitudinal states of the deputy relative to the chief, whose dynamics are respectively governed by both the Clohessy-Wiltshire equations and Euler's second law of motion. The proposed control strategy explicitly addresses computational time constraints that are common to state-of-the-art space vehicles. Thus, a time-constrained model predictive control strategy is implemented on a space-grade processor. Although suboptimal with regards to energy consumption when compared to conventional optimal RPO trajectories, it is empirically demonstrated via numerical simulations that the deputy spacecraft still achieves a successful docking configuration while subject to computational time constraints.

Authors:Muhammad Iqbal, Kundan Kumar, Simo Särkkä
Title: Communication-Efficient Distributed Kalman Filtering using ADMM
Abstract:
This paper addresses the problem of optimal linear filtering in a network of local estimators, commonly referred to as distributed Kalman filtering (DKF). The DKF problem is formulated within a distributed optimization framework, where coupling constraints require the exchange of local state and covariance updates between neighboring nodes to achieve consensus. To address these constraints, the problem is transformed into an unconstrained optimization form using the augmented Lagrangian method. The distributed alternating direction method of multipliers (ADMM) is then applied to derive update steps that achieve the desired performance while exchanging only the primal variables. Notably, the proposed method enhances communication efficiency by eliminating the need for dual variable exchange. We show that the design parameters depend on the maximum eigenvalue of the network's Laplacian matrix, yielding a significantly tighter bound compared to existing results. A rigorous convergence analysis is provided, proving that the state estimates converge to the true state and that the covariance matrices across all local estimators converge to a globally optimal solution. Numerical results are presented to validate the efficacy of the proposed approach.

Authors:Yitao Yan, Jie Bao, Biao Huang
Title: The Intrinsic State Variable in Fundamental Lemma and Its Use in Stability Design for Data-based Control
Abstract:
In the data-based setting, analysis and control design of dynamical systems using measured data are typically based on overlapping trajectory segments of the input and output variables. This could lead to complex designs because the system internal dynamics, which is typically reflected by the system state variable, is unavailable. In this paper, we will show that the coefficient vector in a modified version of Willems' fundamental lemma is an intrinsic and observable state variable for the system behavior. This argument evolves from the behavioral framework without the requirement of prior knowledge on the causality among system variables or any predefined representation structure (e.g., a state space representation). Such a view allows for the construction of a state map based on the fundamental lemma, bridging the trajectory space and the state space. The state property of the coefficient vector allows for a simple stability design approach using memoryless quadratic functions of it as Lyapunov functions, from which the control action for each step can be explicitly constructed. Using the coefficient vector as a state variable could see wide applications in the analysis and control design of dynamical systems including directions beyond the discussions in this paper.

Authors:C. A. Weidner, S. P. O'Neil, E. A. Jonckheere, F. C. Langbein, S. G. Schirmer
Title: Energy Landscape Shaping for Robust Control of Atoms in Optical Lattices
Abstract:
Robust quantum control is crucial for realizing practical quantum technologies. Energy landscape shaping offers an alternative to conventional dynamic control, providing theoretically enhanced robustness and simplifying implementation for certain applications. This work demonstrates the feasibility of robust energy landscape control in a practical implementation with ultracold atoms. We leverage a digital mirror device (DMD) to shape optical potentials, creating complex energy landscapes. To achieve a desired objective, such as efficient quantum state transfer, we formulate a novel hybrid optimization approach that effectively handles both continuous (laser power) and discrete (DMD pixel activation) control parameters. This approach combines constrained quasi-Newton methods with surrogate models for efficient exploration of the vast parameter space. Furthermore, we introduce a framework for analyzing the robustness of the resulting control schemes against experimental uncertainties. By modeling uncertainties as structured perturbations, we systematically assess controller performance and identify robust solutions. We apply these techniques to maximize spin transfer in a chain of trapped atoms, achieving high-fidelity control while maintaining robustness. Our findings provide insights into the experimental viability of controlled spin transfer in cold atom systems. More broadly, the presented optimization and robustness analysis methods apply to a wide range of quantum control problems, offering a toolkit for designing and evaluating robust controllers in complex experimental settings.

Authors:Shuying Lin, Yulong Zou, Zhiyang Li, Tong Wu, Eduard E. Bahingayi, Le-Nam Tran
Title: RIS-Aided Monitoring With Cooperative Jamming: Design and Performance Analysis
Abstract:
We investigate a reconfigurable intelligent surface (RIS) aided wireless surveillance system. In this system, a monitor not only receives signal from suspicious transmitter via a RIS-enhanced legitimate surveillance (LS) link but also simultaneously takes control of multiple jammers to degrade the quality of received suspicious signal. Under this setup, to enhance monitoring performance requires improvements of both the received signal quality at the monitor and the cooperative jamming (CJ). Considering that the surveillance system is aided by one RIS, whose phase shift optimization involves both channel state information (CSI) of the LS and CJ links, we utilize partial CSI to alleviate the CSI acquisition burden in our design. We propose two RIS-aided monitoring schemes with optimal jammer selection (OJS), and derive their closed-form expressions of surveillance success probability (SSP), respectively. Furthermore, we consider RIS-aided monitoring schemes with random jammer selection as corresponding benchmarks. Thereafter, we analyze special cases where the jammers are using power control to avoid being found, making it appears like passive monitoring. Also, the effect of RIS is highlighted by considering asymptotically large number of RIS elements. Numerical results verify that the proposed OJS strategy further enhances the RIS-aided monitoring performance compared with non-jammer-selection RISLR and RISCR schemes, where the superiority comes at the cost of CSI knowledge and becomes marginal in the region of high jamming power. In addition, the RISLO shows surveillance performance advantage overRISCOwhen the suspicious power is low or when the number of RIS elements is large.

Authors:E. D. Gomez Anccas, C. A. Hans, D. Schulz
Title: Microgrid Operation Control with State-of-Charge- Dependent Storage Power Constraints
Abstract:
The microgrid concept offers high flexibility and resilience due to the possibility of switching between grid-connected and stand-alone operation. This renders microgrids an auspicious solution for rural areas and critical infrastructure. In standalone or islanded mode, the main objective is cost minimization while ensuring a safe and reliable operation. Optimal operation schemes for microgrids usually assume fixed power limits for energy storage units. This, however, is not sufficient for lithiumion energy storage systems, which often come with dynamic power limits that depend on the state of charge. These limits are especially prominent when the state of charge is close to its boundaries. In this paper, dynamic constraints for energy storages are modelled using convex polytopes and fitted to experimental data acquired from an 11.6 kWh lithium-ion energy storage system. The polytopic constraints are integrated in a model predictive control scheme that was designed for a standalone microgrid composed of a fuel cell, a photovoltaic generator and a lithium-ion energy storage system. To evaluate the advantages, a case study with two configurations is performed. The model predictive controller without polytopic constraints led to constraint violations in 11.77 % of the simulation time steps with a maximum deviation of 118 % above the power limits. The configuration with polytopic constraints in contrary led to no violations over the entire simulation horizon.

Authors:Leonardo Stella, Dario Bauso, Franco Blanchini, Patrizio Colaneri
Title: Characterization of Invariance, Periodic Solutions and Optimization of Dynamic Financial Networks
Abstract:
Cascading failures, such as bankruptcies and defaults, pose a serious threat for the resilience of the global financial system. Indeed, because of the complex investment and cross-holding relations within the system, failures can occur as a result of the propagation of a financial collapse from one organization to another. While this problem has been studied in depth from a static angle, namely, when the system is at an equilibrium, we take a different perspective and study the corresponding dynamical system. The contribution of this paper is threefold. First, we carry out a systematic analysis of the regions of attraction and invariance of the system orthants, defined by the positive and negative values of the organizations' equity. Second, we investigate periodic solutions and show through a counterexample that there could exist periodic solutions of period greater than 2. Finally, we study the problem of finding the smallest cash injection that would bring the system to the maximal invariant region of the positive orthant.

Authors:Fabian C. Landers, Lukas Hertle, Vitaly Pustovalov, Derick Sivakumaran, Oliver Brinkmann, Kirstin Meiners, Pascal Theiler, Valentin Gantenbein, Andrea Veciana, Michael Mattmann, Silas Riss, Simone Gervasoni, Christophe Chautems, Hao Ye, Semih Sevim, Andreas D. Flouris, Josep Puigmartí-Luis, Tiago Sotto Mayor, Pedro Alves, Tessa Lühmann, Xiangzhong Chen, Nicole Ochsenbein, Ueli Moehrlen, Philipp Gruber, Miriam Weisskopf, Quentin Boehler, Salvador Pané, Bradley J. Nelson
Title: Clinically Ready Magnetic Microrobots for Targeted Therapies
Abstract:
Systemic drug administration often causes off-target effects limiting the efficacy of advanced therapies. Targeted drug delivery approaches increase local drug concentrations at the diseased site while minimizing systemic drug exposure. We present a magnetically guided microrobotic drug delivery system capable of precise navigation under physiological conditions. This platform integrates a clinical electromagnetic navigation system, a custom-designed release catheter, and a dissolvable capsule for accurate therapeutic delivery. In vitro tests showed precise navigation in human vasculature models, and in vivo experiments confirmed tracking under fluoroscopy and successful navigation in large animal models. The microrobot balances magnetic material concentration, contrast agent loading, and therapeutic drug capacity, enabling effective hosting of therapeutics despite the integration complexity of its components, offering a promising solution for precise targeted drug delivery.

Authors:Minsu Kim, Jaehyun Oh, Sang-Young Lee, Junghwan Kim
Title: State-of-Health Prediction for EV Lithium-Ion Batteries via DLinear and Robust Explainable Feature Selection
Abstract:
Accurate prediction of the state-of-health (SOH) of lithium-ion batteries is essential for ensuring the safety, reliability, and efficient operation of electric vehicles (EVs). Battery packs in EVs experience nonuniform degradation due to cell-to-cell variability (CtCV), posing a major challenge for real-time battery management. In this work, we propose an explainable, data-driven SOH prediction framework tailored for EV battery management systems (BMS). The approach combines robust feature engineering with a DLinear. Using NASA's battery aging dataset, we extract twenty meaningful features from voltage, current, temperature, and time profiles, and select key features using Pearson correlation and Shapley additive explanations (SHAP). The SHAP-based selection yields consistent feature importance across multiple cells, effectively capturing CtCV. The DLinear algorithm outperforms long short-term memory (LSTM) and Transformer architectures in prediction accuracy, while requiring fewer training cycles and lower computational cost. This work offers a scalable and interpretable framework for SOH forecasting, enabling practical implementation in EV BMS and promoting safer, more efficient electric mobility.

Authors:Jerrod Wigmore, Brooke Shrader, Eytan Modiano
Title: A Novel Switch-Type Policy Network for Resource Allocation Problems: Technical Report
Abstract:
Deep Reinforcement Learning (DRL) has become a powerful tool for developing control policies in queueing networks, but the common use of Multi-layer Perceptron (MLP) neural networks in these applications has significant drawbacks. MLP architectures, while versatile, often suffer from poor sample efficiency and a tendency to overfit training environments, leading to suboptimal performance on new, unseen networks. In response to these issues, we introduce a switch-type neural network (STN) architecture designed to improve the efficiency and generalization of DRL policies in queueing networks. The STN leverages structural patterns from traditional non-learning policies, ensuring consistent action choices across similar states. This design not only streamlines the learning process but also fosters better generalization by reducing the tendency to overfit. Our works presents three key contributions: first, the development of the STN as a more effective alternative to MLPs; second, empirical evidence showing that STNs achieve superior sample efficiency in various training scenarios; and third, experimental results demonstrating that STNs match MLP performance in familiar environments and significantly outperform them in new settings. By embedding domain-specific knowledge, the STN enhances the Proximal Policy Optimization (PPO) algorithm's effectiveness without compromising performance, suggesting its suitability for a wide range of queueing network control problems.

Authors:Prakash Poudel, Jeffrey DesRoches, Raghvendra V. Cowlagi
Title: Actively Coupled Sensor Configuration and Planning in Unknown Dynamic Environments
Abstract:
We address the problem of path-planning for an autonomous mobile vehicle, called the ego vehicle, in an unknown andtime-varying environment. The objective is for the ego vehicle to minimize exposure to a spatiotemporally-varying unknown scalar field called the threat field. Noisy measurements of the threat field are provided by a network of mobile sensors. Weaddress the problem of optimally configuring (placing) these sensors in the environment. To this end, we propose sensor reconfiguration by maximizing a reward function composed of three different elements. First, the reward includes an informa tion measure that we call context-relevant mutual information (CRMI). Unlike typical sensor placement techniques that maxi mize mutual information of the measurements and environment state, CRMI directly quantifies uncertainty reduction in the ego path cost while it moves in the environment. Therefore, the CRMI introduces active coupling between the ego vehicle and the sensor network. Second, the reward includes a penalty on the distances traveled by the sensors. Third, the reward includes a measure of proximity of the sensors to the ego vehicle. Although we do not consider communication issues in this paper, such proximity is of relevance for future work that addresses communications between the sensors and the ego vehicle. We illustrate and analyze the proposed technique via numerical simulations.

Authors:Mohammud J. Bocus, Juha Hakkinen, Helder Fontes, Marcin Drzewiecki, Senhui Qiu, Kerstin Eder, Robert Piechocki
Title: An Energy-Aware RIoT System: Analysis, Modeling and Prediction in the SUPERIOT Framework
Abstract:
This paper presents a comprehensive analysis of the energy consumption characteristics of a Silicon (Si)-based Reconfigurable IoT (RIoT) node developed in the initial phase of the SUPERIOT project, focusing on key operating states, including Bluetooth Low Energy (BLE) communication, Narrow-Band Visible Light Communication (NBVLC), sensing, and E-ink display. Extensive measurements were conducted to establish a detailed energy profile, which serves as a benchmark for evaluating the effectiveness of subsequent optimizations and future node iterations. To minimize the energy consumption, multiple optimizations were implemented at both the software and hardware levels, achieving a reduction of over 60% in total energy usage through software modifications alone. Further improvements were realized by optimizing the E-ink display driving waveform and implementing a very low-power mode for non-communication activities. Based on the measured data, three measurement-based energy consumption models were developed to characterize the energy behavior of the node under: (i) normal, unoptimized operation, (ii) low-power, software-optimized operation, and (iii) very low-power, hardware-optimized operation. These models, validated with new measurement data, achieved an accuracy exceeding 97%, confirming their reliability for predicting energy consumption in diverse configurations.

Authors:Qingyuan Shi, Chijie Zhuang, Jiapeng Liu, Bo Lin, Xiyu Peng, Dan Wu, Zhicheng Liu, Rong Zeng
Title: Hybrid Parallel Collaborative Simulation Framework Integrating Device Physics with Circuit Dynamics for PDAE-Modeled Power Electronic Equipment
Abstract:
Optimizing high-performance power electronic equipment, such as power converters, requires multiscale simulations that incorporate the physics of power semiconductor devices and the dynamics of other circuit components, especially in conducting Design of Experiments (DoEs), defining the safe operating area of devices, and analyzing failures related to semiconductor devices. However, current methodologies either overlook the intricacies of device physics or do not achieve satisfactory computational speeds. To bridge this gap, this paper proposes a Hybrid-Parallel Collaborative (HPC) framework specifically designed to analyze the Partial Differential Algebraic Equation (PDAE) modeled power electronic equipment, integrating the device physics and circuit dynamics. The HPC framework employs a dynamic iteration to tackle the challenges inherent in solving the coupled nonlinear PDAE system, and utilizes a hybrid-parallel computing strategy to reduce computing time. Physics-based system partitioning along with hybrid-process-thread parallelization on shared and distributed memory are employed, facilitating the simulation of hundreds of partial differential equations (PDEs)-modeled devices simultaneously without compromising speed. Experiments based on the hybrid line commutated converter and reverse-blocking integrated gate-commutated thyristors are conducted under 3 typical real-world scenarios: semiconductor device optimization for the converter; converter design optimization; and device failure analysis. The HPC framework delivers simulation speed up to 60 times faster than the leading commercial software, while maintaining carrier-level accuracy in the experiments. This shows great potential for comprehensive analysis and collaborative optimization of devices and electronic power equipment, particularly in extreme conditions and failure scenarios.

Authors:Ao Cao, Fuyong Wang
Title: Informativity Conditions for Multiple Signals: Properties, Experimental Design, and Applications
Abstract:
Recent studies highlight the importance of persistently exciting condition in single signal sequence for model identification and data-driven control methodologies. However, maintaining prolonged excitation in control signals introduces significant challenges, as continuous excitation can reduce the lifetime of mechanical devices. In this paper, we introduce three informativity conditions for various types of multi-signal data, each augmented by weight factors. We explore the interrelations between these conditions and their rank properties in linear time-invariant systems. Furthermore, we introduce open-loop experimental design methods tailored to each of the three conditions, which can synthesize the required excitation conditions either offline or online, even in the presence of limited information within each signal segment. We demonstrate the effectiveness of these informativity conditions in least-squares identification. Additionally, all three conditions can extend Willems' fundamental lemma and are utilized to assess the properties of the system. Illustrative examples confirm that these conditions yield satisfactory outcomes in both least-squares identification and the construction of data-driven controllers.

Authors:Yeyson A. Becerra-Mora, José Ángel Acosta, Ángel Rodríguez Castaño
Title: Learning port maneuvers from data for automatic guidance of Unmanned Surface Vehicles
Abstract:
At shipping ports, some repetitive maneuvering tasks such as entering/leaving port, transporting goods inside it or just making surveillance activities, can be efficiently and quickly carried out by a domestic pilot according to his experience. This know-how can be seized by Unmanned Surface Vehicles (USV) in order to autonomously replicate the same tasks. However, the inherent nonlinearity of ship trajectories and environmental perturbations as wind or marine currents make it difficult to learn a model and its respective control. We therefore present a data-driven learning and control methodology for USV, which is based on Gaussian Mixture Model, Gaussian Mixture Regression and the Sontag's universal formula. Our approach is capable to learn the nonlinear dynamics as well as guarantee the convergence toward the target with a robust controller. Real data have been collected through experiments with a vessel at the port of Ceuta. The complex trajectories followed by an expert have been learned including the robust controller. The effect of the controller over noise/perturbations are presented, a measure of error is used to compare estimates and real data trajectories, and finally, an analysis of computational complexity is performed.

Authors:Yan He, Yumin Su, Kaiyuan Yang
Title: Design-Agnostic Distributed Timing Fault Injection Monitor With End-to-End Design Automation
Abstract:
Fault injection attacks induce hardware failures in circuits and exploit these faults to compromise the security of the system. It has been demonstrated that FIAs can bypass system security mechanisms, cause faulty outputs, and gain access to secret information. Certain types of FIAs can be mounted with little effort by tampering with clock signals and or the chip operating conditions. To mitigate such low cost, yet powerful attacks, we propose a fully synthesizable and distributable in situ fault injection monitor that employs a delay locked loop to track the pulsewidth of the clock. We further develop a fully automated design framework to optimize and implement the FIA monitors at any process node. Our design is fabricated and verified in 65 nm CMOS technology with a small footprint of 1500 um2. It can lock to clock frequencies from 2 MHz to 1.26 GHz while detecting all 12 types of possible clock glitches, as well as timing FIA injections via the supply voltage, electromagnetic signals, and chip temperature.

Authors:Nelson Salazar-Pena, Adolfo Palma-Vergara, Mateo Montes-Vera, Maria Alejandra Vargas-Torres, Rodrigo Hernandez-Vanegas, Maria Amador, Boris Rojas, Adriana Salinas, Andres Velasco, Alejandra Tabares, Andres Gonzalez-Mancera
Title: Intra-day Solar and Power Forecast for Optimization of Intraday Market Participation
Abstract:
The prediction of solar irradiance enhances reliability in photovoltaic (PV) solar plant generation and grid integration. In Colombia, PV plants face penalties if energy production deviates beyond governmental thresholds from intraday market offers. This research employs Long Short-Term Memory (LSTM) and Bidirectional-LSTM (Bi-LSTM) models, utilizing meteorological data from a PV plant in El Paso, Cesar, Colombia, to predict solar irradiance with a 6-hour horizon and 10-minute resolution. While Bi-LSTM showed superior performance, the LSTM model achieved comparable results with significantly reduced training time (6 hours versus 18 hours), making it computationally advantageous. The LSTM predictions were averaged to create an hourly resolution model, evaluated using Mean Absolute Error, Root-Mean-Square Error, Normalized Root-Mean-Square Error, and Mean Absolute Percentage Error metrics. Comparison with the Global Forecast System (GFS) revealed similar performance, with both models effectively capturing daily solar irradiance patterns. The forecast model integrates with an Object-Oriented power production model, enabling accurate energy offers in the intraday market while minimizing penalty costs.

Authors:João Paulo S. H. Lima, George N. Katsaros, Konstantinos Nikitopoulos
Title: Power-Efficient RAN Intelligent Controllers Through Optimized KPI Monitoring
Abstract:
The Open Radio Access Network (RAN) paradigm envisions a more flexible, interoperable, and intelligent RAN ecosystem via new open interfaces and elements like the RAN Intelligent Controller (RIC). However, the impact of these elements on Open RAN's power consumption remains heavily unexplored. This work for the first time evaluates the impact of Key Performance Indicator (KPI) monitoring on RIC's power consumption using real traffic and power measurements. By analyzing various RIC-RAN communication scenarios, we identify that RIC's power consumption can become a scalability bottleneck, particularly in large-scale deployments, even when RIC is limited to its core operational functionalities and without incorporating application-specific processes. In this context, also for the first time we explore potential power savings through the elimination of redundant KPI transmissions, extending existing techniques for identical subscription removal and KPI selection, achieving significant power consumption gains exceeding 87\% of the overall RIC power consumption.

Authors:Van Truong Hoang, Manh Duong Phung
Title: Path Planning for a UAV Swarm Using Formation Teaching-Learning-Based Optimization
Abstract:
This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness functions that not only ensure the formation but also include constraints for optimal and safe UAV operation. To optimize the fitness function and obtain a suboptimal path, we employ the teaching-learning-based optimization algorithm and then further enhance it with mechanisms such as mutation, elite strategy, and multi-subject combination. A number of simulations and experiments have been conducted to evaluate the proposed method. The results demonstrate that the algorithm successfully generates valid paths for the UAVs to fly in a triangular formation for an inspection task.

Authors:Sotaro Fushimi, Kenta Hoshino, Yuki Nishimura
Title: Safety-Critical Control for Discrete-time Stochastic Systems with Flexible Safe Bounds using Affine and Quadratic Control Barrier Functions
Abstract:
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding the conservative bounds of safe probabilities. In particular, this study focuses on the design of CBFs that provide flexibility in the choice of functions to obtain tighter bounds on the safe probabilities. Numerical examples demonstrate the effectiveness of the approach.

Authors:Simon McGregor, timorl, Nathaniel Virgo
Title: Formalising the intentional stance 2: a coinductive approach
Abstract:
Given a stochastic process with inputs and outputs, how might its behaviour be related to pursuit of a goal? We model this using 'transducers', objects that capture only the external behaviour of a system and not its internal state. A companion paper summarises our results for cognitive scientists; the current paper gives formal definitions and proofs. To formalise the concept of a system that behaves as if it were pursuing a goal, we consider what happens when a transducer (a 'policy') is coupled to another transducer that comes equipped with a success condition (a 'teleo-environment'). An optimal policy is identified with a transducer that behaves as if it were perfectly rational in the pursuit of a goal; our framework also allows us to model constrained rationality. Optimal policies obey a version of Bellman's principle: a policy that's optimal in one time step will again be optimal in the next time step, but with respect to a different teleo-environment (obtained from the original one by a modified version of Bayesian filtering). This property sometimes also applies to the bounded-rational case; we give a sufficient condition. A policy is deterministic if and only if there exists a teleo-environment for which it is uniquely optimal among the set of all policies; we relate this to classical representation theorems from decision theory. This result need not hold in the bounded-rational case; we give an example related to the absent-minded driver problem. The formalism is defined using coinduction, following the style proposed by Czajka.

Authors:Jihun Han, Dominik Karbowski, Ayman Moawad, Namdoo Kim, Aymeric Rousseau, Shihong Fan, Jason Hoon Lee, Jinho Ha
Title: Processing and Analyzing Real-World Driving Data: Insights on Trips, Scenarios, and Human Driving Behaviors
Abstract:
Analyzing large volumes of real-world driving data is essential for providing meaningful and reliable insights into real-world trips, scenarios, and human driving behaviors. To this end, we developed a multi-level data processing approach that adds new information, segments data, and extracts desired parameters. Leveraging a confidential but extensive dataset (over 1 million km), this approach leads to three levels of in-depth analysis: trip, scenario, and driving. The trip-level analysis explains representative properties observed in real-world trips, while the scenario-level analysis focuses on scenario conditions resulting from road events that reduce vehicle speed. The driving-level analysis identifies the cause of driving regimes for specific situations and characterizes typical human driving behaviors. Such analyses can support the design of both trip- and scenario-based tests, the modeling of human drivers, and the establishment of guidelines for connected and automated vehicles.

Authors:Junling Li, Cheng-Xiang Wang, Chen Huang, Tianrun Qi, Tong Wu
Title: Digital Twin Online Channel Modeling: Challenges,Principles, and Applications
Abstract:
Different from traditional offline channel modeling, digital twin online channel modeling can sense and accurately characterize dynamic wireless channels in real time, and can therefore greatly assist 6G network optimization. This article proposes a novel promising framework and a step-by-step design procedure of digital twin online channel models (DTOCM). By enabling continuous visualization and accurate prediction of dynamic channel variations, DTOCM can synchronize the performance between simulated and real networks. We first explore the evolution and conceptual advancements of DTOCM, highlighting its visions and associated challenges. Then, we explain its operational principles, construction mechanisms, and applications to typical 6G scenarios. Subsequently, the real-time channel information provisioning and visualization capabilities of DTOCM are illustrated through our DTOCM platform based on practical scenarios. Finally, future research directions and open issues are discussed.

Authors:Md Shahriar Kabir, Khalid Mahmud Niloy, S. M. Imrat Rahman, Md Imon Hossen, Sumaiya Afrose, Md. Ismail Hossain Mofazzol, Md Lion Ahmmed
Title: A Novel Method for Detecting Dust Accumulation in Photovoltaic Systems: Evaluating Visible Sunlight Obstruction in Different Dust Levels and AI-based Bird Droppings Detection
Abstract:
This paper presents an innovative method for automatically detecting dust accumulation on a PV system and notifying the user to clean it instantly. The accumulation of dust, bird, or insect droppings on the surface of photovoltaic (PV) panels creates a barrier between the solar energy and the panel's surface to receive sufficient energy to generate electricity. The study investigates the effects of dust on PV panel output and visible sunlight (VSL) block amounts to utilize the necessity of cleaning and detection. The amount of blocked visible sunlight while passing through glass due to dust determines the accumulated dust level. Visible sunlight can easily pass through the clean, transparent glass but reflects when something like dust obstructs it. Based on those concepts, a system is designed with a light sensor that is simple, effective, easy to install, hassle-free, and can spread the technology. The study also explores the effectiveness of the detection system developed by using image processing and machine learning algorithms to identify dust levels and bird or insect droppings accurately. The experimental setup in Gazipur, Bangladesh, found that excessive dust can block up to 55% of visible sunlight, wasting 55% of solar energy in the visible spectrum, and cleaning can recover 3% of power weekly. The data from the dust detection system is correlated with the 400W capacity solar panels' naturally lost efficiency data to validate the system. This research measured visible sunlight obstruction and loss due to dust. However, the addition of an infrared radiation sensor can draw the entire scenario of energy loss by doing more research.

Authors:Shashwot Shrestha, Rachana Subedi, Swodesh Sharma, Sushil Phuyal, Indraman Tamrakar
Title: A Comparative Analysis of Transformer-less Inverter Topologies for Grid-Connected PV Systems: Minimizing Leakage Current and THD
Abstract:
The integration of distributed energy resources (DERs), particularly photovoltaic (PV) systems, into power grids has gained major attention due to their environmental and economic benefits. Although traditional transformer-based grid-connected PV inverters provide galvanic isolation for leakage current, they suffer from major drawbacks of high cost, lower efficiency, and increased size. Transformer-less grid-connected PV inverters (TLGI) have emerged as a prominent alternative, as they achieve higher efficiency, compact design, and lower cost. However, due to a lack of galvanic isolation, TLGIs are highly affected by leakage current caused by the fluctuation of common-mode voltage (CMV). This paper investigates three topologies H4, H5, and HERIC with comparisons between their CMV, differential-mode voltage (DMV), total harmonic distortion (THD), and leakage current. A simulation was conducted for each topology in MATLAB/Simulink R2023a, and the results demonstrate that the H5 topology achieves a balance between low leakage current, reduced THD, and optimal operational efficiency, making it suitable for practical application.

Authors:Pascal Marquardt, Sebastian Durst, Kilian Barth, Tobias Müller
Title: A resource management approach for concurrent operation of RF functionalities
Abstract:
Future multifunction RF systems will be able to not only perform various different radar, communication and electronic warfare functionalities but also to perform them simultaneously on the same aperture. This ability of concurrent operations requires new, cognitive approaches of resource management compared to classical methods. This paper presents such a new approach using a combination of quality of service based resource management and Monte Carlo tree search.

Authors:Fabian Jakob, Andrea Iannelli
Title: A Linear Parameter-Varying Framework for the Analysis of Time-Varying Optimization Algorithms
Abstract:
In this paper we propose a framework to analyze iterative first-order optimization algorithms for time-varying convex optimization. We assume that the temporal variability is caused by a time-varying parameter entering the objective, which can be measured at the time of decision but whose future values are unknown. We consider the case of strongly convex objective functions with Lipschitz continuous gradients under a convex constraint set. We model the algorithms as discrete-time linear parameter varying (LPV) systems in feedback with monotone operators such as the time-varying gradient. We leverage the approach of analyzing algorithms as uncertain control interconnections with integral quadratic constraints (IQCs) and generalize that framework to the time-varying case. We propose novel IQCs that are capable of capturing the behavior of time-varying nonlinearities and leverage techniques from the LPV literature to establish novel bounds on the tracking error. Quantitative bounds can be computed by solving a semi-definite program and can be interpreted as an input-to-state stability result with respect to a disturbance signal which increases with the temporal variability of the problem. As a departure from results in this research area, our bounds introduce a dependence on different additional measures of temporal variations, such as the function value and gradient rate of change. We exemplify our main results with numerical experiments that showcase how our analysis framework is able to capture convergence rates of different first-order algorithms for time-varying optimization through the choice of IQC and rate bounds.

Authors:Demetris Chrysostomou, Jose Luis Rueda Torres, Jochen Lorenz Cremer
Title: TensorConvolutionPlus: A python package for distribution system flexibility area estimation
Abstract:
Power system operators need new, efficient operational tools to use the flexibility of distributed resources and deal with the challenges of highly uncertain and variable power systems. Transmission system operators can consider the available flexibility in distribution systems (DSs) without breaching the DS constraints through flexibility areas. However, there is an absence of open-source packages for flexibility area estimation. This paper introduces TensorConvolutionPlus, a user-friendly Python-based package for flexibility area estimation. The main features of TensorConvolutionPlus include estimating flexibility areas using the TensorConvolution+ algorithm, the power flow-based algorithm, an exhaustive PF-based algorithm, and an optimal power flow-based algorithm. Additional features include adapting flexibility area estimations from different operating conditions and including flexibility service providers offering discrete setpoints of flexibility. The TensorConvolutionPlus package facilitates a broader adaptation of flexibility estimation algorithms by system operators and power system researchers.

Authors:Arash Baharvandi, Duong Tung Nguyen
Title: Coordinated Deliverable Energy Flexibility from EV Aggregators in Distribution Networks
Abstract:
This paper presents a coordinated framework to optimize electric vehicle (EV) charging considering grid constraints and system uncertainties. The proposed framework consists of two optimization models. In particular, the distribution system operator (DSO) solves the first model to optimize the amount of deliverable energy flexibility that can be obtained from EV aggregators. To address the uncertainties of loads and solar energy generation, a hybrid robust/stochastic approach is employed, enabling the transformation of uncertainty-related constraints into a set of equivalent deterministic constraints. Once the DSO has computed the optimal energy flexibility, each aggregator utilizes the second optimization model to optimize the charging schedule for its respective fleet of EVs. Numerical simulations are performed on a modified IEEE 33-bus distribution network to illustrate the efficiency of the proposed framework.

Authors:Gaurav Singh Bhati, Arukonda Vaishnavi, Anoop Jain
Title: Safe Circumnavigation of a Hostile Target Using Range-Based Measurements
Abstract:
Robotic systems are frequently deployed in missions that are dull, dirty, and dangerous, where ensuring their safety is of paramount importance when designing stabilizing controllers to achieve their desired goals. This paper addresses the problem of safe circumnavigation around a hostile target by a nonholonomic robot, with the objective of maintaining a desired safe distance from the target. Our solution approach involves incorporating an auxiliary circle into the problem formulation, which assists in navigating the robot around the target using available range-based measurements. By leveraging the concept of a barrier Lyapunov function, we propose a novel control law that ensures stable circumnavigation around the target while preventing the robot from entering the safety circle. This controller is designed based on a parameter that depends on the radii of three circles, namely the stabilizing circle, the auxiliary circle, and the safety circle. By identifying an appropriate range for this design parameter, we rigorously prove the stability of the desired equilibrium of the closed-loop system. Additionally, we provide an analysis of the robot's motion within the auxiliary circle, which is influenced by a gain parameter in the proposed controller. Simulation and experimental results are presented to illustrate the key theoretical developments.

Authors:Dongdong Li, Jiuxiang Dong
Title: Cooperative Optimal Output Tracking for Discrete-Time Multiagent Systems: Stabilizing Policy Iteration Frameworks and Analysis
Abstract:
In this paper, two model-free optimal output tracking frameworks based on policy iteration for discrete-time multi-agent systems are proposed. First, we establish a framework of stabilizing policy iteration that can start from any initial feedback control policy, relaxing the dependence of traditional policy iteration on the initial stabilizing control policy. Then, another efficient and equivalent $Q$-learning policy iteration framework is developed, which is shown to require only less system data to get the same results as the stabilizing policy iteration. Both frameworks obtain stabilizing control policy by iterating the stabilizing virtual closed-loop system step-by-step to the actual closed-loop system. Multiple explicit schemes for the iteration step-size/coefficient are designed and their stability during the above iterations is analyzed. By using the generated closed-loop stabilizing control policy and two frameworks, the optimal feedback control gain is obtained. The approximate solution of the regulator equations is found by model-free iteration, which leads to the optimal feedforward gain. Finally, the cooperative optimal output tracking is realized by a distributed feedforward-feedback controller. The proposed algorithms are validated by simulation.

Authors:Daniel Ovalle, Stefan Mazzadi, Carl D. Laird, Ignacio E. Grossmann, Joshua L. Pulsipher
Title: Event Constrained Programming
Abstract:
In this paper, we present event constraints as a new modeling paradigm that generalizes joint chance constraints from stochastic optimization to (1) enforce a constraint on the probability of satisfying a set of constraints aggregated via application-specific logic (constituting an event) and (2) to be applied to general infinite-dimensional optimization (InfiniteOpt) problems (i.e., time, space, and/or uncertainty domains). This new constraint class offers significant modeling flexibility in posing InfiniteOpt constraints that are enforced over a certain portion of their domain (e.g., to a certain probability level), but can be challenging to reformulate/solve due to difficulties in representing arbitrary logical conditions and specifying a probabilistic measure on a collection of constraints. To address these challenges, we derive a generalized disjunctive programming (GDP) representation of event constrained optimization problems, which readily enables us to pose logical event conditions in a standard form and allows us to draw from a suite of GDP solution strategies that leverage the special structure of this problem class. We also extend several approximation techniques from the chance constraint literature to provide a means to reformulate certain event constraints without the use of binary variables. We illustrate these findings with case studies in stochastic optimal power flow, dynamic disease control, and optimal 2D diffusion.

Authors:Vladimir Sovljanski, Mario Paolone, Sylvain Tant, Damien Pierre Sainflou
Title: Optimizing Experiments for Accurate Battery Circuit Parameters Estimation: Reduction and Adjustment of Frequency Set Used in Electrochemical Impedance Spectroscopy
Abstract:
In this paper, we study a suitable experimental design of electrochemical impedance spectroscopy (EIS) to reduce the number of frequency points while not significantly affecting the uncertainties of the estimated cell's equivalent circuit model (ECM) parameters. It is based on an E-optimal experimental design that aims to maximize the information about the ECM parameters collected by EIS measurements and, at the same time, minimize the overall uncertainty. In a numerical experiment, we first analyze to which extent reducing the number of measurement points at low frequencies affects the uncertainty of the estimated parameters. Secondly, we show that applying the frequency adjustments can lead to the same or even improved global uncertainty of ECM parameter estimates as with a higher number of measurements. This is numerically verified through a case study using the ECM parameters of a commercial battery cell.

Authors:Dhrumil Bhatt, Siddharth Penumatsa, Nirbhay Singhal
Title: Weather-Driven Priority Charging for Battery Storage Systems in Hybrid Renewable Energy Grids
Abstract:
The integration of renewable energy into the power grid is often hindered by its fragmented infrastructure, leading to inefficient utilization due to the variability of energy production and its reliance on weather conditions. Battery storage systems, while essential for stabilizing energy supply, face challenges like sub-optimal energy distribution, accelerating battery degradation, and reducing operational efficiency. This paper presents a novel solution to these challenges by developing a large-scale, interconnected renewable energy network that optimizes energy storage and distribution. The proposed system includes strategically placed battery storage facilities that stabilize energy production by compensating for fluctuations in renewable output. A priority charging algorithm, informed by real-time weather forecasting and load monitoring, ensures that the most suitable battery systems are charged under varying conditions. Within each storage facility, a secondary priority charging algorithm minimizes battery degradation by ranking batteries based on critical parameters such as state of health (SoH) and state of charge (SoC) and deciding which to charge. This comprehensive approach enhances the efficiency and longevity of battery storage systems, offering a more reliable and resilient renewable energy infrastructure.

Authors:Jingyi Cheng, Shadi Sharif Azadeh
Title: Real-Time Integrated Dispatching and Idle Fleet Steering with Deep Reinforcement Learning for A Meal Delivery Platform
Abstract:
To achieve high service quality and profitability, meal delivery platforms like Uber Eats and Grubhub must strategically operate their fleets to ensure timely deliveries for current orders while mitigating the consequential impacts of suboptimal decisions that leads to courier understaffing in the future. This study set out to solve the real-time order dispatching and idle courier steering problems for a meal delivery platform by proposing a reinforcement learning (RL)-based strategic dual-control framework. To address the inherent sequential nature of these problems, we model both order dispatching and courier steering as Markov Decision Processes. Trained via a deep reinforcement learning (DRL) framework, we obtain strategic policies by leveraging the explicitly predicted demands as part of the inputs. In our dual-control framework, the dispatching and steering policies are iteratively trained in an integrated manner. These forward-looking policies can be executed in real-time and provide decisions while jointly considering the impacts on local and network levels. To enhance dispatching fairness, we propose convolutional deep Q networks to construct fair courier embeddings. To simultaneously rebalance the supply and demand within the service network, we propose to utilize mean-field approximated supply-demand knowledge to reallocate idle couriers at the local level. Utilizing the policies generated by the RL-based strategic dual-control framework, we find the delivery efficiency and fairness of workload distribution among couriers have been improved, and under-supplied conditions have been alleviated within the service network. Our study sheds light on designing an RL-based framework to enable forward-looking real-time operations for meal delivery platforms and other on-demand services.

Authors:Pedro dos Santos, Paulo Oliveira
Title: Pitch Plane Trajectory Tracking Control for Sounding Rockets via Adaptive Feedback Linearization
Abstract:
This paper proposes a pitch plane trajectory tacking control solution for suborbital launch vehicles relying on adaptive feedback linearization. Initially, the 2D dynamics and kinematics for a single-engine, thrust-vector-controlled sounding rocket are obtained for control design purposes. Then, an inner-outer control strategy, which simultaneously tackles attitude and position control, is adopted, with the inner-loop comprising the altitude and pitch control and the outer-loop addressing the horizontal (downrange) position control. Feedback linearization is used to cancel out the non-linearities in both the inner and outer dynamics. Making use of Lyapunov stability theory, an adaptation law, which provides online estimates on the inner-loop aerodynamic uncertainty, is jointly designed with the output tracking controller via adaptive backstepping, ensuring global reference tracking in the region where the feedback linearization is well-defined. The zero dynamics of the inner-stabilized system are then exploited to obtain the outerloop dynamics and derive a Linear Quadratic Regulator (LQR) with integral action, which can stabilize them as well as reject external disturbances. In the outermost loop, the estimate on the correspondent aerodynamic uncertainty is indirectly obtained by using the inner loop estimates together with known aerodynamics relations. The resulting inner-outer position control solution is proven to be asymptotically stable in the region of interest. Using a single-stage sounding rocket, propelled by a liquid engine, as reference vehicle, different mission scenarios are tested in a simulation environment to verify the adaptability of the proposed control strategy. The system is able to track the requested trajectories while rejecting external wind disturbances. Furthermore, the need to re-tune the control gains in between different mission scenarios is minimal to none.

Authors:Marika Eik, Ahmet Kose, Hossein Nourollahi Hokmabad, Juri Belikov
Title: Explainable AI based System for Supply Air Temperature Forecast
Abstract:
This paper explores the application of Explainable AI (XAI) techniques to improve the transparency and understanding of predictive models in control of automated supply air temperature (ASAT) of Air Handling Unit (AHU). The study focuses on forecasting of ASAT using a linear regression with Huber loss. However, having only a control curve without semantic and/or physical explanation is often not enough. The present study employs one of the XAI methods: Shapley values, which allows to reveal the reasoning and highlight the contribution of each feature to the final ASAT forecast. In comparison to other XAI methods, Shapley values have solid mathematical background, resulting in interpretation transparency. The study demonstrates the contrastive explanations--slices, for each control value of ASAT, which makes it possible to give the client objective justifications for curve changes.

Authors:Hao-Chi Che, Huai-Ning Wu
Title: Coordinated Control of Deformation and Flight for Morphing Aircraft via Meta-Learning and Coupled State-Dependent Riccati Equations
Abstract:
In this paper, the coordinated control problem of deformation and flight for morphing aircraft (MA) is studied by using meta-learning (ML) and coupled state-dependent Riccati equations (CSDREs). Our method is built on two principal observations that dynamic models of MA under varying morphing conditions share a morphing condition independent representation function and that the specific morphing condition part lies in a set of linear coefficients. To that end, the domain adversarially invariant meta-learning (DAIML) is employed to learn the shared representation with offline flight data. Based on the learned representation function, the coordinated control of the deformation and flight for MA is formulated as a non-cooperative differential game. The state-dependent feedback control solutions can be derived by addressing a pair of CSDREs. For this purpose, Lyapunov iterations are extended to obtain the positive semidefinite (definite) stabilizing solutions of the CSDREs, and the convergence proof of the proposed algorithm is provided. Finally, a simulation study is carried out to validate the efficacy of the developed coordinated game control strategies.

Authors:Guangxiao Zhang, Gaoxi Xiao, Xinghua Liu, Yan Xu, Peng Wang
Title: A New Underdetermined Framework for Sparse Estimation of Fault Location for Transmission Lines Using Limited Current Measurements
Abstract:
This letter proposes an alternative underdetermined framework for fault location that utilizes current measurements along with the branch-bus matrix, providing another option besides the traditional voltage-based methods. To enhance fault location accuracy in the presence of multiple outliers, the robust YALL1 algorithm is used to resist outlier interference and accurately recover the sparse vector, thereby pinpointing the fault precisely. The results on the IEEE 39-bus test system demonstrate the effectiveness and robustness of the proposed method.

Authors:Amritanshu Pandey, Mads Almassalkhi, Sam Chevalier
Title: Large-scale Grid Optimization: The Workhorse of Future Grid Computations
Abstract:
Purpose: The computation methods for modeling, controlling and optimizing the transforming grid are evolving rapidly. We review and systemize knowledge for a special class of computation methods that solve large-scale power grid optimization problems. Summary: Large-scale grid optimizations are pertinent for, amongst other things, hedging against risk due to resource stochasticity, evaluating aggregated DERs' impact on grid operation and design, and improving the overall efficiency of grid operation in terms of cost, reliability, and carbon footprint. We attribute the continual growth in scale and complexity of grid optimizations to a large influx of new spatial and temporal features in both transmission (T) and distribution (D) networks. Therefore, to systemize knowledge in the field, we discuss the recent advancements in T and D systems from the viewpoint of mechanistic physics-based and emerging data-driven methods. Findings: We find that while mechanistic physics-based methods are leading the science in solving large-scale grid optimizations, data-driven techniques, especially physics-constrained ones, are emerging as an alternative to solve otherwise intractable problems. We also find observable gaps in the field and ascertain these gaps from the paper's literature review and by collecting and synthesizing feedback from industry experts.

Authors:Travis E. Gibson, Sawal Acharya
Title: Regret Analysis: a control perspective
Abstract:
Online learning and model reference adaptive control have many interesting intersections. One area where they differ however is in how the algorithms are analyzed and what objective or metric is used to discriminate "good" algorithms from "bad" algorithms. In adaptive control there are usually two objectives: 1) prove that all time varying parameters/states of the system are bounded, and 2) that the instantaneous error between the adaptively controlled system and a reference system converges to zero over time (or at least a compact set). For online learning the performance of algorithms is often characterized by the regret the algorithm incurs. Regret is defined as the cumulative loss (cost) over time from the online algorithm minus the cumulative loss (cost) of the single optimal fixed parameter choice in hindsight. Another significant difference between the two areas of research is with regard to the assumptions made in order to obtain said results. Adaptive control makes assumptions about the input-output properties of the control problem and derives solutions for a fixed error model or optimization task. In the online learning literature results are derived for classes of loss functions (i.e. convex) while a priori assuming certain signals are bounded. In this work we discuss these differences in detail through the regret based analysis of gradient descent for convex functions and the control based analysis of a streaming regression problem. We close with a discussion about the newly defined paradigm of online adaptive control.

Authors:Yuxuan Yang, Yilin Ma, Hengtai Chang, Cheng-Xiang Wang
Title: A Quasi-deterministic Channel Model for Underwater Acoustic Communication Systems
Abstract:
In this paper, a quasi-deterministic (Q-D) model for non-stationary underwater acoustic (UWA) channels is proposed. This model combines the BELLHOP deterministic model and geometry-based stochastic model (GBSM), which provides higher accuracy and flexibility. Different propagation components in shallow water are classified as D-rays, R-rays and F-rays in the proposed model, where D-rays are modeled by BELLHOP while both R-rays and F-rays are modeled by GBSM. Some important channel statistical properties, including time-frequency correlation function (TF-CF), Doppler power spectrum density (PSD), average Doppler shift, and RMS Doppler spread are derived and simulated. Finally, simulation results illustrate the correctness of the proposed model.

Authors:Martin Higgins, Devki Jha, David Blundell, David Wallom
Title: Security by Design Issues in Autonomous Vehicles
Abstract:
As autonomous vehicle (AV) technology advances towards maturity, it becomes imperative to examine the security vulnerabilities within these cyber-physical systems. While conventional cyber-security concerns are often at the forefront of discussions, it is essential to get deeper into the various layers of vulnerability that are often overlooked within mainstream frameworks. Our goal is to spotlight imminent challenges faced by AV operators and explore emerging technologies for comprehensive solutions. This research outlines the diverse security layers, spanning physical, cyber, coding, and communication aspects, in the context of AVs. Furthermore, we provide insights into potential solutions for each potential attack vector, ensuring that autonomous vehicles remain secure and resilient in an evolving threat landscape.

Authors:Aleksandar Haber, Ferenc Molnar, Adilson E. Motter
Title: Global network control from local information
Abstract:
In the classical control of network systems, the control actions on a node are determined as a function of the states of all nodes in the network. Motivated by applications where the global state cannot be reconstructed in real time due to limitations in the collection, communication, and processing of data, here we introduce a control approach in which the control actions can be computed as a function of the states of the nodes within a limited state information neighborhood. The trade-off between the control performance and the size of this neighborhood is primarily determined by the condition number of the controllability Gramian. Our theoretical results are supported by simulations on regular and random networks and are further illustrated by an application to the control of power-grid synchronization. We demonstrate that for well-conditioned Gramians, there is no significant loss of control performance as the size of the state information neighborhood is reduced, allowing efficient control of large networks using only local information.

Authors:Jan Zimmermann, Ignacio Llatser, Michael Scherl, Florian Wildschütte, Frank Hofmann
Title: Benefit evaluation of V2X-enhanced braking in view obstructed crossing use cases
Abstract:
If a crash between two vehicles is imminent, an Automatic Emergency Brake (AEB) is activated to avoid or mitigate the accident. However, the trigger mechanism of the AEB relies on the vehicle's onboard sensors, such as radar and cameras, that require a line of sight to detect the crash opponent. If the line of sight is impaired, for example by bad weather or an obstruction, the AEB cannot be activated in time to avoid the crash. To deal with these cases, a 2-stage braking system is proposed, where the first stage consists of a partial brake that is triggered by Vehicle-to-everything (V2X) communication. The second stage is composed of the standard AEB that is triggered exclusively by an onboard sensor detection. The performance of this V2X-enhanced 2-stage braking system is analysed in obstructed crossing use cases and the results are compared against the use of an AEB-only system. The benefit is quantitatively assessed by determination of the crash avoidance rate and, if the crash cannot be avoided, by estimation of the crash severity mitigation.

Authors:Zhenning Zhang, Liang Xu, Yilin Mo, Xiaofan Wang
Title: Learning Control for LQR with Unknown Packet Loss Rate Using Finite Channel Samples
Abstract:
This paper studies the linear quadratic regulator (LQR) problem over an unknown Bernoulli packet loss channel. The unknown loss rate is estimated using finite channel samples and a certainty-equivalence (CE) optimal controller is then designed by treating the estimate as the true rate. The stabilizing capability and sub-optimality of the CE controller critically depend on the estimation error of loss rate. For discrete-time linear systems, we provide a stability threshold for the estimation error to ensure closed-loop stability, and analytically quantify the sub-optimality in terms of the estimation error and the difference in modified Riccati equations. Next, we derive the upper bound on sample complexity for the CE controller to be stabilizing. Tailored results with less conservatism are delivered for scalar systems and n-dimensional systems with invertible input matrix. Moreover, we establish a sufficient condition, independent of the unknown loss rate, to verify whether the CE controller is stabilizing in a probabilistic sense. Finally, numerical examples are used to validate our results.

Authors:Seyed Shahram Yadollahi, Hamed Kebriaei, Sadegh Soudjani
Title: Stochastic Generalized Dynamic Games with Coupled Chance Constraints
Abstract:
Designing multi-agent systems with safety constraints and uncertain dynamics is a challenging problem. This paper studies a stochastic dynamic non-cooperative game with coupling safety chance constraints. The uncertainty is assumed to satisfy a concentration of measure property. Firstly, due to the non-convexity of chance constraints, a convex under-approximation of chance constraints is given using constraints on the expectation. Then, the conditions for the existence of the stochastic generalized Nash equilibrium (SGNE) of the under-approximated game are investigated, and the relation between the $\varepsilon-$SGNE of the original game and the under-approximated one is derived. A sampling-based algorithm is proposed for the SGNE seeking of the under-approximated game that does not require knowing the distribution of the uncertainty nor the analytical computation of expectations. Finally, under some assumptions on the game's pseudo-gradient mapping, the almost sure convergence of the algorithm to SGNE is proven. A numerical study is carried out on demand-side management in microgrids with shared battery to demonstrate the applicability of the proposed scheme.

Authors:Ali Baheri, Peng Wei
Title: SMTL: A Stratified Logic for Expressive Multi-Level Temporal Specifications
Abstract:
We present Stratified Metric Temporal Logic (SMTL), a novel formalism for specifying and verifying properties of complex cyber-physical systems that exhibit behaviors across multiple temporal and abstraction scales. SMTL extends existing temporal logics by incorporating a stratification operator, enabling the association of temporal properties with specific abstraction levels. This allows for the natural expression of multi-scale requirements while maintaining formal reasoning about inter-level relationships. We formalize the syntax and semantics of SMTL, proving that it strictly subsumes metric temporal logic (MTL) and offers enhanced expressiveness by capturing properties unattainable in existing logics. Numerical simulations comparing agents operating under MTL and SMTL specifications show that SMTL enhances agent coordination and safety, reducing collision rates without substantial computational overhead or compromising path efficiency. These findings underscore SMTL's potential as a valuable tool for designing and verifying complex multi-agent systems operating across diverse temporal and abstraction scales.

Authors:Huiming Li, Hao Chen, Xiangke Wang, Zhongkui Li, Lincheng Shen
Title: Distributed Framework Construction for Affine Formation Control
Abstract:
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the formation or link/agent failures emerge. Motivated by this observation, we investigate the problem of constructing affine frameworks in three scenarios, including vertex addition, edge deletion and vertex deletion. Our approach starts from the original affine formation and uses geometric methods to locally adjust the structure of the weighted graph to describe the topology, so that the modified framework maintains the universal rigidity and affine localizability. Notably, the developed strategies only utilize local measurements and exhibit distributed characteristics, laying the foundation for applications in multi-agent systems. To demonstrate the compatibility with affine formation control proposals, we present a case study on affine formation tracking in a multi-UAV formation, demonstrating the effectiveness of our algorithms in constructing eligible frameworks in aforementioned scenarios. Moreover, a comparative simulation is also conducted to highlight the low time complexity of our distributed algorithm relative to the centralized optimization-based method.

Authors:Adrian Hernandez, Max TM Ng, Nazib Siddique, Pablo L. Durango-Cohen, Amgad Elgowainy, Hani S. Mahmassani, Michael Wang, Yan Zhou
Title: Evaluation of Rail Decarbonization Alternatives: Framework and Application
Abstract:
The Northwestern University Freight Rail Infrastructure and Energy Network Decarbonization (NUFRIEND) framework is a comprehensive industry-oriented tool for simulating the deployment of new energy technologies including biofuels, e-fuels, battery-electric, and hydrogen locomotives. By classifying fuel types into two categories based on deployment requirements, the associated optimal charging/fueling facility location and sizing problem are solved with a five-step framework. Life cycle analyses (LCA) and techno-economic analyses (TEA) are used to estimate carbon reduction, capital investments, cost of carbon reduction, and operational impacts, enabling sensitivity analysis with operational and technological parameters. The framework is illustrated on lower-carbon drop-in fuels as well as battery-electric technology deployments for US Eastern and Western Class I railroad networks. Drop-in fuel deployments are modeled as admixtures with diesel in existing locomotives, while battery-electric deployments are shown for varying technology penetration levels and locomotive ranges. When mixed in a 50 percent ratio with diesel, results show biodiesel's capacity to reduce emissions at 36 percent with a cost of 0.13 USD per kilogram of CO2 reduced, while e-fuels offer a 50 percent emissions reduction potential at a cost of 0.22 USD per kilogram of CO2 reduced. Battery-electric results for 50 percent deployment over all ton-miles highlight the value of future innovations in battery energy densities as scenarios assuming 800-mile range locomotives show an estimated emissions reduction of 46 percent with a cost of 0.06 USD per kilogram of CO2 reduced, compared to 16 percent emissions reduction at a cost of 0.11 USD per kilogram of CO2 reduced for 400-mile range locomotives.

Authors:Lunshuai Pan, Shiqing Wang, Pushen Zuo, Zhong Sun
Title: GRAMC: General-purpose and reconfigurable analog matrix computing architecture
Abstract:
In-memory analog matrix computing (AMC) with resistive random-access memory (RRAM) represents a highly promising solution that solves matrix problems in one step. However, the existing AMC circuits each have a specific connection topology to implement a single computing function, lack of the universality as a matrix processor. In this work, we design a reconfigurable AMC macro for general-purpose matrix computations, which is achieved by configuring proper connections between memory array and amplifier circuits. Based on this macro, we develop a hybrid system that incorporates an on-chip write-verify scheme and digital functional modules, to deliver a general-purpose AMC solver for various applications.

Authors:Vinay Kanakeri, Aritra Mitra
Title: Outlier-Robust Linear System Identification Under Heavy-tailed Noise
Abstract:
We consider the problem of estimating the state transition matrix of a linear time-invariant (LTI) system, given access to multiple independent trajectories sampled from the system. Several recent papers have conducted a non-asymptotic analysis of this problem, relying crucially on the assumption that the process noise is either Gaussian or sub-Gaussian, i.e., "light-tailed". In sharp contrast, we work under a significantly weaker noise model, assuming nothing more than the existence of the fourth moment of the noise distribution. For this setting, we provide the first set of results demonstrating that one can obtain sample-complexity bounds for linear system identification that are nearly of the same order as under sub-Gaussian noise. To achieve such results, we develop a novel robust system identification algorithm that relies on constructing multiple weakly-concentrated estimators, and then boosting their performance using suitable tools from high-dimensional robust statistics. Interestingly, our analysis reveals how the kurtosis of the noise distribution, a measure of heavy-tailedness, affects the number of trajectories needed to achieve desired estimation error bounds. Finally, we show that our algorithm and analysis technique can be easily extended to account for scenarios where an adversary can arbitrarily corrupt a small fraction of the collected trajectory data. Our work takes the first steps towards building a robust statistical learning theory for control under non-ideal assumptions on the data-generating process.

Authors:Islam M. Tanash, Risto Wichman, Nuria Gonzalez-Prelcic
Title: Statistical Modeling for Accurate Characterization of Doppler Effect in LEO-Terrestrial Networks
Abstract:
Low Earth Orbit (LEO) satellite communication is a promising solution for global wireless coverage, especially in underserved and remote areas. However, the high relative velocity of LEO satellites induces significant Doppler shifts that disrupt subcarrier orthogonality and degrade multicarrier system performance. While the common time-varying Doppler shift can be compensated relative to a reference point, the residual differential Doppler across users within the coverage cell remains a significant challenge, causing severe intercarrier interference. This paper presents a generalized analytical framework for characterizing both the Doppler shift magnitude and the differential Doppler in LEO systems. Unlike prior works limited by flat-Earth assumptions or specific orbital configurations, our model incorporates Earth's curvature and supports arbitrary elevation angles. Using spherical geometry, we derive closed-form expressions for Doppler shift based on the central angle between the satellite and ground users. We further provide a statistical characterization of both the Doppler shift magnitude and the differential Doppler in terms of their cumulative distribution function (CDF) and probability density function (PDF) for uniformly distributed users within a spherical cap cell. Additionally, we derive a tight upper bound for the Doppler shift CDF and an exact expression for the maximum differential Doppler experienced across the coverage region. To mitigate intra-cell Doppler variation, we implement a user clustering technique that partitions the coverage area based on a Doppler disparity threshold into spherical sub-cells, ensuring compliance with 3GPP tolerances. Extensive simulations over realistic satellite constellations validate our analysis and reveal the impact of altitude, beamwidth, and satellite-user geometry on Doppler behavior.

Authors:Chams Eddine Mballo, Robert Walters, Jonnalagadda V. R. Prasad
Title: Load Limiting Control for Component Life Extension
Abstract:
This paper presents the development of a novel life-extending control scheme for critical helicopter components subjected to significant fatigue loading. The primary objective is to synthesize a more efficient and less conservative life-extending control scheme than those currently available in the literature. The proposed Load Limiting Control (LLC) scheme is a viable solution that addresses several issues that current life-extending control schemes suffer from, such as the neglect of fatigue damage induced by the harmonic component of loads and the inability to distinguish between aggressive and non-aggressive maneuvers. The proposed LLC scheme treats desired harmonic load limits as limit boundaries and recasts the problem of load limiting as a vehicle limit by computing a Control Margin (CM) using a limit detection and avoidance module. The computed CM is used as a cue to the pilot. The limit detection and avoidance module comprises an optimization algorithm, a model predictive controller, and a computationally simple on-board dynamical model. Simulations were conducted to demonstrate the effectiveness of the LLC scheme in limiting harmonic pitch link loads during flight. One significant outcome is that, with sufficient training, the pilot can skillfully track the cue within 0.5 seconds of initiating the tracking task.

Authors:Bang Huang, Kihong Park, Xiaowei Pang, Mohamed-Slim Alouini
Title: Joint Trajectory and Resource Optimization for HAPs-SAR Systems with Energy-Aware Constraints
Abstract:
This paper investigates the joint optimization of trajectory planning and resource allocation for a high-altitude platform stations synthetic aperture radar (HAPs-SAR) system. To support real-time sensing and conserve the limited energy budget of the HAPs, the proposed framework assumes that the acquired radar data are transmitted in real time to a ground base station for SAR image reconstruction. A dynamic trajectory model is developed, and the power consumption associated with radar sensing, data transmission, and circular flight is comprehensively analyzed. In addition, solar energy harvesting is considered to enhance system sustainability. An energy-aware mixed-integer nonlinear programming (MINLP) problem is formulated to maximize radar beam coverage while satisfying operational constraints. To solve this challenging problem, a sub-optimal successive convex approximation (SCA)-based framework is proposed, incorporating iterative optimization and finite search. Simulation results validate the convergence of the proposed algorithm and demonstrate its effectiveness in balancing SAR performance, communication reliability, and energy efficiency. A final SAR imaging simulation on a 9-target lattice scenario further confirms the practical feasibility of the proposed solution.

Authors:Zina Mohamed, Ammar B. Kouki, Sonia Aïssa
Title: A Correlation-Based Design of RIS for Reduced Power Consumption and Simplified Control Circuitry
Abstract:
Aiming at simplifying the hardware structure and reducing the energy consumption in wireless communication via reconfigurable intelligent surfaces (RIS), this paper introduces a novel RIS design founded on the correlation between the phase shift values of the surface elements. First, a correlation analysis is conducted, considering the azimuth angle of a target device within a coverage region spanning from $-80^{\circ}$ to $80^{\circ}$. The correlation is demonstrated for different deployment cases, creating the basis for the new RIS structure, termed Connected-RIS, where correlated elements are designed to share the same control signal. The fundamental performance of the proposed design is then analyzed in terms of control signals, power consumption, and communication system performance, comparing it to two RIS structures with full control: one with the same size as the proposed design, and the other employing the minimum number of elements necessary to satisfy the fair coverage criterion. The correlation-based RIS design enables three-dimensional passive beamforming and significantly reduces the number of required load impedances and control signals, thereby lowering the hardware cost and simplifying the control circuitry. It also achieves substantial power savings as compared to the baseline schemes, while maintaining sufficient gain for a fair radio coverage. For instance, numerical simulations demonstrate that the proposed design reduces the power consumption by almost 86-92\% and the control signals by 83-98\% compared to operation with fully controlled RIS.

Authors:Fabio Paonessa, Lorenzo Ciorba, Giuseppe Addamo, Paz Alonso-Arias, Barbara Caccianiga, Marco Bersanelli, Francesco Cuttaia, Cristian Franceschet, Ricardo Tanausu Genova Santos, Massimo Gervasi, Roger Hoyland, Mike Jones, Carlos Hugo Lopez-Caraballo, Mauro Lumia, Michele Maris, Aniello Mennella, Gianluca Morgante, Oscar Antonio Peverini, Sabrina Realini, Jose Alberto Rubino-Martin, Stefano Sartor, Angela Taylor, Fabrizio Villa, Mario Zannoni, Giuseppe Virone
Title: On beam characterization of ground-based CMB radio telescopes using UAV-mounted sources: application to the QUIJOTE TFGI and plans for LSPE-Strip
Abstract:
The Large Scale Polarization Explorer (LSPE) project, funded by the Italian Space Agency (ASI), includes the development of LSPE-Strip, a ground-based radio telescope for observing Cosmic Microwave Background (CMB) anisotropies. LSPE-Strip, nearing its construction phase, will operate from the Teide Observatory in Tenerife, employing 49 coherent polarimeters at 43 GHz to deliver critical data on CMB anisotropies and 6 channels at 95 GHz as atmospheric monitor. On-site characterization of such advanced instruments is crucial to detect possible systematic effects, such as gain fluctuations, beam distortions, and pointing errors, that can compromise performance by introducing spurious polarizations or radiation collection from unintended directions. To address these challenges, a drone-mounted Q-band test source for on-site characterization of LSPE-Strip's polarimeter array was developed. Modern Unmanned Aerial Vehicles (UAVs) offer a flexible approach for antenna pattern measurements, yet their use in high-frequency radio astronomy is not consolidated practice. In October 2022, a UAV-based measurement campaign was conducted with the TFGI instrument on the second QUIJOTE telescope in Tenerife, in collaboration with the Instituto de Astrofisica de Canarias. This pioneering effort aimed to validate UAV-based beam characterization methods and assess QUIJOTE's performance under operational conditions. Preliminary results demonstrated high measurement accuracy, leveraging QUIJOTE's dual-receiver configuration for beam validation. These findings provide valuable insights for optimizing UAV systems in preparation for LSPE-Strip's future characterization.

Authors:Yuchen Li, Omar Curiel, Sheng-Fan Wen, Tsu-Chin Tsao
Title: Spherical Pendulum with Quad-Rotor Thrust Vectoring Actuation -- A Novel Mechatronics and Control Benchmark Platform
Abstract:
Motor-actuated pendulums have been established as arguably the most common laboratory prototypes used in control system education because of the relevance to robot manipulator control in industry. Meanwhile, multi-rotor drones like quadcopters have become popular in industrial applications but have not been broadly employed in control education laboratory. Platforms with pendulums and multi-rotor copters present classical yet intriguing multi-degree of freedom (DoF) dynamics and coordinate systems for the control system investigation. In this paper, we introduce a novel control platform in which a 2-DoF pendulum capable of azimuth and elevation rotation is actuated through vectored thrust generated by a quadcopter. Designed as a benchmark for mechatronics and nonlinear control education and research, the system integrates detailed mechatronic implementation with different control strategies. Specifically, we apply and compare small perturbation linearization (SPL), state feedback linearization (SFL), and partial feedback linearization (PFL) to the nonlinear system dynamics. The performances are evaluated by time specifications of step response and Root-Mean-Square (RMS) error of trajectory tracking. The robustness of the closed-loop system is validated under external disturbances, and both simulation and experimental results are presented to highlight the strengths and limitations of the nonlinear model-based control approaches.

Authors:J. de Curtò, Cristina LiCalzi, Julien Tubiana Warin, Jack Gehlert, Brian Langbein, Alexandre Gamboa, Chris Sixbey, William Maguire, Santiago Fernández, Álvaro Maestroarena, Alex Brenchley, Logan Maroclo, Philemon Mercado, Joshua DeJohn, Cesar Velez, Ethan Dahmus, Taylor Steinys, David Fritz, I. de ZarzÃ
Title: Advanced System Engineering Approaches to Emerging Challenges in Planetary and Deep-Space Exploration
Abstract:
This paper presents innovative solutions to critical challenges in planetary and deep-space exploration electronics. We synthesize findings across diverse mission profiles, highlighting advances in: (1) MARTIAN positioning systems with dual-frequency transmission to achieve $\pm$1m horizontal accuracy; (2) artificial reef platforms for Titan's hydrocarbon seas utilizing specialized sensor arrays and multi-stage communication chains; (3) precision orbital rendezvous techniques demonstrating novel thermal protection solutions; (4) miniaturized CubeSat architectures for asteroid exploration with optimized power-to-mass ratios; and (5) next-generation power management systems for MARS rovers addressing dust accumulation challenges. These innovations represent promising directions for future space exploration technologies, particularly in environments where traditional Earth-based electronic solutions prove inadequate. The interdisciplinary nature of these developments highlights the critical intersection of aerospace engineering, electrical engineering, and planetary science in advancing human exploration capabilities beyond Earth orbit.

Authors:Mohini Bariya, Genevieve Flaspohler
Title: Estimating Technical Loss without Power Flows: A Practical, Data-Driven Approach for Loss Estimation in Distribution Grids
Abstract:
Electric grids in low- and middle-income countries (LMICs) across the world face an acute challenge. To support global decarbonisation efforts and raise millions from energy poverty, these grids must shoulder substantial load growth while integrating distributed renewable generation. However, decades of rapid and poorly funded infrastructure expansions have led to national grids in many LMICs that are strained and weak, composed of aging, faulty, and undersized infrastructure. A cause and symptom of this weakness is excessive technical loss within the grid infrastructure during energy delivery, particularly at the distribution level; network losses are regularly estimated to be well over 20 percent, compared to a baseline of 5 percent in higher-income nations. Addressing technical loss through targeted interventions is essential for bolstering grids' physical and economic strength. Unfortunately, current approaches for estimating and localizing technical loss require expensive, extensive power flow sensing, which is essentially absent in LMIC distribution systems. We present a novel approach to technical loss estimation without power flows, which leverages more readily available voltage magnitude measurements at sparse locations in the grid. This estimator puts loss estimation and localization within reach for LMIC grids globally, and provides a critical tool for the effective design, implementation, and evaluation of loss-reduction interventions.

Authors:Rudra Sen, Subashish Datta
Title: Coordinated Control of Autonomous Vehicles for Traffic Density Reduction at a Signalized Junction: An MPC Approach
Abstract:
The effective and safe management of traffic is a key issue due to the rapid advancement of the urban transportation system. Connected autonomous vehicles (CAVs) possess the capability to connect with each other and adjacent infrastructure, presenting novel opportunities for enhancing traffic flow and coordination. This work proposes a dual-mode model predictive control (MPC) architecture that tackles two interrelated issues: mitigating traffic density at signalized junctions and facilitating seamless, cooperative lane changes in high-density traffic conditions. The objective of this work is to facilitate responsive decision-making for CAVs, thereby enhancing the efficiency and safety of urban mobility. Moreover, we ensure recursive feasibility and convergence of the proposed MPC scheme by the integration of an online-calculated maximal control invariant terminal set. Finally, the efficacy of the proposed approach is validated through numerical simulation.

Authors:B. Chidambaram, A. Hilbert, M. Silva
Title: Fault-Tolerant Spacecraft Attitude Determination using State Estimation Techniques
Abstract:
The extended and unscented Kalman filter, and the particle filter provide a robust framework for fault-tolerant attitude estimation on spacecraft. This paper explores how each filter performs for a large satellite in a low earth orbit. Additionally, various techniques, built on these filters, for fault detection, isolation and recovery from erroneous sensor measurements, are analyzed. Key results from this analysis include filter performance for various fault modes.

Authors:Anouar Boumeftah, Sarah McKenzie-Picot, Peter Klimas, Gunes Karabulut Kurt
Title: Resilience Through Escalation: A Graph-Based PACE Architecture for Satellite Threat Response
Abstract:
Satellite systems increasingly face operational risks from jamming, cyberattacks, and electromagnetic disruptions. Traditional redundancy strategies often fail against dynamic, multi-vector threats. This paper introduces a resilience-by-design framework grounded in the PACE (Primary, Alternate, Contingency, Emergency) methodology, originally developed for tactical communications in military operations, adapting it to satellite systems through a layered state-transition model informed by threat scoring frameworks such as CVSS, DREAD, and NASA's risk matrix. We define a dynamic resilience index to quantify system adaptability and implement three PACE variants: static, adaptive, and softmax-based decision models, to evaluate resilience under diverse disruption scenarios. The proposed approach highlights the effectiveness of lightweight, decision-aware fallback mechanisms in improving survivability and operational continuity for next-generation space assets.

Authors:Mahmood Mazare, Hossein Ramezani
Title: Noise-Tolerant Hybrid Approach for Data-Driven Predictive Control
Abstract:
This paper focuses on a key challenge in hybrid data-driven predictive control: the effect of measurement noise on Hankel matrices. While noise is handled in direct and indirect methods, hybrid approaches often overlook its impact during trajectory estimation. We propose a Noise-Tolerant Data-Driven Predictive Control (NTDPC) framework that integrates singular value decomposition to separate system dynamics from noise within reduced-order Hankel matrices. This enables accurate prediction with shorter data horizons and lower computational effort. A sensitivity index is introduced to support horizon selection under different noise levels. Simulation results indicate improved robustness and efficiency compared to existing hybrid methods.

Authors:Hamza Chakraa, François Guérin, Edouard Leclercq, Dimitri Lefebvre
Title: Task Allocation of UAVs for Monitoring Missions via Hardware-in-the-Loop Simulation and Experimental Validation
Abstract:
This study addresses the optimisation of task allocation for Unmanned Aerial Vehicles (UAVs) within industrial monitoring missions. The proposed methodology integrates a Genetic Algorithms (GA) with a 2-Opt local search technique to obtain a high-quality solution. Our approach was experimentally validated in an industrial zone to demonstrate its efficacy in real-world scenarios. Also, a Hardware-in-the-loop (HIL) simulator for the UAVs team is introduced. Moreover, insights about the correlation between the theoretical cost function and the actual battery consumption and time of flight are deeply analysed. Results show that the considered costs for the optimisation part of the problem closely correlate with real-world data, confirming the practicality of the proposed approach.

Authors:Andrew Mole, Max Weissenbacher, Georgios Rigas, Sylvain Laizet
Title: Reinforcement Learning Increases Wind Farm Power Production by Enabling Closed-Loop Collaborative Control
Abstract:
Traditional wind farm control operates each turbine independently to maximize individual power output. However, coordinated wake steering across the entire farm can substantially increase the combined wind farm energy production. Although dynamic closed-loop control has proven effective in flow control applications, wind farm optimization has relied primarily on static, low-fidelity simulators that ignore critical turbulent flow dynamics. In this work, we present the first reinforcement learning (RL) controller integrated directly with high-fidelity large-eddy simulation (LES), enabling real-time response to atmospheric turbulence through collaborative, dynamic control strategies. Our RL controller achieves a 4.30% increase in wind farm power output compared to baseline operation, nearly doubling the 2.19% gain from static optimal yaw control obtained through Bayesian optimization. These results establish dynamic flow-responsive control as a transformative approach to wind farm optimization, with direct implications for accelerating renewable energy deployment to net-zero targets.

Authors:Yun Xu, Yunxiao Bai, Yunyong Zhang, Peng Wang, Xuelin Wang, Jiqun Guo, Kaijun Xie, Rusheng Zhao
Title: Analyzing the Impact of Strategic Bidding on the Reserve Capacity via a Bi-Level Model
Abstract:
The growing integration of renewable energy sources necessitates adequate reserve capacity to maintain power balance. However, in market clearing, power companies with flexible resources may submit strategic bids to maximize profits, potentially compromising system reserves. This paper examines the effects of such strategic behavior by modeling the market as a bi-level problem. The upper level represents a strategic company aiming to maximize profit, while the lower level simulates the system operator clearing the market based on submitted offers. To enable duality-based solution methods, we approximate unit commitments with a continuous reserve capacity calculation. Case studies indicate that, in an imperfectly competitive market, more units are incentivized to operate,enhancing system reserves. However, some units go online mainly for profit, ultimately raising electricity costs for consumers. These findings highlight the importance of market design in managing the trade-off between reserve adequacy and economic efficiency in the presence of strategic bidding behavior.

Authors:Bala Rajesh Konkathi, Arun K. Tangirala
Title: Causal discovery in deterministic discrete LTI-DAE systems
Abstract:
Discovering pure causes or driver variables in deterministic LTI systems is of vital importance in the data-driven reconstruction of causal networks. A recent work by Kathari and Tangirala, proposed in 2022, formulated the causal discovery method as a constraint identification problem. The constraints are identified using a dynamic iterative PCA (DIPCA)-based approach for dynamical systems corrupted with Gaussian measurement errors. The DIPCA-based method works efficiently for dynamical systems devoid of any algebraic relations. However, several dynamical systems operate under feedback control and/or are coupled with conservation laws, leading to differential-algebraic (DAE) or mixed causal systems. In this work, a method, namely the partition of variables (PoV), for causal discovery in LTI-DAE systems is proposed. This method is superior to the method that was presented by Kathari and Tangirala (2022), as PoV also works for pure dynamical systems, which are devoid of algebraic equations. The proposed method identifies the causal drivers up to a minimal subset. PoV deploys DIPCA to first determine the number of algebraic relations ($n_a$), the number of dynamical relations ($n_d$) and the constraint matrix. Subsequently, the subsets are identified through an admissible partitioning of the constraint matrix by finding the condition number of it. Case studies are presented to demonstrate the effectiveness of the proposed method.

Authors:Adriano Mele, Maria A. Topalova, Cristian Galperti, Stefano Coda, TCV team, Eurofusion Tokamak Exploitation Team
Title: First experimental demonstration of plasma shape control in a tokamak through Model Predictive Control
Abstract:
In this work, a Model Predictive Controller (MPC) is proposed to control the plasma shape in the Tokamak à Configuration Variable (TCV). The proposed controller relies on models obtained by coupling linearized plasma response models, derived from the \texttt{fge} code of the Matlab EQuilibrium toolbox (MEQ) suite, with a state-space description of the core TCV magnetic control system. It optimizes the reference signals fed to this inner control loop in order to achieve the desired plasma shape while also enforcing constraints on the plant outputs. To this end, a suitable Quadratic Programming (QP) problem is formulated and solved in real-time. The effectiveness of the proposed controller is illustrated through a combination of simulations and experimental results. To the best of our knowledge, this is the first time that a plasma shape control solution based on MPC has been experimentally tested on a real tokamak.

Authors:Graydon Schulze-Kalt, Robert Pitu, Spencer Shelton, Catherine Todd, Zane Ebel, Ian Goldberg, Leon Gold, Henry Czarnecki, Mason McCormack, Larry Li, Zumi Riekse, Brian Yu, Akash Piya, Vidya Suri, Dylan Hu, Colleen Kim, John Baird, Seth Knights, Logan Hanssler, Michael Lembeck, Tian Zhong
Title: Development of an Open-Source Spacecraft Bus for the PULSE-A CubeSat
Abstract:
The undergraduate-led Polarization-modUlated Laser Satellite Experiment (PULSE-A) at the University of Chicago seeks to demonstrate the feasibility of circular polarization shift keyed satellite-to-ground laser communication. PULSE-A's low-cost open-source bus serves as the backbone of the mission and has been designed in tandem with the Payload, with design driven by strict requirements for pointing accuracy, component alignment, power demand, and thermal stability. This work presents the design and testing of the PULSE-A bus. The spacecraft bus was designed to fill two major needs: (1) to meet the requirements of the PULSE-A mission, and (2) to be easily configurable for future missions that desire enhanced capabilities over other low-cost open-source designs. At its core, the bus features dual BeagleBone Black Industrial compute units, selected for their flight heritage, integrated via a PC/104 header standard. PULSE-A implements Goddard Space Flight Center's core Flight System (cFS), which takes a modular software architecture approach and is built in C. The use of C as the primary language aligns with the expertise of the University of Chicago's Computer Science department, allowing for ease of development by PULSE-A's undergraduate flight software team. The CubeSat structure utilizes Gran Systems' 3U frame, modified to accommodate openings for various ports and deployable components. Inside, the avionics stack uses the PC/104 standard quad rails, which terminate in PULSE-A's custom-designed Payload Box that houses all of the Payload components and optical fiber runs. This work also covers the techniques and iterative engineering processes used to develop the thermal control and dissipation mechanisms for the specific requirements, under volume, mass, and temperature-range constraints.

Authors:Jing Lu, Xuan Wu, Yizhun Tian, Songhan Fan, Yali Fang
Title: FlightKooba: A Fast Interpretable FTP Model
Abstract:
The Koopman theory is a powerful and effective modeling tool for converting nonlinear systems into linear representations, and flight trajectory prediction (FTP) is a complex nonlinear system. However, current models applying the Koopman theory to FTP tasks are not very effective, model interpretability is indeed an issue, and the Koopman operators are computationally intensive, resulting in long training times. To address this issue, this paper proposes a new modeling and control framework based on the HIPPO method, the Koopman theory, and state space equations from cybernetics: FlightKooba. Inspired by the idea of structural state space equations, FlightKooba directly constructs the Koopman operators from data. This makes the framework highly interpretable and significantly reduces the number of trainable parameters in the module, thereby greatly reducing training time. Experiments have demonstrated the superiority of the FlightKooba modeling method in terms of time and memory consumption (training time comparable to the Mamba module without using CUDA-level acceleration; memory reduced by more than 50% on most datasets, with a tenfold reduction in the number of parameters), essentially completing the FTP task. It provides a new method for the fast computation of the Koopman operators, opening up new possibilities for the combination of time series forecasting and control.

Authors:Ján Boldocký, Shahriar Dadras Javan, Martin Gulan, Martin Mönnigmann, Ján Drgoňa
Title: Learning to Solve Parametric Mixed-Integer Optimal Control Problems via Differentiable Predictive Control
Abstract:
We propose a novel approach to solving input- and state-constrained parametric mixed-integer optimal control problems using Differentiable Predictive Control (DPC). Our approach follows the differentiable programming paradigm by learning an explicit neural policy that maps control parameters to integer- and continuous-valued decision variables. This policy is optimized via stochastic gradient descent by differentiating the quadratic model predictive control objective through the closed-loop finite-horizon response of the system dynamics. To handle integrality constraints, we incorporate three differentiable rounding strategies. The approach is evaluated on a conceptual thermal energy system, comparing its performance with the optimal solution for different lengths of the prediction horizon. The simulation results indicate that our self-supervised learning approach can achieve near-optimal control performance while significantly reducing inference time by avoiding online optimization, thus implying its potential for embedded deployment even on edge devices.

Authors:Haruki Uchiito, Akhilesh Bhat, Koji Kusaka, Xiaoya Zhang, Hiraku Kinjo, Honoka Uehara, Motoki Koyama, Shinji Natsume
Title: Robotics Under Construction: Challenges on Job Sites
Abstract:
As labor shortages and productivity stagnation increasingly challenge the construction industry, automation has become essential for sustainable infrastructure development. This paper presents an autonomous payload transportation system as an initial step toward fully unmanned construction sites. Our system, based on the CD110R-3 crawler carrier, integrates autonomous navigation, fleet management, and GNSS-based localization to facilitate material transport in construction site environments. While the current system does not yet incorporate dynamic environment adaptation algorithms, we have begun fundamental investigations into external-sensor based perception and mapping system. Preliminary results highlight the potential challenges, including navigation in evolving terrain, environmental perception under construction-specific conditions, and sensor placement optimization for improving autonomy and efficiency. Looking forward, we envision a construction ecosystem where collaborative autonomous agents dynamically adapt to site conditions, optimizing workflow and reducing human intervention. This paper provides foundational insights into the future of robotics-driven construction automation and identifies critical areas for further technological development.

Authors:Hoor Bano, Tatiana Podladchikova, Bisma Sajid, Dmitry Ris
Title: Implementation and Analysis of Different Geomagnetic Field Models for Attitude Determination and Control System (ADCS) of a Satellite
Abstract:
An Attitude Determination and Control System is essential for orientation stability and performance of slew maneuvers on the satellite. This research focuses on comparing two different geomagnetic field models, Direct Dipole Model and International Geomagnetic Reference Field Model, for modeling of magnetometer and magnetorquers. Both these magnetic field models are compared and analyzed for two satellite attitude cases: orientation stability and unloading of reaction wheels. Magnetometer modeling is utilized to get sensor data for attitude determination and control to attain orientation stability. Whereas, the magnetorquer model aids in reaction wheel unloading, by performing the required actuation on the satellite, upon interaction with the Earth's magnetic field. The study offers a comprehensive lookout on the impact of geomagnetic field models on the overall ADCS performance, incorporating both attitude estimation and control via the sensor and actuator modeling. Apart from this, valuable insights are gained into selecting optimal models based on specific mission requirements and available computational resources. Finally, this comparison and analysis results in unique findings for an actual future satellite mission, that is to be launched soon.

Authors:Jovan Krajacic, Keith Moffat, Gustavo Valverde
Title: Revisiting Power System Stabilizers with Increased Inverter-Based Generation: A Case Study
Abstract:
As power systems evolve with increasing production from Inverter-Based Resources (IBRs), their underlying dynamics are undergoing significant changes that can jeopardize system operation, leading to poorly damped oscillations or small-signal rotor angle instability. In this work, we investigate whether Power System Stabilizer (PSS) setting adjustments can effectively restore system stability and provide adequate damping in systems with increased IBR penetration, using the benchmark Kundur Two-Area System as a case study. Specifically, we evaluate the model-based Residues and P-Vref PSS tuning methods to examine their effectiveness under evolving grid conditions. Our findings indicate that the effectiveness of these tuning methods is not guaranteed, particularly when coordination is limited. Consequently, our case study motivates local and adaptive online PSS tuning methods.

Authors:Qiangsheng Gao, Ka Ho Cheng, Li Qiu, Zijun Gong
Title: Low-Cost Infrastructure-Free 3D Relative Localization with Sub-Meter Accuracy in Near Field
Abstract:
Relative localization in the near-field scenario is critically important for unmanned vehicle (UxV) applications. Although related works addressing 2D relative localization problem have been widely studied for unmanned ground vehicles (UGVs), the problem in 3D scenarios for unmanned aerial vehicles (UAVs) involves more uncertainties and remains to be investigated. Inspired by the phenomenon that animals can achieve swarm behaviors solely based on individual perception of relative information, this study proposes an infrastructure-free 3D relative localization framework that relies exclusively on onboard ultra-wideband (UWB) sensors. Leveraging 2D relative positioning research, we conducted feasibility analysis, system modeling, simulations, performance evaluation, and field tests using UWB sensors. The key contributions of this work include: derivation of the Cramér-Rao lower bound (CRLB) and geometric dilution of precision (GDOP) for near-field scenarios; development of two localization algorithms -- one based on Euclidean distance matrix (EDM) and another employing maximum likelihood estimation (MLE); comprehensive performance comparison and computational complexity analysis against state-of-the-art methods; simulation studies and field experiments; a novel sensor deployment strategy inspired by animal behavior, enabling single-sensor implementation within the proposed framework for UxV applications. The theoretical, simulation, and experimental results demonstrate strong generalizability to other 3D near-field localization tasks, with significant potential for a cost-effective cross-platform UxV collaborative system.

Authors:Marc-Antoine Coulombe, Maxime Berger, Antoine Lesage-Landry
Title: Simulation of a closed-loop dc-dc converter using a physics-informed neural network-based model
Abstract:
The growing reliance on power electronics introduces new challenges requiring detailed time-domain analyses with fast and accurate circuit simulation tools. Currently, commercial time-domain simulation software are mainly relying on physics-based methods to simulate power electronics. Recent work showed that data-driven and physics-informed learning methods can increase simulation speed with limited compromise on accuracy, but many challenges remain before deployment in commercial tools can be possible. In this paper, we propose a physics-informed bidirectional long-short term memory neural network (BiLSTM-PINN) model to simulate the time-domain response of a closed-loop dc-dc boost converter for various operating points, parameters, and perturbations. A physics-informed fully-connected neural network (FCNN) and a BiLSTM are also trained to establish a comparison. The three methods are then compared using step-response tests to assess their performance and limitations in terms of accuracy. The results show that the BiLSTM-PINN and BiLSTM models outperform the FCNN model by more than 9 and 4.5 times, respectively, in terms of median RMSE. Their standard deviation values are more than 2.6 and 1.7 smaller than the FCNN's, making them also more consistent. Those results illustrate that the proposed BiLSTM-PINN is a potential alternative to other physics-based or data-driven methods for power electronics simulations.

Authors:Mohammad Narimani, Seyyed Ali Emami
Title: AgenticControl: An Automated Control Design Framework Using Large Language Models
Abstract:
Traditional control system design, reliant on expert knowledge and precise models, struggles with complex, nonlinear, or uncertain dynamics. This paper introduces AgenticControl, a novel multi-agent framework that automates controller design using coordinated Large Language Model (LLM) agents. Through structured JSON communication, these agents handle tasks including controller selection, scenario design, parameter optimization, performance evaluation, and decision-making. Through an actor-critic optimization approach, the system iteratively improves performance while progressing through scenarios of increasing complexity to ensure robustness under nominal conditions, measurement noise, actuator disturbances, and parametric uncertainties. Key innovations include structured multi-agent collaboration, robust optimization mechanisms, and real-time adaptability via in-context learning. Validated across four diverse control systems, namely, DC Motor Position control, Ball and Beam, Inverted Pendulum, and Double Inverted Pendulum, the framework achieves competitive performance against classical methods. Its Full State Feedback solution closely matches Linear Quadratic Regulator (LQR) results, while the designed PID controller significantly outperforming MATLAB's PIDTuner, reducing PID tracking error by 55% through adaptive parameter exploration. A comparative study of five LLM models reveals distinct optimization profiles, with DeepSeek achieving the fastest convergence. This work demonstrates the potential of LLM-driven control design, paving the way for advanced techniques like model predictive control and reinforcement learning.

Authors:Hans-Jörg Schurr, Athénaïs Vaginay
Title: Looking for Signs: Reasoning About FOBNNs Using SAT
Abstract:
First-Order Boolean Networks with Non-deterministic updates (FOBNN) compute a boolean transition graph representing the absence and presence of species over time. The utility of FOBNNs has been justified by their theoretical soundness with respect to the Euler simulation of the differential equations. However, we lack practical means to work with FOBNNs and an empirical evaluation of their properties. We present a sound and efficient reduction of the first-order FOBNN transition relation to a propositional logic formula. This makes it possible to use modern SAT solvers to reason on the full transition graph, even for large models. We use this encoding to assess the feasibility and efficiency of practical reasoning with FOBNNs. To do so, we focus on the computation of fixed points. We also compare the transition graphs obtained via FOBNNs to those computed by the classic boolean semantics of reaction networks. Overall, our encoding opens new directions for the analysis of FOBNNs and deepens the understanding of their relationship with reaction networks.

Authors:Xiaoyang Tian, Mowei Lu, Florin Udrea, Stephan Goetz
Title: Hybrid Single-Pulse and Sawyer-Tower Method for Accurate Transistor Loss Separation in High-Frequency High-Efficiency Power Converters
Abstract:
Accurate measurement of transistor parasitic capacitance and its associated energy losses is critical for evaluating device performance, particularly in high-frequency and high-efficiency power conversion systems. This paper proposes a hybrid single-pulse and Sawyer-Tower test method to analyse switching characteristics of field-effect transistors (FET), which not only eliminates overlap losses but also mitigates the effects of current backflow observed in traditional double-pulse testing. Through a precise loss separation model, it enables an accurate quantification of switching losses and provides a refined understanding of device energy dissipation mechanisms. We validate the hysteresis data and loss separation results through experimental measurements on a 350-W LLC converter, which further offers deeper insights into transistor dynamic behaviour and its dependence on operating conditions. This method is applicable to a wide range of transistors, including emerging SiC and GaN devices, and serves as a valuable tool for device characterization and optimization in power electronics.

Authors:Shiyao Li, Bo Zhu, Yining Zhou, Jie Ma, Baoqing Yang, Fenghua He
Title: Networked pointing system: Bearing-only target localization and pointing control
Abstract:
In the paper, we formulate the target-pointing consensus problem where the headings of agents are required to point at a common target. Only a few agents in the network can measure the bearing information of the target. A two-step solution consisting of a bearing-only estimator for target localization and a control law for target pointing is constructed to address this problem. Compared to the strong assumptions of existing works, we only require two agents not collinear with the target to ensure localizability. By introducing the concept of virtual fusion node, we prove that both the estimation error and the tracking error converge asymptotically to the origin. The video demonstration of the verification can be found at https://youtu.be/S9- eyofk1DY.

Authors:Xuan Ouyang, Xinwen Yu, Yan Chen, Guang Deng, Xuanxin Liu
Title: G-SEED: A Spatio-temporal Encoding Framework for Forest and Grassland Data Based on GeoSOT
Abstract:
In recent years, the rapid development of remote sensing, Unmanned Aerial Vehicles, and IoT technologies has led to an explosive growth in spatio-temporal forest and grassland data, which are increasingly multimodal, heterogeneous, and subject to continuous updates. However, existing Geographic Information Systems (GIS)-based systems struggle to integrate and manage of such large-scale and diverse data sources. To address these challenges, this paper proposes G-SEED (GeoSOT-based Scalable Encoding and Extraction for Forest and Grassland Spatio-temporal Data), a unified encoding and management framework based on the hierarchical GeoSOT (Geographical coordinate global Subdivision grid with One dimension integer on 2n tree) grid system. G-SEED integrates spatial, temporal, and type information into a composite code, enabling consistent encoding of both structured and unstructured data, including remote sensing imagery, vector maps, sensor records, documents, and multimedia content. The framework incorporates adaptive grid-level selection, center-cell-based indexing, and full-coverage grid arrays to optimize spatial querying and compression. Through extensive experiments on a real-world dataset from Shennongjia National Park (China), G-SEED demonstrates superior performance in spatial precision control, cross-source consistency, query efficiency, and compression compared to mainstream methods such as Geohash and H3. This study provides a scalable and reusable paradigm for the unified organization of forest and grassland big data, supporting dynamic monitoring and intelligent decision-making in these domains.

Authors:Domagoj Herceg, Marco DellOro, Riccardo Bertollo, Fuminari Miura, Paul de Klaver, Valentina Breschi, Dinesh Krishnamoorthy, Mauro Salazar
Title: A Scenario-based Model Predictive Control Scheme for Pandemic Response through Non-pharmaceutical Interventions
Abstract:
This paper presents a scenario-based model predictive control (MPC) scheme designed to control an evolving pandemic via non-pharmaceutical intervention (NPIs). The proposed approach combines predictions of possible pandemic evolution to decide on a level of severity of NPIs to be implemented over multiple weeks to maintain hospital pressure below a prescribed threshold, while minimizing their impact on society. Specifically, we first introduce a compartmental model which divides the population into Susceptible, Infected, Detected, Threatened, Healed, and Expired (SIDTHE) subpopulations and describe its positive invariant set. This model is expressive enough to explicitly capture the fraction of hospitalized individuals while preserving parameter identifiability w.r.t. publicly available datasets. Second, we devise a scenario-based MPC scheme with recourse actions that captures potential uncertainty of the model parameters. e.g., due to population behavior or seasonality. Our results show that the scenario-based nature of the proposed controller manages to adequately respond to all scenarios, keeping the hospital pressure at bay also in very challenging situations when conventional MPC methods fail.

Authors:Borja Pons Torres, Iván Sala Mira, Clara Furió-Novejarque, Ricardo Sanz, Pedro García, José-Luis Díez, Jorge Bondia
Title: In silico evaluation of pramlintide dosing algorithms in artificial pancreas systems
Abstract:
Pramlintide's capability to delay gastric emptying has motivated its use in artificial pancreas systems, accompanying insulin as a control action. Due to the scarcity of pramlintide simulation models in the literature, in silico testing of insulin-plus-pramlintide strategies is not widely used. This work incorporates a recent pramlintide pharmacokinetics/pharmacodynamics model into the T1DM UVA/Padova simulator to adjust and validate four insulin-plus-pramlintide control algorithms. The proposals are based on an existing insulin controller and administer pramlintide either as independent boluses or as a ratio of the insulin infusion. The results of the insulin-pramlintide algorithms are compared against their insulin-alone counterparts, showing an improvement in the time in range between 3.00\% and 10.53\%, consistent with results reported in clinical trials in the literature. Future work will focus on individualizing the pramlintide model to the patients' characteristics and evaluating the implemented strategies under more challenging scenarios.

Authors:Sebastian Sansoni, Javier Gimenez, Gastón Castro, Santiago Tosetti, Flavio Craparo
Title: Optimizing Exploration with a New Uncertainty Framework for Active SLAM Systems
Abstract:
Accurate reconstruction of the environment is a central goal of Simultaneous Localization and Mapping (SLAM) systems. However, the agent's trajectory can significantly affect estimation accuracy. This paper presents a new method to model map uncertainty in Active SLAM systems using an Uncertainty Map (UM). The UM uses probability distributions to capture where the map is uncertain, allowing Uncertainty Frontiers (UF) to be defined as key exploration-exploitation objectives and potential stopping criteria. In addition, the method introduces the Signed Relative Entropy (SiREn), based on the Kullback-Leibler divergence, to measure both coverage and uncertainty together. This helps balance exploration and exploitation through an easy-to-understand parameter. Unlike methods that depend on particular SLAM setups, the proposed approach is compatible with different types of sensors, such as cameras, LiDARs, and multi-sensor fusion. It also addresses common problems in exploration planning and stopping conditions. Furthermore, integrating this map modeling approach with a UF-based planning system enables the agent to autonomously explore open spaces, a behavior not previously observed in the Active SLAM literature. Code and implementation details are available as a ROS node, and all generated data are openly available for public use, facilitating broader adoption and validation of the proposed approach.

Authors:Mehmet Kaan Erol, Eyup Emre Ulku
Title: Location Information Sharing Using Software Defined Radio in Multi-UAV Systems
Abstract:
SDR (Software Defined Radio) provides flexible, reproducible, and longer-lasting radio tools for military and civilian wireless communications infrastructure. SDR is a radio communication system whose components are implemented as software. This study aims to establish multi-channel wireless communication with FANET between two SDRs to share location information and examine it in a realistic test environment. We used multi-channel token circulation as a channel access protocol and GNU Radio platform for SDR software development. The structures of the communication layer, including the protocols, communication systems, and network structures suggested in the studies in the literature, are generally tested in the simulation environment. The simulation environment provides researchers with fast and easy development and testing, but disadvantages exist. These cause a product to be isolated from hardware, software, and cost effects encountered while developing and environmental factors affecting the communication channel while testing. Another contribution of the study is to present the developed block diagrams and codes as clear and reproducible. The developed software and block diagrams are available at github.com/knrl/uav-in-802.11-gnuradio.

Authors:Ali Chouman, Peter Riederer, Frédéric Wurtz
Title: Evaluation methodology of Model Predictive Controllers for building's energy systems
Abstract:
Climate change poses a serious threat to the Earth's ecosystems, fueled primarily by escalating greenhouse gas emissions. Among the main contributors, the building sector stands out due to its significant energy demand. Addressing this challenge requires innovative techniques in the control of energy systems in buildings. This paper deals with the formulation of a methodology designed to evaluate the performance of these controllers. The evaluation process involves the establishment of a comprehensive test protocol and a diverse set of scenarios to evaluate the controllers. Key performance indicators are used to quantify their effectiveness based on the test results. A practical case study is presented as an application to introduce this methodology, focusing on the integration of Model Predictive Controllers (MPCs) with the Dimosim thermal simulation platform. The digital twin of the Greener building in Grenoble is used as a model for emulation. The paper demonstrates the ability of the proposed methodology to test and rank MPCs in different test scenarios, providing valuable feedback on their performance capabilities. The paper highlights the importance of the developed approach in systematically evaluating and ranking MPCs for optimized building energy management.

Authors:Laksh Patel, Akhilesh Raj
Title: Second Order State Hallucinations for Adversarial Attack Mitigation in Formation Control of Multi-Agent Systems
Abstract:
The increasing deployment of multi-agent systems (MAS) in critical infrastructures such as autonomous transportation, disaster relief, and smart cities demands robust formation control mechanisms resilient to adversarial attacks. Traditional consensus-based controllers, while effective under nominal conditions, are highly vulnerable to data manipulation, sensor spoofing, and communication failures. To address this challenge, we propose Second-Order State Hallucination (SOSH), a novel framework that detects compromised agents through distributed residual monitoring and maintains formation stability by replacing attacked states with predictive second-order approximations. Unlike existing mitigation strategies that require significant restructuring or induce long transients, SOSH offers a lightweight, decentralized correction mechanism based on second-order Taylor expansions, enabling rapid and scalable resilience. We establish rigorous Lyapunov-based stability guarantees, proving that formation errors remain exponentially bounded even under persistent attacks, provided the hallucination parameters satisfy explicit conditions. Comprehensive Monte Carlo experiments on a 5-agent complete graph formation demonstrate that SOSH outperforms established robust control schemes, including W-MSR and Huber-based consensus filters, achieving faster convergence rates, lower steady-state error, and superior transient recovery. Our results confirm that SOSH combines theoretical robustness with practical deployability, offering a promising direction for securing MAS formations against sophisticated adversarial threats.

Authors:Guglielmo D'Amico, Filippo Petroni
Title: Instantaneous Failure, Repair and Mobility Rates for Markov Reliability Systems: A Wind-Farm application
Abstract:
The Rate of Occurrence of Failures (ROCOF) is a widely utilized indicator for assessing a system's performance over time, yet it does not fully disclose the instantaneous behavior of a system. This paper introduces new measures to complement the ROCOF, providing a more comprehensive understanding of system reliability, particularly for Markov systems. We define the Rate of Occurrence of Repairs (ROCOR), which quantifies the system's instantaneous tendency to transition from failure to working states, and the Rate of Inoccurrence (ROI), which measures the propensity to remain within the current subset of states (either working or failure) without transitioning out. Explicit expressions for the computation of these rates are derived for Markov systems. Furthermore, a Total Mobility Rate (TMR) is proposed, integrating these individual rates to capture the overall dynamism of the system. The utility of these new indicators is demonstrated through a significant real-world application to wind farm management. The results from the wind farm study show that ROCOR, ROI, and TMR, when used in conjunction with ROCOF, reveal nuanced operational dynamics and reliability characteristics that are not discernible from static measures like Weibull parameters or ROCOF alone. These indicators can distinguish between sites with similar long-term wind profiles by identifying different "reliability logics," such as persistence-driven versus transition-driven behaviors. This enriched, time-dependent perspective provides valuable information for maintenance scheduling, operational strategies, and risk assessment, ultimately enhancing the ability to manage complex systems effectively.

Authors:Jun Wook Heo, Raja Jurdak, Sara Khalifa
Title: Optimal Operating Strategy for PV-BESS Households: Balancing Self-Consumption and Self-Sufficiency
Abstract:
High penetration of Photovoltaic (PV) generation and Battery Energy Storage System (BESS) in individual households increases the demand for solutions to determine the optimal PV generation power and the capacity of BESS. Self-consumption and self-sufficiency are essential for optimising the operation of PV-BESS systems in households, aiming to minimise power import from and export to the main grid. However, self-consumption and self-sufficiency are not independent; they share a linear relationship. This paper demonstrates this relationship and proposes an optimal operating strategy that considers power generation and consumption profiles to maximise self-consumption and self-sufficiency in households equipped with a PV-BESS. We classify self-consumption and self-sufficiency patterns into four categories based on the ratio of self-sufficiency to self-consumption for each household and determine the optimal PV generation and BESS capacities using both a mathematical calculation and this ratio. These optimal operation values for each category are then simulated using Model Predictive Control (MPC) and Reinforcement Learning (RL)-based battery charging and discharging scheduling models. The results show that the ratio between self-consumption and self-sufficiency is a useful metric for determining the optimal capacity of PV-BESS systems to maximise the local utilisation of PV-generated power.

Authors:Jasmin Y. Lim, Dimitrios Pylorof, Humberto E. Garcia, Karthik Duraisamy
Title: A Digital Twin Framework for Generation-IV Reactors with Reinforcement Learning-Enabled Health-Aware Supervisory Control
Abstract:
Generation IV (Gen-IV) nuclear power plants are envisioned to replace the current reactor fleet, bringing improvements in performance, safety, reliability, and sustainability. However, large cost investments currently inhibit the deployment of these advanced reactor concepts. Digital twins bridge real-world systems with digital tools to reduce costs, enhance decision-making, and boost operational efficiency. In this work, a digital twin framework is designed to operate the Gen-IV Fluoride-salt-cooled High-temperature Reactor, utilizing data-enhanced methods to optimize operational and maintenance policies while adhering to system constraints. The closed-loop framework integrates surrogate modeling, reinforcement learning, and Bayesian inference to streamline end-to-end communication for online regulation and self-adjustment. Reinforcement learning is used to consider component health and degradation to drive the target power generations, with constraints enforced through a Reference Governor control algorithm that ensures compliance with pump flow rate and temperature limits. These input driving modules benefit from detailed online simulations that are assimilated to measurement data with Bayesian filtering. The digital twin is demonstrated in three case studies: a one-year long-term operational period showcasing maintenance planning capabilities, short-term accuracy refinement with high-frequency measurements, and system shock capturing that demonstrates real-time recalibration capabilities when change in boundary conditions. These demonstrations validate robustness for health-aware and constraint-informed nuclear plant operation, with general applicability to other advanced reactor concepts and complex engineering systems.

Authors:Junaid Ali, Gregory Shaver, Anil Bajaj
Title: A Set-valued Impact Law Approach for Modeling and Analysis of Rigid Contact Universal Joint with Clearance
Abstract:
This study presents a dynamic model of a universal joint (U-Joint) with radial clearance, focusing on the rigid unilateral frictional contacts at the crosspiece and yoke interfaces. Unlike previous models that neglect crosspiece inertia and interface friction, this work incorporates these effects using a set-valued impact law based on Signorini's condition with Coulomb friction, capturing the complex non-smooth dynamics introduced by radial clearance. Numerical simulations of a 2 degrees-of-freedom (DOF) shaft system reveal the critical influence of clearance on U-Joint dynamic behavior, including impact-induced oscillations, quasi-periodic motion, and chaotic dynamics, which are essential for accurate driveline modeling and real-time control in automotive, aerospace, and precision medical applications.

Authors:Ram Milan Kumar Verma, Shashi Ranjan Kumar, Hemendra Arya
Title: Trajectory tracking control of USV with actuator constraints in the presence of disturbances
Abstract:
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations into the control law design process can lead to enhanced performance and more precise trajectory tracking. Also, the actuators cannot provide the demanded forces or torques instantaneously; hence, there is a limitation on the rate of magnitude. This work proposes nonlinear feedback controller designs developed using the Lyapunov stability and backstepping method while actively considering the actuator magnitude and rate constraints. The system dynamics are augmented with a smooth control input saturation model. Additionally, an observer is incorporated to estimate the disturbance vector. Through Lyapunov stability analysis, we demonstrate the system's stability under the proposed controller for the Uncrewed Surface Vessel (USV), ensuring adherence to actuator constraints provided their initial values fall within the prescribed bounds. Extensive numerical simulations performed by considering various trajectories and multiple initial conditions demonstrate the effectiveness of the controller in maintaining tracking performance without violating actuator constraints. This work also relaxes the assumption of equally capable actuators to be used to control the motion of USVs, affirming the viability of the controller in practical applications.

Authors:Chenjun Liu, Jason J. R. Liu, Zhan Shu, James Lam
Title: Distributed Affine Formation Control of Linear Multi-agent Systems with Adaptive Event-triggering
Abstract:
Concerning general multi-agent systems with limited communication, this paper proposes distributed formation control protocols under adaptive event-triggered schemes to operate affine transformations of nominal formations. To accommodate more practical system mechanics, we develop an event-triggered controller that drives the leader to a desired state by bringing in the compensation term. Based on triggering instants' state information, an affine formation control method with adaptive event-triggering is designed for each follower, making the whole protocol effective in refraining from successive communication while not relying on predefined global information. In particular, mitigating the effect of partial state availability, an output-based control solution is presented to expand the protocol's serviceable range. Finally, we perform numerical simulations on the formation and its affine transformations to verify the effectiveness of the control protocol and the feasibility of the event-triggered mechanism.

Authors:Melih Özcan, Ozgur S. Oguz
Title: An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation
Abstract:
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close proximity to the manipulated object and often fails to maintain stable orientation during extended motion sequences. Conversely, optimization-based motion planning excels in generating collision-free trajectories over the robot's configuration space but struggles with dynamic interactions where contact forces play a crucial role. To address these limitations, we propose a multi-modal control framework that combines force control and optimization-augmented motion planning to tackle complex robotic manipulation tasks in a sequential manner, enabling seamless switching between control modes based on task requirements. Our approach decomposes complex tasks into subtasks, each dynamically assigned to one of three control modes: Pure optimization for global motion planning, pure force control for precise interaction, or hybrid control for tasks requiring simultaneous trajectory tracking and force regulation. This framework is particularly advantageous for bimanual and multi-arm manipulation, where synchronous motion and coordination among arms are essential while considering both the manipulated object and environmental constraints. We demonstrate the versatility of our method through a range of long-horizon manipulation tasks, including single-arm, bimanual, and multi-arm applications, highlighting its ability to handle both free-space motion and contact-rich manipulation with robustness and precision.

Authors:Haotian Yao, Vahid Hakimian, Mostafa Farrokhabadi, Hamidreza Zareipour
Title: Emission-Aware Operation of Electrical Energy Storage Systems
Abstract:
Since the beginning of this century, there has been a growing body of research and developments supporting the participation of energy storage systems (ESS) in the emission reduction mandates. However, regardless of these efforts and despite the need for an accelerated energy transition, we have yet to see a practical framework for operational carbon accounting and credit trading for energy storage systems. In this context, this paper proposes an emission performance credits (EPCs) framework that allows ESS, down to the prosumer level, to participate in the carbon market. Thus, a mechanism is proposed, for the first time, to calculate the grid's real-time marginal emission intensity (MEI). The MEI is then used to optimize the cumulative operational emission of ESS through carbon-aware dispatch. Consequently, the framework tracks the operational emissions and converts them into EPCs, which are then sold to regulated entities under compliance programs. Simulation results support the potential of ESS, regardless of their size, to participate in the broader carbon mitigation objectives.

Authors:Gonçalo Granjal Cruz, Balazs Renczes, Mark C Runacres, Jan Decuyper
Title: State-Space Kolmogorov Arnold Networks for Interpretable Nonlinear System Identification
Abstract:
While accurate, black-box system identification models lack interpretability of the underlying system dynamics. This paper proposes State-Space Kolmogorov-Arnold Networks (SS-KAN) to address this challenge by integrating Kolmogorov-Arnold Networks within a state-space framework. The proposed model is validated on two benchmark systems: the Silverbox and the Wiener-Hammerstein benchmarks. Results show that SS-KAN provides enhanced interpretability due to sparsity-promoting regularization and the direct visualization of its learned univariate functions, which reveal system nonlinearities at the cost of accuracy when compared to state-of-the-art black-box models, highlighting SS-KAN as a promising approach for interpretable nonlinear system identification, balancing accuracy and interpretability of nonlinear system dynamics.

Authors:Xun Liu, Xiaobin Wu, Jiaqi He, Rajan Das Gupta
Title: Intelligent Operation and Maintenance and Prediction Model Optimization for Improving Wind Power Generation Efficiency
Abstract:
This study explores the effectiveness of predictive maintenance models and the optimization of intelligent Operation and Maintenance (O&M) systems in improving wind power generation efficiency. Through qualitative research, structured interviews were conducted with five wind farm engineers and maintenance managers, each with extensive experience in turbine operations. Using thematic analysis, the study revealed that while predictive maintenance models effectively reduce downtime by identifying major faults, they often struggle with detecting smaller, gradual failures. Key challenges identified include false positives, sensor malfunctions, and difficulties in integrating new models with older turbine systems. Advanced technologies such as digital twins, SCADA systems, and condition monitoring have significantly enhanced turbine maintenance practices. However, these technologies still require improvements, particularly in AI refinement and real-time data integration. The findings emphasize the need for continuous development to fully optimize wind turbine performance and support the broader adoption of renewable energy.

Authors:Masahiko Ueda, Shoma Yagi, Genki Ichinose
Title: Autocratic strategies in Cournot oligopoly game
Abstract:
An oligopoly is a market in which the price of a goods is controlled by a few firms. Cournot introduced the simplest game-theoretic model of oligopoly, where profit-maximizing behavior of each firm results in market failure. Furthermore, when the Cournot oligopoly game is infinitely repeated, firms can tacitly collude to monopolize the market. Such tacit collusion is realized by the same mechanism as direct reciprocity in the repeated prisoner's dilemma game, where mutual cooperation can be realized whereas defection is favorable for both prisoners in one-shot game. Recently, in the repeated prisoner's dilemma game, a class of strategies called zero-determinant strategies attracts much attention in the context of direct reciprocity. Zero-determinant strategies are autocratic strategies which unilaterally control payoffs of players. There were many attempts to find zero-determinant strategies in other games and to extend them so as to apply them to broader situations. In this paper, first, we show that zero-determinant strategies exist even in the repeated Cournot oligopoly game. Especially, we prove that an averagely unbeatable zero-determinant strategy exists, which is guaranteed to obtain the average payoff of the opponents. Second, we numerically show that the averagely unbeatable zero-determinant strategy can be used to promote collusion when it is used against an adaptively learning player, whereas it cannot promote collusion when it is used against two adaptively learning players. Our findings elucidate some negative impact of zero-determinant strategies in oligopoly market.

Authors:Hang Yang, Yusheng Hu, Yong Liu, Cong, Hao
Title: Pieceformer: Similarity-Driven Knowledge Transfer via Scalable Graph Transformer in VLSI
Abstract:
Accurate graph similarity is critical for knowledge transfer in VLSI design, enabling the reuse of prior solutions to reduce engineering effort and turnaround time. We propose Pieceformer, a scalable, self-supervised similarity assessment framework, equipped with a hybrid message-passing and graph transformer encoder. To address transformer scalability, we incorporate a linear transformer backbone and introduce a partitioned training pipeline for efficient memory and parallelism management. Evaluations on synthetic and real-world CircuitNet datasets show that Pieceformer reduces mean absolute error (MAE) by 24.9% over the baseline and is the only method to correctly cluster all real-world design groups. We further demonstrate the practical usage of our model through a case study on a partitioning task, achieving up to 89% runtime reduction. These results validate the framework's effectiveness for scalable, unbiased design reuse in modern VLSI systems.

Authors:David Ohlin, Richard Pates, Murat Arcak
Title: On Exact Solutions to the Linear Bellman Equation
Abstract:
This paper presents sufficient conditions for optimal control of systems with dynamics given by a linear operator, in order to obtain an explicit solution to the Bellman equation that can be calculated in a distributed fashion. Further, the class of Linearly Solvable MDP is reformulated as a continuous-state optimal control problem. It is shown that this class naturally satisfies the conditions for explicit solution of the Bellman equation, motivating the extension of previous results to semilinear dynamics to account for input nonlinearities. The applicability of the given conditions is illustrated in scenarios with linear and quadratic cost, corresponding to the Stochastic Shortest Path and Linear-Quadratic Regulator problems.

Authors:Ahmed Ibrahim, Francisco F. C. Rego, Éric Busvelle
Title: Comparison of Innovative Strategies for the Coverage Problem: Path Planning, Search Optimization, and Applications in Underwater Robotics
Abstract:
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path planning strategies to enhance the efficiency of underwater gliders, particularly in maximizing the probability of detecting a radioactive source while ensuring safe navigation. We evaluate three path-planning approaches: the Traveling Salesman Problem (TSP), Minimum Spanning Tree (MST), and Optimal Control Problem (OCP). Simulations were conducted in MATLAB, comparing processing time, uncovered areas, path length, and traversal time. Results indicate that OCP is preferable when traversal time is constrained, although it incurs significantly higher computational costs. Conversely, MST-based approaches provide faster but less optimal solutions. These findings offer insights into selecting appropriate algorithms based on mission priorities, balancing efficiency and computational feasibility.

Authors:David Nozadze, Zurab Kiguradze, Amendra Koul, Mike Sapozhnikov
Title: Skew-Induced Insertion Loss Deviation (SILD) and FOM_SILD: Metrics for Quantifying P/N Skew Effects in High-Speed Channels
Abstract:
The rise of AI workloads and growing data center demands have driven the need for ultra-high-speed interconnects exceeding 200 Gb/s. As unit intervals (UI) shrink, even a few picoseconds of P/N skew can degrade serializer-deserializer (SerDes) performance. Traditional methods for quantifying skew fall short in capturing its impact. We introduce two new metrics: 1) Skew-Induced Insertion Loss Deviation (SILD) and 2) its complementary Figure of Merit (FOM_SILD), analytically developed to assess P/N skew effects. Measured S-parameters confirm FOM_SILD reciprocity, while simulations of 224G PAM4 SerDes show strong correlation with bit error rate (BER) trends. This approach offers a robust framework for analyzing skew in next-generation ultra-high-speed interconnects.

Authors:Filippos Tzortzoglou, Logan E. Beaver
Title: Mixed Traffic: A Perspective from Long Duration Autonomy
Abstract:
The rapid adoption of autonomous vehicle has established mixed traffic environments, comprising both autonomous and human-driven vehicles (HDVs), as essential components of next-generation mobility systems. Along these lines, connectivity between autonomous vehicles and infrastructure (V2I) is also a significant factor that can effectively support higher-level decision-making. At the same time, the integration of V2I within mixed traffic environments remains a timely and challenging problem. In this paper, we present a long-duration autonomy controller for connected and automated vehicles (CAVs) operating in such environments, with a focus on intersections where right turns on red are permitted. We begin by deriving the optimal control policy for CAVs under free-flow traffic. Next, we analyze crossing time constraints imposed by smart traffic lights and map these constraints to controller bounds using Control Barrier Functions (CBFs), with the aim to drive a CAV to cross the intersection on time. We also introduce criteria for identifying, in real-time, feasible crossing intervals for each CAV. To ensure safety for the CAVs, we present model-agnostic safety guarantees, and demonstrate their compatibility with both CAVs and HDVs. Ultimately, the final control actions are enforced through a combination of CBF constraints, constraining CAVs to traverse the intersection within the designated time intervals while respecting other vehicles. Finally, we guarantee that our control policy yields always a feasible solution and validate the proposed approach through extensive simulations in MATLAB.

Authors:Ondřej Skalský, Jakub Dokoupil
Title: Bayesian Knowledge Transfer for a Kalman Fixed-Lag Interval Smoother
Abstract:
A Bayesian knowledge transfer mechanism that leverages external information to improve the performance of the Kalman fixed-lag interval smoother (FLIS) is proposed. Exact knowledge of the external observation model is assumed to be missing, which hinders the direct application of Bayes' rule in traditional transfer learning approaches. This limitation is overcome by the fully probabilistic design, conditioning the targeted task of state estimation on external information. To mitigate the negative impact of inaccurate external data while leveraging precise information, a latent variable is introduced. Favorably, in contrast to a filter, FLIS retrospectively refines past decisions up to a fixed time horizon, reducing the accumulation of estimation error and consequently improving the performance of state inference. Simulations indicate that the proposed algorithm better exploits precise external knowledge compared to a similar technique and achieves comparable results when the information is imprecise.

Authors:Olav Galteland, Jacob Hadler-Jacobsen, Hanne Kauko
Title: Techno-economic optimization of hybrid steam-electric energy systems with excess heat utilization and reserve market participation
Abstract:
This study investigates the economic viability and optimal configuration of a hybrid industrial energy system combining an electrode boiler, steam accumulator, and battery energy storage system (BESS). This study optimizes system operation for a specific configuration to minimize net energy costs, defined as energy costs minus profits from price arbitrage and reserve markets. The optimization uses load shifting, peak shaving, and frequency containment reserve market participation with hourly 2024 data from Norway and Germany. Net present value (NPV) analysis was performed to determine the most cost-efficient energy storage configurations. The results show that current investment costs favor steam accumulators over BESS in both countries. However, a reduction in BESS cost will make batteries economically competitive, particularly in Germany, where high price volatility and power-based grid tariffs provide stronger incentives for load shifting and peak shaving. Participation in the FCR market accounted for a 17% and 7% reduction of the net energy costs in Norway and Germany, respectively. Utilization of excess heat, through inlet water preheating, further reduced the net energy costs. Sensitivity analyses confirm that investment costs, especially for BESS, strongly influence optimal system design. These findings offer guidance for industrial flexibility investments across diverse electricity markets.

Authors:Rujia Zou, Haipeng Zhang, Karthik Sundaresan, Zhensheng Jia, Suresh Subramaniam
Title: A Novel Dynamic Bandwidth Allocation Design for 100G Coherent Passive Optical Network
Abstract:
With the rapid advancements in coherent Passive Optical Network (PON) technologies featuring 100G and higher data rates, this paper addresses the urgent requirement for sophisticated simulation and MAC layer development within the domain of coherent Time Division Multiplexing (TDM) PON and coherent Time and Frequency Division Multiplexing (TFDM) PON networks. The ever-growing demand for latency-sensitive services and expanding user populations in next-generation 100G and beyond coherent PONs, underscores the crucial need for low-latency bandwidth management and efficient Dynamic Bandwidth Allocation (DBA) mechanisms. In this paper, we present a pioneering analysis of two established DBAs from the perspective of temporal misalignments. Subsequently, a novel DBA algorithm tailored for coherent PONs featuring 100 Gbps data rate and up to 512 end-users is introduced, named the Hybrid-Switch DBA. This innovative approach allows for adaptive switching of the DBA scheme in response to real-time traffic conditions. To the best of our knowledge, this paper represents the first attempt to address the misalignment problem of DBA and proposes a novel DBA solution for both TDM- and TFDM-based coherent PON networks. This research significantly contributes to the development of coherent TDM PON and coherent TFDM PON networks by enhancing the efficiency of bandwidth allocation and addressing the challenges associated with misalignments in DBA mechanisms. As optical access networks continue to evolve to meet the ever-increasing demands of modern communication services, the Hybrid-Switch DBA algorithm presented in this paper offers a promising solution for optimizing network performance and accommodating latency-sensitive applications.

Authors:Shunhan Ji, Yanxi Chen, Zhongyu Yang, Quan Zhang, Xiaohang Nie, Jingqian Sun, Yichao Tang
Title: Pose State Perception of Interventional Robot for Cardio-cerebrovascular Procedures
Abstract:
In response to the increasing demand for cardiocerebrovascular interventional surgeries, precise control of interventional robots has become increasingly important. Within these complex vascular scenarios, the accurate and reliable perception of the pose state for interventional robots is particularly crucial. This paper presents a novel vision-based approach without the need of additional sensors or markers. The core of this paper's method consists of a three-part framework: firstly, a dual-head multitask U-Net model for simultaneous vessel segment and interventional robot detection; secondly, an advanced algorithm for skeleton extraction and optimization; and finally, a comprehensive pose state perception system based on geometric features is implemented to accurately identify the robot's pose state and provide strategies for subsequent control. The experimental results demonstrate the proposed method's high reliability and accuracy in trajectory tracking and pose state perception.

Authors:Lisbel Bárzaga-Martell, Francisco Ibáñez, Angel L. Cedeño, Maria Coronel, Francisco Concha, Norelys Aguila-Camacho, José Ricardo Pérez-Correa
Title: Observer Switching Strategy for Enhanced State Estimation in CSTR Networks
Abstract:
Accurate state estimation is essential for monitoring and controlling nonlinear chemical reactors, such as continuous stirred-tank reactors (CSTRs), where limited sensor coverage and process uncertainties hinder real-time observability. This paper introduces a novel multi-observer switching framework that combines several advanced estimators: Extended Luenberger Observer (ELO), Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Quadrature Kalman Filter (QKF), and Particle Filter (PF), operating in parallel. At each sampling instant, a cost function based on the $L_1$ norm and Kullback-Leibler divergence selects the observer, yielding the best agreement with available measurements. The proposed architecture is validated through simulations of both linearized and fully nonlinear CSTR models with up to three reactors in series. Results show that the switching strategy significantly reduces estimation errors compared to single-observer approaches, especially under partial observability and parametric uncertainty. Despite its modular design, the framework remains computationally tractable, making it suitable for real-time industrial applications such as fault detection and model-based predictive control.

Authors:Zeenat Hameed, Chresten Træholt
Title: EPC Framework for BESS Projects
Abstract:
Battery Energy Storage Systems (BESS) are critical for modern power networks, supporting grid services such as frequency regulation, peak shaving, and black start. Delivering a BESS under an Engineering, Procurement, and Construction (EPC) model requires a concise methodology that balances regulatory compliance, technical details, and schedule efficiency. This paper presents a streamlined, five step EPC framework covering feasibility assessment, permitting, procurement, construction, and commissioning. A Danish demonstration (the BOSS project on Bornholm) serves as a case study.

Authors:Salim Msaad, Murray Harraway, Robert D. McAllister
Title: RL-Guided MPC for Autonomous Greenhouse Control
Abstract:
The efficient operation of greenhouses is essential for enhancing crop yield while minimizing energy costs. This paper investigates a control strategy that integrates Reinforcement Learning (RL) and Model Predictive Control (MPC) to optimize economic benefits in autonomous greenhouses. Previous research has explored the use of RL and MPC for greenhouse control individually, or by using MPC as the function approximator for the RL agent. This study introduces the RL-Guided MPC framework, where a RL policy is trained and then used to construct a terminal cost and terminal region constraint for the MPC optimization problem. This approach leverages the ability to handle uncertainties of RL with MPC's online optimization to improve overall control performance. The RL-Guided MPC framework is compared with both MPC and RL via numerical simulations. Two scenarios are considered: a deterministic environment and an uncertain environment. Simulation results demonstrate that, in both environments, RL-Guided MPC outperforms both RL and MPC with shorter prediction horizons.

Authors:Emil Marcus Buchberg, Kent Vugs Nielsen
Title: Condition Monitoring with Machine Learning: A Data-Driven Framework for Quantifying Wind Turbine Energy Loss
Abstract:
Wind energy significantly contributes to the global shift towards renewable energy, yet operational challenges, such as Leading-Edge Erosion on wind turbine blades, notably reduce energy output. This study introduces an advanced, scalable machine learning framework for condition monitoring of wind turbines, specifically targeting improved detection of anomalies using Supervisory Control and Data Acquisition data. The framework effectively isolates normal turbine behavior through rigorous preprocessing, incorporating domain-specific rules and anomaly detection filters, including Gaussian Mixture Models and a predictive power score. The data cleaning and feature selection process enables identification of deviations indicative of performance degradation, facilitating estimates of annual energy production losses. The data preprocessing methods resulted in significant data reduction, retaining on average 31% of the original SCADA data per wind farm. Notably, 24 out of 35 turbines exhibited clear performance declines. At the same time, seven improved, and four showed no significant changes when employing the power curve feature set, which consisted of wind speed and ambient temperature. Models such as Random Forest, XGBoost, and KNN consistently captured subtle but persistent declines in turbine performance. The developed framework provides a novel approach to existing condition monitoring methodologies by isolating normal operational data and estimating annual energy loss, which can be a key part in reducing maintenance expenditures and mitigating economic impacts from turbine downtime.

Authors:Cong Chen, Omer Karaduman, Xu Kuang
Title: Behavioral Generative Agents for Energy Operations
Abstract:
Accurately modeling consumer behavior in energy operations remains challenging due to inherent uncertainties, behavioral complexities, and limited empirical data. This paper introduces a novel approach leveraging generative agents--artificial agents powered by large language models--to realistically simulate customer decision-making in dynamic energy operations. We demonstrate that these agents behave more optimally and rationally in simpler market scenarios, while their performance becomes more variable and suboptimal as task complexity rises. Furthermore, the agents exhibit heterogeneous customer preferences, consistently maintaining distinct, persona-driven reasoning patterns. Our findings highlight the potential value of integrating generative agents into energy management simulations to improve the design and effectiveness of energy policies and incentive programs.

Authors:Ariany C. Oliveira, Victor C. S. Campos, Leonardo. A. Mozelli
Title: Less Conservative Adaptive Gain-scheduling Control for Continuous-time Systems with Polytopic Uncertainties
Abstract:
The synthesis of adaptive gain-scheduling controller is discussed for continuous-time linear models characterized by polytopic uncertainties. The proposed approach computes the control law assuming the parameters as uncertain and adaptively provides an estimate for the gain-scheduling implementation. Conservativeness is reduced using our recent results on describing uncertainty: i) a structural relaxation that casts the parameters as outer terms and introduces slack variables; and ii) a precise topological representation that describes the mismatch between the uncertainty and its estimate. Numerical examples illustrate a high degree of relaxation in comparison with the state-of-the-art.

Authors:Rongfei Li, Francis Assadian. Iman Soltani
Title: Design and Simulation of Vehicle Motion Tracking System using a Youla Controller Output Observation System
Abstract:
This paper presents a novel linear robust Youla controller output observation system for tracking vehicle motion trajectories using a simple nonlinear kinematic vehicle model, supplemented with positional data from a radar sensor. The proposed system operates across the full vehicle trajectory range with only three linear observers, improving upon previous methods that required four nonlinear observers. To ensure smooth transitions between Youla controllers and observers, a switching technique is introduced, preventing bumps during controller changes. The proposed observer system is evaluated through simulations, demonstrating accurate and robust estimation of longitudinal and lateral positions, vehicle orientation, and velocity from sensor measurements during various standard driving maneuvers. Results are provided for different driving scenarios, including lane changes and intersection crossings, where significant changes in vehicle orientation occur. The novelty of this work lies in the first application of a Youla controller output observer for vehicle tracking estimation.

Authors:Andrew Ash, John Hu
Title: WIP: Exploring the Value of a Debugging Cheat Sheet and Mini Lecture in Improving Undergraduate Debugging Skills and Mindset
Abstract:
This work-in-progress research paper explores the efficacy of a small-scale microelectronics debugging education intervention utilizing quasi-experimental design in an introductory microelectronics course for third-year electrical and computer engineering (ECE) students. In the first semester of research, the experimental group attended a debugging "mini lecture" covering two common sources of circuit error and received a debugging cheat sheet with recommendations for testing and hypothesis formation. Across three debugging problems, students in the experimental group were faster by an average of 1:43 and had a 7 percent higher success rate than the control group. Both groups demonstrated a strong general growth mindset while the experimental group also displayed a shift in their debugging mindset by perceiving a greater value towards debugging. Though these differences are not yet statistically significant, the pilot results indicate that a mini-lecture and debugging cheat sheet are steps in the right direction toward improving students' readiness for debugging in the workplace.

Authors:Qiuyu Miao, Zhigang Wu
Title: A Hybrid Adaptive Nash Equilibrium Solver for Distributed Multi-Agent Systems with Game-Theoretic Jump Triggering
Abstract:
This paper presents a hybrid adaptive Nash equilibrium solver for distributed multi-agent systems incorporating game-theoretic jump triggering mechanisms. The approach addresses fundamental scalability and computational challenges in multi-agent hybrid systems by integrating distributed game-theoretic optimization with systematic hybrid system design. A novel game-theoretic jump triggering mechanism coordinates discrete mode transitions across multiple agents while maintaining distributed autonomy. The Hybrid Adaptive Nash Equilibrium Solver (HANES) algorithm integrates these methodologies. Sufficient conditions establish exponential convergence to consensus under distributed information constraints. The framework provides rigorous stability guarantees through coupled Hamilton-Jacobi-Bellman equations while enabling rapid emergency response capabilities through coordinated jump dynamics. Simulation studies in pursuit-evasion and leader-follower consensus scenarios demonstrate significant improvements in convergence time, computational efficiency, and scalability compared to existing centralized and distributed approaches.

Authors:Milad Hoseinpour, Vladimir Dvorkin
Title: Constrained Diffusion Models for Synthesizing Representative Power Flow Datasets
Abstract:
High-quality power flow datasets are essential for training machine learning models in power systems. However, security and privacy concerns restrict access to real-world data, making statistically accurate and physically consistent synthetic datasets a viable alternative. We develop a diffusion model for generating synthetic power flow datasets from real-world power grids that both replicate the statistical properties of the real-world data and ensure AC power flow feasibility. To enforce the constraints, we incorporate gradient guidance based on the power flow constraints to steer diffusion sampling toward feasible samples. For computational efficiency, we further leverage insights from the fast decoupled power flow method and propose a variable decoupling strategy for the training and sampling of the diffusion model. These solutions lead to a physics-informed diffusion model, generating power flow datasets that outperform those from the standard diffusion in terms of feasibility and statistical similarity, as shown in experiments across IEEE benchmark systems.

Authors:Hanumanthrao Kannan, Alejandro Salado
Title: A Theory-driven Interpretation and Elaboration of Verification and Validation
Abstract:
This paper presents a formal theory of verification and validation (V&V) within systems engineering, grounded in the axiom that V&V are fundamentally knowledge-building activities. Using dynamic epistemic modal logic, we develop precise definitions of verification and validation, articulating their roles in confirming and contextualizing knowledge about systems. The theory formalizes the interplay between epistemic states, evidence, and reasoning processes, allowing for the derivation of theorems that clarify the conceptual underpinnings of V&V. By providing a formal foundation, this work addresses ambiguities in traditional V&V practices, offering a structured framework to enhance precision and consistency in systems engineering methodologies. The insights gained have implications for both academic research and practical applications, fostering a deeper understanding of V&V as critical components of engineering knowledge generation.

Authors:Tim Kraus, Axel Sauer, Ingo Feldner
Title: Deployment of Containerized Simulations in an API-Driven Distributed Infrastructure
Abstract:
The increasingly dynamic market for embedded systems makes virtual prototypes an indispensable tool for hardware/software codesign. The broad acceptance of the methodology has led to a diverse range of solutions: from open-source, pure console-based simulators to highly capable commercial simulation tools. In this work we present SUNRISE, an infrastructure to provide users a unified approach to utilizing virtual prototyping solutions, facilitate access to various simulation technologies and boost cooperation by leveraging decentralized compute resources for deployment of simulation workloads and definition of open APIs.

Authors:Nart Gashi, Panagiotis Kakosimos, George Papafotiou
Title: System Identification Using Kolmogorov-Arnold Networks: A Case Study on Buck Converters
Abstract:
Kolmogorov-Arnold Networks (KANs) are emerging as a powerful framework for interpretable and efficient system identification in dynamic systems. By leveraging the Kolmogorov-Arnold representation theorem, KANs enable function approximation through learnable activation functions, offering improved scalability, accuracy, and interpretability compared to traditional neural networks. This paper investigates the application of KANs to model and analyze the dynamics of a buck converter system, focusing on state-space parameter estimation along with discovering the system equations. Using simulation data, the methodology involves approximating state derivatives with KANs, constructing interpretable state-space representations, and validating these models through numerical experiments. The results demonstrate the ability of KANs to accurately identify system dynamics, verify model consistency, and detect parameter changes, providing valuable insights into their applicability for system identification in modern industrial systems.

Authors:Nidhi Homey Parayil, Thierry Peynot, Chris Lehnert
Title: RICE: Reactive Interaction Controller for Cluttered Canopy Environment
Abstract:
Robotic navigation in dense, cluttered environments such as agricultural canopies presents significant challenges due to physical and visual occlusion caused by leaves and branches. Traditional vision-based or model-dependent approaches often fail in these settings, where physical interaction without damaging foliage and branches is necessary to reach a target. We present a novel reactive controller that enables safe navigation for a robotic arm in a contact-rich, cluttered, deformable environment using end-effector position and real-time tactile feedback. Our proposed framework's interaction strategy is based on a trade-off between minimizing disturbance by maneuvering around obstacles and pushing through them to move towards the target. We show that over 35 trials in 3 experimental plant setups with an occluded target, the proposed controller successfully reached the target in all trials without breaking any branch and outperformed the state-of-the-art model-free controller in robustness and adaptability. This work lays the foundation for safe, adaptive interaction in cluttered, contact-rich deformable environments, enabling future agricultural tasks such as pruning and harvesting in plant canopies.

Authors:H. A. Krog, Y. Jooss, H. Fyhn, P. Nekså, I. Hjorth
Title: Large-scale LH2 pipeline infrastructure concept for airports
Abstract:
Infrastructure and processes for handling of liquid hydrogen (LH2) is needed to enable large-scale decarbonization of aviation with hydrogen aircraft. At large airports, pipeline and hydrant systems will be important for a mature hydrogen-powered air travel market. As the vaporization of LH2 is a challenge in fuel handling, the pipeline infrastructure must be designed and operated such that the fuel is subcooled. Through modelling and simulation of aircraft tanks refuelling by a pipeline infrastructure concept, it is found that continuous recycling of LH2 within the system is needed to maintain subcooling, and the pump operation is important for preventing flashing. With the proposed concept, some hydrogen vapor is formed in the aircraft tank, but the vapor can be utilised by hydrogen-powered ground support equipment.

Authors:Yue Wu, Jianfu Cao, Ye Cao
Title: Online Learning Control Strategies for Industrial Processes with Application for Loosening and Conditioning
Abstract:
This paper proposes a novel adaptive Koopman Model Predictive Control (MPC) framework, termed HPC-AK-MPC, designed to address the dual challenges of time-varying dynamics and safe operation in complex industrial processes. The framework integrates two core strategies: online learning and historically-informed safety constraints. To contend with process time-variance, a Recursive Extended Dynamic Mode Decomposition (rEDMDc) technique is employed to construct an adaptive Koopman model capable of updating its parameters from real-time data, endowing the controller with the ability to continuously learn and track dynamic changes. To tackle the critical issue of safe operation under model uncertainty, we introduce a novel Historical Process Constraint (HPC) mechanism. This mechanism mines successful operational experiences from a historical database and, by coupling them with the confidence level of the online model, generates a dynamic "safety corridor" for the MPC optimization problem. This approach transforms implicit expert knowledge into explicit, adaptive constraints, establishing a dynamic balance between pursuing optimal performance and ensuring robust safety. The proposed HPC-AK-MPC method is applied to a real-world tobacco loosening and conditioning process and systematically validated using an "advisor mode" simulation framework with industrial data. Experimental results demonstrate that, compared to historical operations, the proposed method significantly improves the Process Capability Index (Cpk) for key quality variables across all tested batches, proving its substantial potential in enhancing control performance while guaranteeing operational safety.

Authors:Masoud Behbahani, Alireza Fereidunian
Title: Quantitative Indices for Improving Metro Load Curve, Using Distributed Generation
Abstract:
This paper promises the idea of using DG (Distributed Generation) to improve the Metro load curve. Public transportation systems are often based on gasoline and diesel. However, with the gradual development in usage of the Metro and monorail, a new load with heavy demand, inappropriate load curve and middle LF (Load factor) is added to the electricity grid. In addition to supply problem of this massive consumer, the Metro load curve is another problem, which has a relatively low LF. Furthermore, Metro load peak hours coincide with the peaks of national grid. Improvement of the load curve is well-known in electrical engineering literature, which depending on the type of load curve, offers general recommendations in three approaches; DSM (Demand Side Management), DS (Distributed Storage) and DG. In this paper, to achieve quantitative indices of improvement for Metro load curve using DG, firstly based on the analysis of volume and consumption pattern of the main loads in Metro, the typical load curve has been extracted. Using this curve, the result of using DG is shown by quantitative parameters which represent the significant improvement in load curve. These parameters can be used to calculate economic indicators such as initial cost and ROI (Return of Investment).

Authors:Luca Vaccino, Alana K. Lund, Shirley J. Dyke, Mohsen Azimi, Ethan Vallerga
Title: HabSim: Architecture for modelling disruptions, propagation, detection and repair in deep space habitats
Abstract:
Establishing long-term human settlements in deep space presents significant challenges. Harsh environmental conditions, such as extreme temperature fluctuations, micrometeorite impacts, seismic activity, and exposure to solar and cosmic radiation pose obstacles to the design and operation of habitat systems. Prolonged mission duration and the vast distances from Earth introduce further complications in the form of delayed communication and limited resources, making autonomy especially desirable. Enabling simulation of the consequences of disruptions and their propagation through the various habitat subsystems is important for the development of autonomous and resilient space habitats. While existing simulation tools can assist in modeling some of these aspects, the integration of damage propagation, detection and repair in a computational model is rarely considered. This paper introduces and demonstrates a simulation architecture designed to model these aspects efficiently. By combining physics-based and phenomenological models, our approach balances computational efficiency with model fidelity. Furthermore, by coordinating subsystems operating at different time scales, we achieve real-time simulation capabilities. After describing the architecture, we demonstrate its application within HabSim, a space habitat system model developed by the NASA-funded Resilient Extraterrestrial Habitat Institute (RETHi). In these scenarios we consider fire hazard propagation within a lunar habitat to illustrate both how our architecture supports the modeling of disruption propagation, detection, and repair in a simulation environment and how the HabSim model can be leveraged for through stochastic simulations to support resilience assessment. The architecture developed herein is efficient and scalable, enabling researchers to gain insight into resilience, autonomy and decision-making.

Authors:Hiya Gada, Rupamathi Jaddivada, Marija Ilic
Title: Distributed component-level modeling and control of energy dynamics in electric power systems
Abstract:
The widespread deployment of power electronic-based technologies is transforming modern power systems into fast, nonlinear, and heterogeneous systems. Conventional modeling and control approaches, rooted in quasi-static analysis and centralized control, are inadequate for these converter-dominated systems, which operate on fast timescales and involve proprietary models of diverse components. This paper adopts and extends a previously introduced energy space modeling framework grounded in energy conservation principles to address these challenges. We generalize the notion of a port interaction variable, which encodes energy exchange between interconnected, heterogeneous components in a unified and physically intuitive manner. A multilayered distributed control architecture is proposed, wherein the nonlinear physical dynamics of each component are lifted to a higher-level linear energy space through well-defined mappings. Distributed controllers are designed in this energy space using only local states and minimal neighbor information via port interaction variables. Two control designs, energy-based feedback linearizing control (FBLC) and sliding mode control (SMC), are proven to achieve asymptotic convergence to reference outputs. The approach is validated on two systems: an inverter-controlled RLC circuit and a synchronous generator connected to a load. In both cases, energy-based control improves transient response and reduces control effort.

Authors:Yang Lv, Rong Hu, Bin Qian, Jian-Bo Yang
Title: Q-learning-based Hierarchical Cooperative Local Search for Steelmaking-continuous Casting Scheduling Problem
Abstract:
The steelmaking continuous casting scheduling problem (SCCSP) is a critical and complex challenge in modern steel production, requiring the coordinated assignment and sequencing of steel charges across multiple production stages. Efficient scheduling not only enhances productivity but also significantly reduces energy consumption. However, both traditional heuristics (e.g., two-stage local search) and recent metaheuristics often struggle to adapt to the dynamic characteristics of practical SCCSP instances. To address these limitations, this paper introduces a novel Q learning based hierarchical cooperative local search framework, termed HierC_Q, aimed at minimizing the weighted sum of the maximum completion time and the average waiting time in SCCSP. The core contributions of HierC_Q are twofold. First, considering the intrinsic coupling properties of the SCCSP, a dedicated reward function is proposed based on a novel coupling measure (CM), guiding the exploration process towards promising regions of the solution space. Second, a hierarchical architecture is devised, comprising two distinct tiers: the learn to improve (L2I) tier and the "disturb to renovate" (D2R) tier. The L2I tier performs deep exploitation within promising regions using two independent Q-learning-based local search frameworks (QLSFs) tailored for subproblems, along with a synergy QLSF designed for the main problem. To enhance the effectiveness of local search, a validity evaluation approach and a speed-up evaluation method are also intro-duced, grounded in a detailed study of the problem's structure. Meanwhile, the D2R tier incorporates a perturbation and construction based solution renewal strategy to mitigate the risk of premature convergence. The superiority and effectiveness of HierC_Q are demonstrated through extensive comparisons with eleven local search frameworks and nine state-of-the-art algorithms.

Authors:Tao Li, Yi Li, Lulin Zhang, Jiuxiang Dong
Title: The Invariant Zonotopic Set-Membership Filter for State Estimation on Groups
Abstract:
The invariant filtering theory based on the group theory has been successful in statistical filtering methods. However, there exists a class of state estimation problems with unknown statistical properties of noise disturbances, and it is worth discussing whether the invariant observer still has performance advantages. In this paper, considering the problem of state estimation with unknown but bounded noise disturbances, an Invariant Zonotopic Set-Membership Filter (InZSMF) method on groups is innovatively proposed, which extends the invariant filtering theory to the field of non-statistical filtering represented by set-membership filtering. Firstly, the InZSMF method transforms the state space from the traditional Euclidean vector space to the Lie group space to construct group affine discrete systems with unknown but bounded noise uncertainty defined by the zonotope on groups. Secondly, the nonlinear observer on the group is defined and the corresponding linearized estimation error is derived. Then, two observer gain tuning algorithms under the InZSMF method are proposed, respectively, the pole configuration method and the F-radius optimization method. Finally, through simulation experiments, it is shown that the InZSMF state estimation method is generally superior to the traditional Zonotopic Set-Membership Filter (ZSMF) state estimation method. Especially, when the initial estimations are imprecise, the convergence speed of state estimation, the accuracy of set-membership center estimation, and the average interval area of zonotopic estimation of the InZSMF method are significantly better than those of the ZSMF method.

Authors:Chaoqun Ma, Zhiyong Zhang
Title: Predictive reinforcement learning based adaptive PID controller
Abstract:
Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both data-driven and model-driven approaches. Design/methodology/approach: A predictive reinforcement learning framework is introduced, incorporating action smooth strategy to suppress overshoot and oscillations, and a hierarchical reward function to support training. Findings: Experimental results show that the PRL-PID controller achieves superior stability and tracking accuracy in nonlinear, unstable, and strongly coupled systems, consistently outperforming existing RL-tuned PID methods while maintaining excellent robustness and adaptability across diverse operating conditions. Originality/Value: By adopting predictive learning, the proposed PRL-PID integrates system model priors into data-driven control, enhancing both the control framework's training efficiency and the controller's stability. As a result, PRL-PID provides a balanced blend of model-based and data-driven approaches, delivering robust, high-performance control.

Authors:Chen Huang, Dingxuan Wang, Ronghui Hou
Title: Joint Routing and Control Optimization in VANET
Abstract:
In this paper, we introduce DynaRoute, an adaptive joint optimization framework for dynamic vehicular networks that simultaneously addresses platoon control and data transmission through trajectory-aware routing and safety-constrained vehicle coordination. DynaRoute guarantees continuous vehicle movement via platoon safety control with optimizing transmission paths through real-time trajectory prediction and ensuring reliable data. Our solution achieves three key objectives: (1) maintaining platoon stability through accurate data transmission, (2) enabling adaptive routing based on vehicle movement patterns, and (3) enhancing overall intelligent transportation system performance. DynaRoute equires predefined traffic models and adapts to dynamic network conditions using local vehicle state information. We present comprehensive simulation results demonstrating that DynaRoute maintains control and transmission performance in multiple complex scenarios while significantly improving throughput and reliability compared to traditional approaches.

Authors:Jakub Kašpar, Vít Fanta, Vladimír Havlena
Title: Tram Positioning with Map-Enabled GNSS Data Reconciliation
Abstract:
This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance in dense urban environments where the direct line of sight to GNSS satellites is often obscured which leads to multipath propagation of GNSS signals. The presented concept is based upon the iterated extended Kalman filter (IEKF) and has linear complexity (with respect to the number of GNSS measurements) as opposed to some other techniques mitigating the multipath signal propagation. The technique is demonstrated both on a simulated example and real data. The root-mean-squared errors from the simulated ground truth positions show that the presented solution is able to improve performance compared to a baseline localization approach. Similar result is achieved for the experiment with real data, while treating orthogonal projections onto the tram track as the true position, which is unavailable in the realistic scenario. This proof-of-concept shows results which may be further improved with implementation of a bank-of-models method or $χ^2$-based rejection of outlying GNSS pseudorange measurements.

Authors:Amirreza Yasami, Mohammadali Tofigh, Mahdi Shahbakhti, Charles Robert Koch
Title: A Generative Physics-Informed Reinforcement Learning-Based Approach for Construction of Representative Drive Cycle
Abstract:
Accurate driving cycle construction is crucial for vehicle design, fuel economy analysis, and environmental impact assessments. A generative Physics-Informed Expected SARSA-Monte Carlo (PIESMC) approach that constructs representative driving cycles by capturing transient dynamics, acceleration, deceleration, idling, and road grade transitions while ensuring model fidelity is introduced. Leveraging a physics-informed reinforcement learning framework with Monte Carlo sampling, PIESMC delivers efficient cycle construction with reduced computational cost. Experimental evaluations on two real-world datasets demonstrate that PIESMC replicates key kinematic and energy metrics, achieving up to a 57.3% reduction in cumulative kinematic fragment errors compared to the Micro-trip-based (MTB) method and a 10.5% reduction relative to the Markov-chain-based (MCB) method. Moreover, it is nearly an order of magnitude faster than conventional techniques. Analyses of vehicle-specific power distributions and wavelet-transformed frequency content further confirm its ability to reproduce experimental central tendencies and variability.

Authors:Andrea Tiranti, Francesco Wanderlingh, Enrico Simetti, Marco Baglietto, Giovanni Indiveri, Antonio Pascoal
Title: A distributed motion planning approach to cooperative underwater acoustic source tracking and pursuit
Abstract:
This paper addresses the problem of underwater acoustic source tracking and pursuit with a team of autonomous underwater vehicles. Producing distributed control strategies in an underwater sensor network is not trivial since communication is primarily acoustic, which makes it intermittent and often plagued with major difficulties. For this reason, we propose an optimization scheme based on a Partially Observable Markov Decision Process for improving the performance of underwater mobile sensor networks, in which autonomous underwater vehicles (agents) play the role of moving nodes of a network. The key idea is to adjust the agents' guidance strategies to achieve coordinated motion planning, enabling optimal geometric configurations between the agents and the target to enhance tracking performance. Such a problem is cast as a multi-objective optimization problem that is solved through a receding horizon lookahead optimization scheme since we are interested in long-term tracking accuracy. The planning strategy is distributed using the sequential multi-agent decision-making paradigm to make the solving tractable since the optimization depends on the joint action domain. A distributed control framework has been implemented in a simulation environment to validate the proposed approach, which explicitly accounts for the major limitations imposed by acoustic communications.

Authors:Ronald Wijermars, Yi-Han Ou-Yang, Sijun Du, Dante Gabriel Muratore
Title: A 40.68-MHz, 200-ns-Settling Active Rectifier and TX-Side Load Monitoring for Minimizing Radiated Power in Biomedical Implants
Abstract:
This letter describes a 40.68 MHz wireless power transfer receiver for implantable applications focused on minimizing tissue heating. The system features a novel power radiated efficiency optimization strategy and a fast-settling active rectifier that maintains high efficiency during load and link variations required for downlink communication. The power radiated efficiency optimization explicitly reduces tissue heating while enabling transmitter-side load monitoring for closed-loop control. The active rectifier was fabricated in 40nm CMOS and achieves a voltage conversion ratio of 93.9% and a simulated power conversion efficiency of 90.1% in a 0.19 $mm^2$ area, resulting in a 118 mW/$mm^2$ power density while integrating the resonance and filter capacitors. The worst-case settling of the on- and off-delay compensation in the active rectifier is 200 ns, which is the fastest reported to date.

Authors:Sreeja Roy-Singh, Sarvesh Kolekar, Daniel P. Bonny, Kyle Foss
Title: Fractional Collisions: A Framework for Risk Estimation of Counterfactual Conflicts using Autonomous Driving Behavior Simulations
Abstract:
We present a methodology for estimating collision risk from counterfactual simulated scenarios built on sensor data from automated driving systems (ADS) or naturalistic driving databases. Two-agent conflicts are assessed by detecting and classifying conflict type, identifying the agents' roles (initiator or responder), identifying the point of reaction of the responder, and modeling their human behavioral expectations as probabilistic counterfactual trajectories. The states are used to compute velocity differentials at collision, which when combined with crash models, estimates severity of loss in terms of probabilistic injury or property damage, henceforth called fractional collisions. The probabilistic models may also be extended to include other uncertainties associated with the simulation, features, and agents. We verify the effectiveness of the methodology in a synthetic simulation environment using reconstructed trajectories from 300+ collision and near-collision scenes sourced from VTTI's SHRP2 database and Nexar dashboard camera data. Our methodology predicted fractional collisions within 1% of ground truth collisions. We then evaluate agent-initiated collision risk of an arbitrary ADS software release by replacing the naturalistic responder in these synthetic reconstructions with an ADS simulator and comparing the outcome to human-response outcomes. Our ADS reduced naturalistic collisions by 4x and fractional collision risk by ~62%. The framework's utility is also demonstrated on 250k miles of proprietary, open-loop sensor data collected on ADS test vehicles, re-simulated with an arbitrary ADS software release. The ADS initiated conflicts that caused 0.4 injury-causing and 1.7 property-damaging fractional collisions, and the ADS improved collision risk in 96% of the agent-initiated conflicts.

Authors:Jussi Sihvo, Noël Hallemans, Ai Hui Tan, David A. Howey, Stephen. R. Duncan, Tomi Roinila
Title: Pseudo-random sequences for low-cost operando impedance measurements of Li-ion batteries
Abstract:
Operando impedance measurements are promising for monitoring batteries in the field. In this work, we present pseudo-random sequences for low-cost operando battery impedance measurements. The quadratic-residue ternary sequence and direct-synthesis ternary sequence exhibit specific properties related to eigenvectors of the discrete Fourier transform matrix that allow computationally efficient compensation for drifts and transients in operando impedance measurements. We describe the application of pseudo-random sequences and provide the data processing required to suppress drift and transients, validated on simulations. Finally, we perform experimental operando impedance measurements on a Li-ion battery cell during fast-charging, demonstrating the applicability of the proposed method. It's low-cost hardware requirements, fast measurements, and simple data-processing make the method practical for embedding in battery management systems.

Authors:Mengze Yu, Wei Wang, Jiaqi Yan
Title: Extended Version of "Distributed Adaptive Resilient Consensus Control for Uncertain Nonlinear Multiagent Systems Against Deception Attacks"
Abstract:
This paper studies distributed resilient consensus problem for a class of uncertain nonlinear multiagent systems susceptible to deception attacks. The attacks invade both sensor and actuator channels of each agent. A specific class of Nussbaum functions is adopted to manage the attack-incurred multiple unknown control directions. Additionally, a general form of these Nussbaum functions is provided, which helps to ease the degeneration of output performance caused by Nussbaum gains. Then, by introducing finite-time distributed reference systems and local-error-based dynamic gains, we propose a novel distributed adaptive backstepping-based resilient consensus control strategy. We prove that all the closed-loop signals are uniformly bounded under attacks, and output consensus errors converge in finite time to a clearly-defined residual set whose size can be reduced by tuning control parameters, which is superior to existing results. Simulation results display the effectiveness of the proposed controllers.

Authors:Daniel Leite, Igor Å krjanc, Fernando Gomide
Title: From Model-Based and Adaptive Control to Evolving Fuzzy Control
Abstract:
Evolving fuzzy systems build and adapt fuzzy models - such as predictors and controllers - by incrementally updating their rule-base structure from data streams. On the occasion of the 60-year anniversary of fuzzy set theory, commemorated during the Fuzz-IEEE 2025 event, this brief paper revisits the historical development and core contributions of classical fuzzy and adaptive modeling and control frameworks. It then highlights the emergence and significance of evolving intelligent systems in fuzzy modeling and control, emphasizing their advantages in handling nonstationary environments. Key challenges and future directions are discussed, including safety, interpretability, and principled structural evolution.

Authors:Ruitao Chen, Mozhang Guo, Jinge Li
Title: Towards Infant Sleep-Optimized Driving: Synergizing Wearable and Vehicle Sensing in Intelligent Cruise Control
Abstract:
Automated driving (AD) has substantially improved vehicle safety and driving comfort, but their impact on passenger well-being, particularly infant sleep, is not sufficiently studied. Sudden acceleration, abrupt braking, and sharp maneuvers can disrupt infant sleep, compromising both passenger comfort and parental convenience. To solve this problem, this paper explores the integration of reinforcement learning (RL) within AD to personalize driving behavior and optimally balance occupant comfort and travel efficiency. In particular, we propose an intelligent cruise control framework that adapts to varying driving conditions to enhance infant sleep quality by effectively synergizing wearable sensing and vehicle data. Long short-term memory (LSTM) and transformer-based neural networks are integrated with RL to model the relationship between driving behavior and infant sleep quality under diverse traffic and road conditions. Based on the sleep quality indicators from the wearable sensors, driving action data from vehicle controllers, and map data from map applications, the model dynamically computes the optimal driving aggressiveness level, which is subsequently translated into specific AD control strategies, e.g., the magnitude and frequency of acceleration, lane change, and overtaking. Simulation experiments conducted in the CARLA environment indicate that the proposed solution significantly improves infant sleep quality compared to baseline methods, while preserving desirable travel efficiency.

Authors:Joachim Deutscher, Julian Zimmer
Title: A Koopman-backstepping approach to data-driven robust output regulation for linear parabolic systems
Abstract:
In this paper a solution of the data-driven robust output regulation problem for linear parabolic systems is presented. Both the system as well as the ODE, i.e., the disturbance model, describing the disturbances are unknown, but finite-time sequential data obtained from measurements of the output to be controlled and additional boundary outputs are available. The data-driven controller is designed in the Koopman operator framework for PDEs, where the Koopman modes and eigenvalues are obtained from data using Hankel-DMD. It is shown that all system parameters and the eigenvalues of the disturbance model can be recovered from the available measurements by solving an inverse Sturm-Liouville problem. This allows to directly apply backstepping methods for the robust regulator design. For this, closed-loop stability in the presence of small errors in the Hankel-DMD is verified in the nominal case. Robust output regulation is shown for non-destabilizing model uncertainties. A numerical example demonstrates the results of the paper.

Authors:Mohammad Shahed Pervez, Amanpreet Kaur
Title: High-gain MIMO Beamforming Antenna System for DSRC and mmwave 5G Integration in Autonomous Vehicles
Abstract:
The evolution of autonomous vehicles necessitates robust, high-speed, and low-latency wireless communication systems. This paper presents a novel high-gain Multiple-Input Multiple-Output (MIMO) beamforming antenna system that concurrently supports Dedicated Short Range Communications (DSRC) at 5.9 GHz and millimeter-wave (mm Wave) 5G communications at 28 GHz. The proposed design addresses challenges such as compactness, dual-band operation, beam steering capability, and port-to-port isolation within dynamic vehicular environments.

Authors:Ting-Wei Hsu, Hiroyasu Tsukamoto
Title: Statistical Guarantees in Data-Driven Nonlinear Control: Conformal Robustness for Stability and Safety
Abstract:
We present a true-dynamics-agnostic, statistically rigorous framework for establishing exponential stability and safety guarantees of closed-loop, data-driven nonlinear control. Central to our approach is the novel concept of conformal robustness, which robustifies the Lyapunov and zeroing barrier certificates of data-driven dynamical systems against model prediction uncertainties using conformal prediction. It quantifies these uncertainties by leveraging rank statistics of prediction scores over system trajectories, without assuming any specific underlying structure of the prediction model or distribution of the uncertainties. With the quantified uncertainty information, we further construct the conformally robust control Lyapunov function (CR-CLF) and control barrier function (CR-CBF), data-driven counterparts of the CLF and CBF, for fully data-driven control with statistical guarantees of finite-horizon exponential stability and safety. The performance of the proposed concept is validated in numerical simulations with four benchmark nonlinear control problems.

Authors:Yixuan Liu, Meichen Guo
Title: Data-driven nonlinear output regulation via data-enforced incremental passivity
Abstract:
This work proposes a data-driven regulator design that drives the output of a nonlinear system asymptotically to a time-varying reference and rejects time-varying disturbances. The key idea is to design a data-driven feedback controller such that the closed-loop system is incrementally passive with respect to the regulation error and a virtual input. By carefully designing the virtual input, we solve the data-driven nonlinear output regulation problem where the reference and disturbances are generated by a linear exosystem. The designed regulator is composed of an internal model and a passivation feedback controller characterized by a set of data-dependent linear matrix inequalities. The proposed data-driven method is also applied to stabilizing the non-zero equilibrium of a class of nonlinear systems with unknown equilibrium input. Numerical examples are presented to illustrate the effectiveness of the proposed designs.

Authors:Preethika Pradeep, Eyhab Al-Masri
Title: Energy-Optimized Scheduling for AIoT Workloads Using TOPSIS
Abstract:
AIoT workloads demand energy-efficient orchestration across cloud-edge infrastructures, but Kubernetes' default scheduler lacks multi-criteria optimization for heterogeneous environments. This paper presents GreenPod, a TOPSIS-based scheduler optimizing pod placement based on execution time, energy consumption, processing core, memory availability, and resource balance. Tested on a heterogeneous Google Kubernetes cluster, GreenPod improves energy efficiency by up to 39.1% over the default Kubernetes (K8s) scheduler, particularly with energy-centric weighting schemes. Medium complexity workloads showed the highest energy savings, despite slight scheduling latency. GreenPod effectively balances sustainability and performance for AIoT applications.

Authors:Blake McGrane-Corrigan, Rafael de Andrade Moral, Oliver Mason
Title: Observations on robust diffusive stability and common Lyapunov functions
Abstract:
We consider the problem of robust diffusive stability (RDS) for a pair of coupled stable discrete-time positive linear-time invariant (LTI) systems. We first show that the existence of a common diagonal Lyapunov function is sufficient for RDS and highlight how this condition differs from recent results using linear copositive Lyapunov functions. We also present an extension of these results, showing that the weaker condition of \emph{joint} linear copositive function existence is also sufficient for RDS. Finally, we present two results on RDS for extended Leslie matrices arising in population dynamics.

Authors:Philipp Härtel, Michael von Bonin
Title: Bilevel Optimization for Improved Flexibility Aggregation Models of Electric Vehicle Fleets
Abstract:
Electric vehicle (EV) fleets are expected to become an increasingly important source of flexibility for power system operations. However, accurately capturing the flexibility potential of numerous and heterogeneous EVs remains a significant challenge. We propose a bilevel optimization formulation to enhance flexibility aggregations of electric vehicle fleets. The outer level minimizes scheduling deviations between the aggregated and reference EV units, while the inner level maximizes the aggregated unit's profits. Our approach introduces hourly to daily scaling factor mappings to parameterize the aggregated EV units. Compared to simple aggregation methods, the proposed framework reduces the root-mean-square error of charging power by 78~per cent, providing more accurate flexibility representations. The proposed framework also provides a foundation for several potential extensions in future work.

Authors:Nitish Kumar, Rajalakshmi Pachamuthu
Title: Real-Time LPV-Based Non-Linear Model Predictive Control for Robust Trajectory Tracking in Autonomous Vehicles
Abstract:
This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture that integrates state estimation, vehicle dynamics modeling, and optimization to ensure real-time performance. The state-space equations are formulated in a Linear Parameter Varying (LPV) form, and a curvature-based tuning method is introduced to optimize weight matrices for varying trajectories. The MPC framework is implemented using the Robot Operating System (ROS) for parallel execution of state estimation and control optimization, ensuring scalability and minimal latency. Extensive simulations and real-time experiments were conducted on multiple predefined trajectories, demonstrating high accuracy with minimal cross-track and orientation errors, even under aggressive maneuvers and high-speed conditions. The results highlight the robustness and adaptability of the proposed system, achieving seamless alignment between simulated and real-world performance. This work lays the foundation for dynamic weight tuning and integration into cooperative autonomous navigation systems, paving the way for enhanced safety and efficiency in autonomous driving applications.

Authors:Siqi Wang, Chuangyu Jiang, Xiaodong Zhang, Yilong Zhang, Baoqiang Zhang, Huageng Luo
Title: An Improved Finite Element Modeling Method for Triply Periodic Minimal Surface Structures Based on Element Size and Minimum Jacobian
Abstract:
Triply periodic minimal surface (TPMS) structures, a type of lattice structure, have garnered significant attention due to their lightweight nature, controllability, and excellent mechanical properties. Voxel-based modeling is a widely used method for investigating the mechanical behavior of such lattice structures through finite element simulations. This study proposes a two-parameter voxel method that incorporates joint control of element size and minimum Jacobian (MJ). Numerical results indicate that the simulation outcomes tend to stabilize when the MJ reaches 0.3. The grid convergence index (GCI), based on Richardson extrapolation, is introduced to systematically assess the numerical convergence behavior of both voxel models and the proposed two-parameter voxel models. This provides a systematic and objective framework for evaluating discretization errors and mesh convergence in TPMS modeling. Compared with traditional voxel method, the proposed method exhibits superior mesh convergence, solution accuracy, and computational efficiency. Furthermore, the two-parameter voxel method also shows excellent applicability in the analysis of graded TPMS structures, exhibiting even better convergence behavior than in uniform structures.

Authors:Maxim Masyukov, Aleksi Tamminen, Irina Nefedova, Andrey Generalov, Samu-Ville Pälli, Roman Grigorev, Pouyan Rezapoor, Rui Silva, Juha Mallat, Juha Ala-Laurinaho, Zachary Taylor
Title: Quasioptic, Calibrated, Full 2-port Measurements of Cryogenic Devices under Vacuum in the 220-330 GHz Band
Abstract:
A quasi-optical (QO) test bench was designed, simulated, and calibrated for characterizing S-parameters of devices in the 220-330 GHz (WR-3.4) frequency range, from room temperature down to 4.8 K. The devices were measured through vacuum windows via focused beam radiation. A de-embedding method employing line-reflect-match (LRM) calibration was established to account for the effects of optical components and vacuum windows. The setup provides all four S-parameters with the reference plane located inside the cryostat, and achieves a return loss of 30 dB with an empty holder. System validation was performed with measurements of cryogenically cooled devices, such as bare silicon wafers and stainless-steel frequency-selective surface (FSS) bandpass filters, and superconducting bandpass FSS fabricated in niobium. A permittivity reduction of Si based on 4-GHz resonance shift was observed concomitant with a drop in temperature from 296 K to 4.8 K. The stainless steel FSS measurements revealed a relatively temperature invariant center frequency and return loss level of 263 GHz and 35 dB on average, respectively. Finally, a center frequency of 257 GHz was measured with the superconducting filters, with return loss improved by 7 dB on average at 4.8 K. To the best of our knowledge, this is the first reported attempt to scale LRM calibration to 330 GHz and use it to de-embed the impact of optics and cryostat from cryogenically cooled device S-parameters.

Authors:Lulu Nie, Baoqin Wen, Jingbin Li, Shufeng Li, Yali Li, Zhaokun Zhang, Zhiyuan Wang, Zhihao Fan
Title: Discrete Element Parameter Calibration of Livestock Salt Based on Particle Scaling
Abstract:
In order to obtain accurate contact parameters for the discrete element simulation of salt particles used in animal husbandry, the principle of particle contact scaling and dimensional analysis were used for particle scaling. Firstly, the Plackett Burman experiment was used to screen the parameters that significantly affect the angle of repose: salt salt rolling friction coefficient, salt salt recovery coefficient, and salt steel rolling friction coefficient. Considering the influence of other parameters, a combination of bench and simulation experiments was used to calibrate the contact parameters between salt particles and steel plates used in animal husbandry in EDEM. Finally, through the stacking test, steepest climbing test, and orthogonal rotation combination test, the salt salt rolling friction coefficient was obtained to be 0.23, the salt salt recovery coefficient was 0.544, and the salt steel rolling friction coefficient was 0.368, which were verified through bench tests. The experimental results show that the relative error between the actual value of the stacking angle and the simulation results is 0.6%. The results indicate that the calibrated contact parameters can be used for discrete element simulation of salt particles for animal husbandry, providing reference for the design of quantitative feeding screws and silos.

Authors:Francesca Borrelli, Giusy Giugliano, Emilie Houliez, Jaromir Behal, Daniele Pirone, Leonilde Roselli, Angela Sardo, Valerio Zupo, Maria Costantini, Lisa Miccio, Pasquale Memmolo, Vittorio Bianco, Pietro Ferraro
Title: 3D Holographic Flow Cytometry Measurements of Microalgae: Strategies for Angle Recovery in Complex Rotation Patterns
Abstract:
Marine ecosystems are in the spotlight, because environmental changes are threatening biodiversity and ecological functions. In this context, microalgae play key ecological roles both in planktonic and benthic ecosystems. Consequently, they are considered indispensable targets for global monitoring programs. However, due to a high spatial and temporal variability and to difficulties of species identification (still relying on microscopy observations), the assessment of roles played by these components of marine ecosystems is demanding. In addition, technologies for a 3D assessment of their complex morphology are scarcely available. Here, we present a comprehensive workflow for retrieving 3D information on microalgae with diverse geometries through holographic microscopy operating in flow-cytometry mode. Depending on the rotation patterns of samples, a tailored approach is used to retrieve their rolling angles. We demonstrate the feasibility of measuring 3D data of various microalgae, contingent to the intrinsic optical properties of cells. Specifically, we show that for quasi-transparent and low-scattering microorganisms, the retrieved angles permit to achieve quantitative 3D tomographic Refractive Index (RI) mapping, providing a full characterization of the alga in terms of its inner structure and the outer shape. Moreover, even in the most challenging scenarios, where microalgae exhibit high light absorption or strong scattering, quantitative 3D shape reconstructions of diatoms and dinoflagellates can be at least achieved. Finally, we compare our direct 3D measurements with 2D inferences of 3D properties, obtained using a commercially available microscopy system. The ability to non-invasively obtain 3D information on microalgae marks a fundamental advancement in the field, unlocking a wealth of novel biological insights for characterizing aquatic ecosystems.

Authors:Yuxuan Chen, Haipeng Xie
Title: CHIME: Conditional Hallucination and Integrated Multi-scale Enhancement for Time Series Diffusion Model
Abstract:
The denoising diffusion probabilistic model has become a mainstream generative model, achieving significant success in various computer vision tasks. Recently, there has been initial exploration of applying diffusion models to time series tasks. However, existing studies still face challenges in multi-scale feature alignment and generative capabilities across different entities and long-time scales. In this paper, we propose CHIME, a conditional hallucination and integrated multi-scale enhancement framework for time series diffusion models. By employing multi-scale decomposition and integration, CHIME captures the decomposed features of time series, achieving in-domain distribution alignment between generated and original samples. In addition, we introduce a feature hallucination module in the conditional denoising process, enabling the temporal features transfer across long-time scales. Experimental results on publicly available real-world datasets demonstrate that CHIME achieves state-of-the-art performance and exhibits excellent generative generalization capabilities in few-shot scenarios.

Authors:Anton Hinneck, Mathias Duckheim, Michael Metzger, Stefan Niessen
Title: On Loss-Minimal Radial Topologies in MV Systems
Abstract:
Distribution system reconfiguration (DSR) means optimizing the topology of a distribution grid using switching actions. Switching actions are a degrees of freedom available to distribution system operators, e.g. to manage planned and unplanned outages. DSR is a NP-hard combinatorial problem. Finding good or even optimal solutions is computationally expensive. While transmission and high-voltage grids are generally operated in a meshed state, MV distribution systems are commonly operated as radial networks even though meshed operation would be supported. This improves resilience because faults can be isolated more easily keeping the rest of the system operational and minimizing impact on customers. We propose an AC DSR formulation and benchmark it against a common formulation from the literature. Our results indicate that additional acyclicity constraints can significantly improve solver performance.

Authors:Kosar Behnia, H. A. Talebi, Farzaneh Abdollahi
Title: Online Detection and Mitigation of Robust Zero Dynamics Anomaly Behavior in MIMO Nonlinear Control Systems
Abstract:
This paper presents a methodology to detect robust zero dynamics anomaly behavior and mitigate the impacts in general multi-input multi-output (MIMO) nonlinear systems. The proposed method guarantees the resiliency and stability of the closed-loop system without relying on an accurate dynamical model. The presented method operates in two stages. First, it measures the difference between the system input and that of the model as a residual signal to detect the anomaly behavior. After detecting the attack, a recovery signal is generated to restore the system to its nominal condition. In this stage, a neural network model is used to estimate the anomaly signal and recover the closed-loop system. The weights of the neural network model are updated online using adaptation rules without needing prior data for training. The accuracy and performance of the proposed methods are verified by simulating various scenarios on a fourtank system.

Authors:Runhan Liu, Hui Ren, Wei Fan
Title: Dynamics and Control of Vision-Aided Multi-UAV-tethered Netted System Capturing Non-Cooperative Target
Abstract:
As the number of Unmanned Aerial Vehicles (UAVs) operating in low-altitude airspace continues to increase, non-cooperative targets pose growing challenges to low-altitude operations. To address this issue, this paper proposes a multi-UAV-tethered netted system as a non-lethal solution for capturing non-cooperative targets. To validate the proposed system, we develop mySim, a multibody dynamics-based UAV simulation environment that integrates high-precision physics modeling, vision-based motion tracking, and reinforcement learning-driven control strategies. In mySim, the spring-damper model is employed to simulate the dynamic behavior of the tethered net, while the dynamics of the entire system is modeled using multibody dynamics (MBD) to achieve accurate representations of system interactions. The motion of the UAVs and the target are estimated using VINS-MONO and DETR, and the system autonomously executes the capture strategy through MAPPO. Simulation results demonstrate that mySim accurately simulates dynamics and control of the system, successfully enabling the multi-UAV-tethered netted system to capture both non-propelled and maneuvering non-cooperative targets. By providing a high-precision simulation platform that integrates dynamics modeling with perception and learning-based control, mySim enables efficient testing and optimization of UAV-based control policies before real-world deployment. This approach offers significant advantages for simulating complex UAVs coordination tasks and has the potential to be applied to the design of other UAV-based systems.

Authors:Tom Danino, Nahum Shimkin
Title: Ensemble-MIX: Enhancing Sample Efficiency in Multi-Agent RL Using Ensemble Methods
Abstract:
Multi-agent reinforcement learning (MARL) methods have achieved state-of-the-art results on a range of multi-agent tasks. Yet, MARL algorithms typically require significantly more environment interactions than their single-agent counterparts to converge, a problem exacerbated by the difficulty in exploring over a large joint action space and the high variance intrinsic to MARL environments. To tackle these issues, we propose a novel algorithm that combines a decomposed centralized critic with decentralized ensemble learning, incorporating several key contributions. The main component in our scheme is a selective exploration method that leverages ensemble kurtosis. We extend the global decomposed critic with a diversity-regularized ensemble of individual critics and utilize its excess kurtosis to guide exploration toward high-uncertainty states and actions. To improve sample efficiency, we train the centralized critic with a novel truncated variation of the TD($λ$) algorithm, enabling efficient off-policy learning with reduced variance. On the actor side, our suggested algorithm adapts the mixed samples approach to MARL, mixing on-policy and off-policy loss functions for training the actors. This approach balances between stability and efficiency and outperforms purely off-policy learning. The evaluation shows our method outperforms state-of-the-art baselines on standard MARL benchmarks, including a variety of SMAC II maps.

Authors:David Umsonst, Mina Ferizbegovic
Title: On dual-rate consensus under transmission delays
Abstract:
In this paper, we investigate the problem of dual-rate consensus under transmission delays, where the control updates happen at a faster rate than the measurements being received. We assume that the measurements are delayed by a fixed delay and show that for all delays and rates, the system reaches a consensus if and only if the communication graph of the agents is connected and the control gain is chosen in a specific interval. Based on these results we dive deeper into the convergence properties and investigate how the convergence changes when we change the rate for sending measurements. We observe that in certain cases there exists a sweet spot for choosing the sampling rate of the measurements, which can improve the convergence to the consensus point. We then formulate an optimization problem to find a sampling rate to improve the convergence speed and provide a necessary and sufficient condition for the existence of a finite optimizer of this problem. Our results are verified with numerical simulations.

Authors:Muhammad Shamrooz Aslam, Hazrat Bilal, Sumeera Shamrooz
Title: Quantized Dissipative Uncertain Model for Fractional T_S Fuzzy systems with Time_Varying Delays Under Networked Control System
Abstract:
This paper addressed with the quantized dissipative uncertain problem for delayed fractional T_S Fuzzy system for event_triggered networked systems (E_NS), where the extended dissipativity analysis combines the H infinity, dissipativity, L2 and L infinity and passivity performance in a unified frame. To attain the high efficiency for available channel resources, measurement size decrease mechanism and event_triggered scheme (ETS) are proposed. Firstly, we present the ETS in which signal is transmitted through the channel with logical function then logarithmic quantization methodology is implemented for size reduction. Then, we transfer the original delayed fractional T_S fuzzy systems with the effect of quantization under ETS as induced communications delays. Furthermore, by employing the associative Lyapunov functional method in terms of linear matrix inequalities, adequate conditions for asymptotical stability is given. Moreover, we also construct the design fuzzy model for state space filtering system. At last, a truck_trailer model is given to show the effectiveness of the proposed strategy.

Authors:Niloofar Pourghaderi, Milad Kabirifar, Payman Dehghanian
Title: Optimal Coordination of Flexible DERs in Local Energy and Flexibility Markets to Ensure Social Equity
Abstract:
Local electricity markets offer a promising solution for integrating renewable energy sources and other distributed energy resources (DERs) into distribution networks. These markets enable the effective utilization of flexible resources by facilitating coordination among various agents. Beyond technical and economic considerations, addressing social equity within these local communities is critical and requires dedicated attention in market-clearing frameworks. This paper proposes a social equity-based market-clearing framework for the optimal management of DERs' energy and flexibility within local communities. The proposed framework incorporates consumers' energy burden to ensure fair pricing in energy market clearance. Furthermore, to ensure equity during unbalanced operating conditions, flexible resources are managed in the local flexibility market, ensuring that all participants can trade power fairly under network disturbances. The model is formulated as a second-order cone programming (SOCP) optimization and validated on the IEEE 33-bus test distribution network.

Authors:Ian Walter, Jitesh H. Panchal, Philip E. Paré
Title: Hybrid SIS Dynamics for Demand Modeling of Frequently Updated Products
Abstract:
We propose a hybrid spreading process model to capture the dynamics of demand for software-based products. We introduce discontinuous jumps in the state to model sudden surges in demand that can be seen immediately after a product update is released. After each update, the modeled demand evolves according to a continuous-time susceptible-infected-susceptible (SIS) epidemic model. We identify the necessary and sufficient conditions for estimating the hybrid model's parameters for an arbitrary finite number of sequential updates. We verify the parameter estimation conditions in simulation, and evaluate how the estimation of these parameters is impacted by the presence of observation and process noise. We then validate our model by applying our estimation method to daily user engagement data for a regularly updating software product, the live-service video game `Apex Legends.'

Authors:Finn G. Maurer, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Torleiv H. Bryne
Title: Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups
Abstract:
This paper derives the extended Kalman filter (EKF) for continuous-time systems on matrix Lie groups observed through discrete-time measurements. By modeling the system noise on the Lie algebra and adopting a Stratonovich interpretation for the stochastic differential equation (SDE), we ensure that solutions remain on the manifold. The derivation of the filter follows classical EKF principles, naturally integrating a necessary full-order covariance reset post-measurement update. A key contribution is proving that this full-order covariance reset guarantees that the Lie-group-valued state estimate is invariant to whether a left- or right-invariant error definition is used in the EKF. Monte Carlo simulations of the aided inertial navigation problem validate the invariance property and confirm its absence when employing reduced-order covariance resets.

Authors:Jose Manoel Balthazar, Jorge Luis Palacios Felix, Mauricio A. Ribeiro, Angelo Marcelo Tusset, Jeferson Jose de Lima, Vinicius Piccirillo, Julijana Simonovic, Nikola D. Nevsic, Marcos Varanis, Clivaldo de Oliveira, Raphaela C. Machado, Gabriella O M Oliveira
Title: A State of the Art on Recent Progress and Emerging Challenges on Energy Transfer Between Vibrating Modes Under an External Mechanical Force With Time-Varying Frequency From 2020 to 2025
Abstract:
In this paper, we discuss an example of current importance with a future perspective in engineering, in which excitation sources always have limited power, limited inertia, and their frequencies vary according to the instantaneous state of the vibrating system. Practical examples of non-ideal systems are considered. The most common phenomenon for this kind of system is discussed. The period considered is from 2020 to 2025. The specific properties of various models are also discussed. Directions for future investigations are provided. In this paper, the authors revisited some publications based on the assumption that the external excitations are produced by non-ideal sources (RNIS), that is, with limited power supply. Among these applications, nonlinear phenomena such as the Sommerfeld effect and saturation phenomenon were observed, considering fractional damping. Energy harvesters and the Jacobi-Anger expansion were used in the governing equations of motion. We also used the Jacobi-Anger expansion in the case of energy transfer between vibrating modes under an external force with time-varying frequency, which represents one of the future directions of research on non-ideal vibrating systems (RNIS).

Authors:Buyi Yu, Wenyuan Tang
Title: Prediction of the Conditional Probability Densities of Time Interval Extrema with Application to Risk-Sensitive Scheduling
Abstract:
Planning and scheduling activities in the electrical power system, such as the commitment of reserve generation, often involve the statistical characterization of peak demand. Due to the stationarity assumption of classical extreme value analysis (EVA), existing approaches in the industry apply EVA on simulated annual peaks created by weather-dependent surrogate models using Monte-Carlo simulations on a per-scenario basis. In day-ahead scheduling, the daily peak demand changes upon various factors besides temperature, Monte-Carlo experiments become intractable, and state-of-the-art generalized additive model for location, scale and shape (GAMLSS)-based nonstationary EVA is often impractical due to convergence issues on high-dimensional covariates. This article explores uncharted territories and proposes a novel nonstationary EVA estimator that predicts the probable peaks of high-resolution time intervals and their corresponding conditional probability densities based on calendar information and weather conditions where historical peaks are observed. Compared to GAMLSS, our method automatically discovers and robustly models complex relationships between the covariate and the peak demand density. We present a case study on the determination of day-ahead scheduling capacity and demonstrate that compared to the industry approach, our approach results in a 38% reduction in the yearly total committed capacity while maintaining the given risk requirement.

Authors:Jianglin Ding, Jingcheng Tang, Gangshan Jing
Title: Action Dependency Graphs for Globally Optimal Coordinated Reinforcement Learning
Abstract:
Action-dependent individual policies, which incorporate both environmental states and the actions of other agents in decision-making, have emerged as a promising paradigm for achieving global optimality in multi-agent reinforcement learning (MARL). However, the existing literature often adopts auto-regressive action-dependent policies, where each agent's policy depends on the actions of all preceding agents. This formulation incurs substantial computational complexity as the number of agents increases, thereby limiting scalability. In this work, we consider a more generalized class of action-dependent policies, which do not necessarily follow the auto-regressive form. We propose to use the `action dependency graph (ADG)' to model the inter-agent action dependencies. Within the context of MARL problems structured by coordination graphs, we prove that an action-dependent policy with a sparse ADG can achieve global optimality, provided the ADG satisfies specific conditions specified by the coordination graph. Building on this theoretical foundation, we develop a tabular policy iteration algorithm with guaranteed global optimality. Furthermore, we integrate our framework into several SOTA algorithms and conduct experiments in complex environments. The empirical results affirm the robustness and applicability of our approach in more general scenarios, underscoring its potential for broader MARL challenges.

Authors:Ishan Paranjape, Islam Hussein, Jeremy Murray-Krezan, Sean Phillips, Suman Chakravorty
Title: Sensor Fusion Methods for Gaussian Mixture Models
Abstract:
Consensus is a popular technique for distributed state estimation. This formulation allows networks of connected agents or sensors to exchange information about the distribution of a set of targets with their immediate neighbors without the need of a centralized node or layer. We present decentralized consensus-based fusion techniques for a system whose target prior estimates are a weighted mixture of Gaussian probability density functions (PDFs) for the following cases: 1) in which all agents have the same a priori Gaussian mixture estimate of the target, and 2) in which agents have different a priori Gaussian mixture estimates of the target. For the second case, we present a formulation that fuses each agent's a priori estimate without using local observations such that each agent's posterior estimate is the same across the network.

Authors:V Varagapriya, Vikas Vikram Singh, Abdel Lisser
Title: Convex Approximations of Random Constrained Markov Decision Processes
Abstract:
Constrained Markov decision processes (CMDPs) are used as a decision-making framework to study the long-run performance of a stochastic system. It is well-known that a stationary optimal policy of a CMDP problem under discounted cost criterion can be obtained by solving a linear programming problem when running costs and transition probabilities are exactly known. In this paper, we consider a discounted cost CMDP problem where the running costs and transition probabilities are defined using random variables. Consequently, both the objective function and constraints become random. We use chance constraints to model these uncertainties and formulate the uncertain CMDP problem as a joint chance-constrained Markov decision process (JCCMDP). Under random running costs, we assume that the dependency among random constraint vectors is driven by a Gumbel-Hougaard copula. Using standard probability inequalities, we construct convex upper bound approximations of the JCCMDP problem under certain conditions on random running costs. In addition, we propose a linear programming problem whose optimal value gives a lower bound to the optimal value of the JCCMDP problem. When both running costs and transition probabilities are random, we define the latter variables as a sum of their means and random perturbations. Under mild conditions on the random perturbations and random running costs, we construct convex upper and lower bound approximations of the JCCMDP problem. We analyse the quality of the derived bounds through numerical experiments on a queueing control problem for random running costs. For the case when both running costs and transition probabilities are random, we choose randomly generated Markov decision problems called Garnets for numerical experiments.

Authors:Runjie Zhang, Kaiping Qu, Changhong Zhao, Wanjun Huang
Title: Robust Distribution Network Reconfiguration Using Mapping-based Column-and-Constraint Generation
Abstract:
The integration of intermittent renewable energy sources into distribution networks introduces significant uncertainties and fluctuations, challenging their operational security, stability, and efficiency. This paper considers robust distribution network reconfiguration (RDNR) with renewable generator resizing, modeled as a two-stage robust optimization (RO) problem with decision-dependent uncertainty (DDU). Our model optimizes resizing decisions as the upper bounds of renewable generator outputs, while also optimizing the network topology. We design a mapping-based column-and-constraint generation (C&CG) algorithm to address the computational challenges raised by DDU. Sensitivity analyses further explore the impact of uncertainty set parameters on optimal solutions. Case studies demonstrate the effectiveness of the proposed algorithm in reducing computational complexity while ensuring solution optimality.

Authors:Mehrdad Khodapanahandeh, Parviz Zolfaghari, Hakan Urey
Title: 2D PZT MEMS Resonant Scanner Using a Three-Mask Process
Abstract:
This work presents the design, simulation, fabrication, and characterization of a novel architectural compact two-dimensional (2D) resonant MEMS scanning mirror actuated by thin-film lead zirconate titanate (PZT). The device employs an innovative mechanically coupled dual-axis architecture fabricated using a three-mask process on an SOI-PZT deposited wafer, significantly reducing system complexity while achieving high performance. The scanner integrates a 1 $\times$ 1.4 mm oval mirror within a 7 $\times$ 4.7 mm die, actuated by PZT thin-film elements optimized for resonant operation at 3.6 kHz (vertical) and 54.2 kHz (horizontal) under 12 V$_{\mathrm{p-p}}$ periodic pulse driving. The system achieves optical scan angles of 4.8$^\circ$ and 11.5$^\circ$ in vertical and horizontal directions, respectively, with quality factors of 750 (vertical) and 1050 (horizontal). These values contribute to high scanning bandwidth-efficiency products of 24.2 deg$\cdot$mm$\cdot$kHz (vertical) and 623 deg$\cdot$mm$\cdot$kHz (horizontal), among the higher values reported for 2D PZT-MEMS scanners. Finite element analysis confirmed minimal stress and mirror deformation, and experimental validation demonstrated excellent agreement with simulation results. This architecture demonstrates the feasibility of high-resolution laser scanning, as required in applications such as OCT, LiDAR, and displays, by achieving performance levels in line with those used in such systems.

Authors:Luiza Ribeiro, Alexandre Street, Jose Manuel Arroyo, Rodrigo Moreno
Title: A Causation-Based Framework for Pricing and Cost Allocation of Energy, Reserves, and Transmission in Modern Power Systems
Abstract:
The increasing vulnerability of power systems has heightened the need for operating reserves to manage contingencies such as generator outages, line failures, and sudden load variations. Unlike energy costs, driven by consumer demand, operating reserve costs arise from addressing the most critical credible contingencies - prompting the question: how should these costs be allocated through efficient pricing mechanisms? As an alternative to previously reported schemes, this paper presents a new causation-based pricing framework for electricity markets based on contingency-constrained energy and reserve scheduling models. Major salient features include a novel security charge mechanism along with the explicit definition of prices for up-spinning reserves, down-spinning reserves, and transmission services. These features ensure more comprehensive and efficient cost-reflective market operations. Moreover, the proposed nodal pricing scheme yields revenue adequacy and neutrality while promoting reliability incentives for generators based on the cost-causation principle. An additional salient aspect of the proposed framework is the economic incentive for transmission assets, which are remunerated based on their use to deliver energy and reserves across all contingency states. Numerical results from two case studies illustrate the performance of the proposed pricing scheme.

Authors:Dhruv Shah, Jorge Cortés
Title: Controller Design for Bilinear Neural Feedback Loops
Abstract:
This paper considers a class of bilinear systems with a neural network in the loop. These arise naturally when employing machine learning techniques to approximate general, non-affine in the input, control systems. We propose a controller design framework that combines linear fractional representations and tools from linear parameter varying control to guarantee local exponential stability of a desired equilibrium. The controller is obtained from the solution of linear matrix inequalities, which can be solved offline, making the approach suitable for online applications. The proposed methodology offers tools for stability and robustness analysis of deep neural networks interconnected with dynamical systems.

Authors:Folco Giorgetti, Francesco Crocetti, Mario Luca Fravolini, Francesco Ferrante
Title: Robust Aperiodic Sampled-Data Washout Control for Uncertain Affine Systems
Abstract:
In this paper, we address the problem of designing an aperiodic sampled-data controller stabilizing the zero-input equilibrium of an uncertain affine plant. The closed-loop system is modeled as a hybrid dynamical system incorporating a timer triggering the occurrence of the sampling events and two memory states storing the value of the controller state and controller output at each sampling time. Necessary and sufficient conditions on the controller parameters are given to establish the sought property. A constructive controller design algorithm based on sum-of-squares programming is given. A numerical example illustrates the effectiveness of the approach.

Authors:Alireza Zabihi, Luis Badesa, Araceli Hernandez
Title: Evaluation of Voltage Unbalance Metrics in Distribution Networks with High DER Penetration
Abstract:
Voltage unbalance, caused by variations in voltage magnitude and phase angle, is a significant power quality issue in three-phase systems, leading to equipment inefficiencies and increased system losses. The integration of distributed energy resources (DER) into the grid adds complexity, as DER can either reduce or worsen voltage unbalance, depending on factors such as grid configuration and the distribution of loads and DER themselves. This study explores the effects of DER penetration on voltage unbalance levels and the accuracy of the different indices most commonly used to quantify this unbalance. The results highlight the varying impacts of DER on unbalance and index performance, emphasizing the need for effective strategies to assess voltage unbalance in modern distribution systems.

Authors:Joseph Sullivan, Ian Good, Samuel A. Burden, Jeffrey Ian Lipton
Title: Spring-Brake! Handed Shearing Auxetics Improve Efficiency of Hopping and Standing
Abstract:
Energy efficiency is critical to the success of legged robotics. Efficiency is lost through wasted energy during locomotion and standing. Including elastic elements has been shown to reduce movement costs, while including breaks can reduce standing costs. However, adding separate elements for each increases the mass and complexity of a leg, reducing overall system performance. Here we present a novel compliant mechanism using a Handed Shearing Auxetic (HSA) that acts as a spring and break in a monopod hopping robot. The HSA acts as a parallel elastic actuator, reducing electrical power for dynamic hopping and matching the efficiency of state-of-the-art compliant hoppers. The HSA\u2019s auxetic behavior enables dual functionality. During static tasks, it locks under large forces with minimal input power by blocking deformation, creating high friction similar to a capstan mechanism. This allows the leg to support heavy loads without motor torque, addressing thermal inefficiency. The multi-functional design enhances both dynamic and static performance, offering a versatile solution for robotic applications.

Authors:Dilara Aktas, Ozgur B. Akan
Title: Flexure-FET-Based Receiver with Competitive Binding for Interference Mitigation in Molecular Communication
Abstract:
Molecular communication (MC), a biologically inspired technology, enables applications in nanonetworks and the Internet of Everything (IoE), with great potential for intra-body systems such as drug delivery, health monitoring, and disease detection. This paper extends our prior work on the Flexure-FET MC receiver by integrating a competitive binding model to enhance performance in high-interference environments, where multiple molecular species coexist in the reception space. Previous studies have largely focused on ligand concentration estimation and detection, without fully addressing the effects of inter-species competition for receptor binding. Our proposed framework captures this competition, offering a more biologically accurate model for multitarget environments. By incorporating competition dynamics, the model improves understanding of MC behavior under interference. This approach enables fine-tuning of receptor responses by adjusting ligand concentrations and receptor affinities, thereby optimizing the performance of the Flexure-FET MC receiver. Comprehensive analysis shows that accounting for competitive binding is crucial for improving reliability and accuracy in complex MC systems. Factors such as signal-to-noise ratio (SNR), symbol error probability (SEP), interferer concentration, and receptor dynamics are shown to significantly affect performance. The proposed framework highlights the need to manage these factors effectively. Results demonstrate that modeling interference through competitive binding offers a realistic system perspective and allows tuning of receiver response, enabling robust detection in environments with multiple coexisting species.

Authors:Chaimae El Mortajinea, Moussa Labbadib, Adnane Saoudc, Mostafa Bouzia
Title: Learning-Based Robust Fixed-Time Terminal Sliding Mode Control
Abstract:
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The first theorem addresses the fully known system model, while the second considers situations where the system's drift is approximated utilizing Gaussian processes (GP) for approximating unknown dynamics. Both theorems establish the global fixed-time stability of the closed-loop system. The stability analysis is based on a straightforward quadratic Lyapunov function. Our proposed method outperforms an established adaptive fixed-time sliding mode control approach, especially when ample training data is available.

Authors:Hanxu Jiang, Haiyue Yu, Xiaotong Xie, Qi Gao, Jiang Jiang, Jianbin Sun
Title: A Multi-output Gaussian Process Regression with Negative Transfer Mitigation for Generating Boundary Test Scenarios of Multi-UAV Systems
Abstract:
Adaptive sampling based on Gaussian process regression (GPR) has already been applied with considerable success to generate boundary test scenarios for multi-UAV systems (MUS). One of the key techniques in such researches is leveraging the accurate prediction of the MUS performance through GPR in different test scenarios. Due to the potential correlations among the multiple MUS performance metrics, current researches commonly utilize a multi-output GPR (MOGPR) to model the multiple performance metrics simultaneously. This approach can achieve a more accurate prediction, rather than modeling each metric individually. However, MOGPR still suffers from negative transfer. When the feature of one output variable is incorrectly learned by another, the models training process will be negatively affected, leading to a decline in prediction performance. To solve this problem, this paper proposes a novel adaptive regularization approach into the conventional MOGPR training process. Unlike existing regularization approaches for mitigating negative transfer in MOGPR, our method penalizes the inconsistencies among output-specific characteristic parameters using adaptively adjustable regularization weights. This mechanism helps each set of output parameters avoid local optima. Consequently, it yields simultaneous improvements in predictive accuracy across all outputs. Finally, we validate our approach on a numerical case and on a boundary test scenario generation case for a MUS multi-objectives search task.

Authors:Alif Ahmed, Minhajur Rahman, Mohammad Jawad Chowdhury, Khandakar Abdulla Al Mamun
Title: Design and Analysis of a Grid-connected DC Fast Charging Station for Dhaka-Chittagong Highway
Abstract:
The growing adoption of electric vehicles (EVs) necessitates the development of efficient and reliable charging infrastructure, particularly fast charging stations (FCS) for addressing challenges such as range anxiety and long charging times. This paper presents the design and feasibility analysis of a grid-connected DC fast charging station for the Dhaka-Chittagong highway, a critical transportation corridor in Bangladesh. The proposed system incorporates advanced components, including a step-down transformer, Vienna Rectifier, and LC filter, to convert high-voltage AC power from the grid into a stable DC output. Simulated using MATLAB Simulink, the model delivers a peak output of 400V DC and 120 kW power, enabling rapid and efficient EV charging. The study also evaluates the system's performance, analyzing charging times, energy consumption, and distance ranges for representative EVs. By addressing key technical, environmental, and economic considerations, this paper provides a comprehensive roadmap for deploying fast charging infrastructure, fostering EV adoption, and advancing sustainable transportation in Bangladesh.

Authors:Chunyi Ma, Jiajie Xu, Jianhua Yang, Mustafa A. Kishk
Title: Stochastic Geometry-Based Performance Evaluation for LEO Satellite-Assisted Space Caching
Abstract:
To achieve the Internet of Things (IoT) vision,Mobile Edge Computing (MEC) is a promising technology aimed at providing low-latency computing services to user equipment (UE). However, terrestrial MEC network struggles to provide service to UEs in remote and maritime region. Low Earth Orbit (LEO) satellite networks have the potential to overcome geographical restrictions and provide seamless global coverage for UEs. In this paper, we provide the first attempt to use stochastic geometry to investigate the performance of implementing space caching with LEO satellites (SATs) in the MEC network. We study a LEO satellite-assisted space caching MEC network, and LEO SATs can be equipped with servers to enable space caching, with the advantage of seamless coverage to assist terrestrial CSs for serving UEs in remote or maritime reigon. Using stochastic geometry and queuing theory, we establish an analytical framework for this MEC network. Meanwhile, we develop association strategies for UEs to connect with LEO SATs or CSs and utilize stochastic geometry to derive uplink and downlink coverage probabilities, considering the diversity of task and service types. On this basis, we employ the queuing theory to calculate the average delay to evaluate the system performance. Through Monte Carlo simulations and numerical results, the system performance is evaluated. The results show the potential of SAT spatial caching in improving the performance of the MEC network. Additionally, our results reveal useful insights such as the significant impact of the altitude and number of LEO SATs on the average delay of the network, providing helpful system-level recommendations for the design and configuration of the space-caching MEC network.

Authors:Jun Liu, Hongxun Liu, Cheng Zhang, Jiandang Xing, Shang Jiang, Ping Jiang
Title: COM Adjustment Mechanism Control for Multi-Configuration Motion Stability of Unmanned Deformable Vehicle
Abstract:
An unmanned deformable vehicle is a wheel-legged robot transforming between two configurations: vehicular and humanoid states, with different motion modes and stability characteristics. To address motion stability in multiple configurations, a center-of-mass adjustment mechanism was designed. Further, a motion stability hierarchical control algorithm was proposed, and an electromechanical model based on a two-degree-of-freedom center-of-mass adjustment mechanism was established. An unmanned-deformable-vehicle vehicular-state steady-state steering dynamics model and a gait planning kinematic model of humanoid state walking were established. A stability hierarchical control strategy was designed to realize the stability control. The results showed that the steady-state steering stability in vehicular state and the walking stability in humanoid state could be significantly improved by controlling the slider motion.

Authors:Zeming Wu, Lu Liu
Title: Collision-free Control Barrier Functions for General Ellipsoids via Separating Hyperplane
Abstract:
This paper presents a novel collision avoidance method for general ellipsoids based on control barrier functions (CBFs) and separating hyperplanes. First, collision-free conditions for general ellipsoids are analytically derived using the concept of dual cones. These conditions are incorporated into the CBF framework by extending the system dynamics of controlled objects with separating hyperplanes, enabling efficient and reliable collision avoidance. The validity of the proposed collision-free CBFs is rigorously proven, ensuring their effectiveness in enforcing safety constraints. The proposed method requires only single-level optimization, significantly reducing computational time compared to state-of-the-art methods. Numerical simulations and real-world experiments demonstrate the effectiveness and practicality of the proposed algorithm.

Authors:Lennart Ullner, Alona Zharova, Felix Creutzig
Title: Algorithmic Control Improves Residential Building Energy and EV Management when PV Capacity is High but Battery Capacity is Low
Abstract:
Efficient energy management in prosumer households is key to alleviating grid stress in an energy transition marked by electric vehicles (EV), renewable energies and battery storage. However, it is unclear how households optimize prosumer EV charging. Here we study real-world data from 90 households on fixed-rate electricity tariffs in German-speaking countries to investigate the potential of Deep Reinforcement Learning (DRL) and other control approaches (Rule-Based, Model Predictive Control) to manage the dynamic and uncertain environment of Home Energy Management (HEM) and optimize household charging patterns. The DRL agent efficiently aligns charging of EV and battery storage with photovoltaic (PV) surplus. We find that frequent EV charging transactions, early EV connections and PV surplus increase optimization potential. A detailed analysis of nine households (1 hour resolution, 1 year) demonstrates that high battery capacity facilitates self optimization; in this case further algorithmic control shows little value. In cases with relatively low battery capacity, algorithmic control with DRL improves energy management and cost savings by a relevant margin. This result is further corroborated by our simulation of a synthetic household. We conclude that prosumer households with optimization potential would profit from DRL, thus benefiting also the full electricity system and its decarbonization.

Authors:Martine Dyring Hansen, Elena Celledoni, Benjamin Kwanen Tapley
Title: Learning mechanical systems from real-world data using discrete forced Lagrangian dynamics
Abstract:
We introduce a data-driven method for learning the equations of motion of mechanical systems directly from position measurements, without requiring access to velocity data. This is particularly relevant in system identification tasks where only positional information is available, such as motion capture, pixel data or low-resolution tracking. Our approach takes advantage of the discrete Lagrange-d'Alembert principle and the forced discrete Euler-Lagrange equations to construct a physically grounded model of the system's dynamics. We decompose the dynamics into conservative and non-conservative components, which are learned separately using feed-forward neural networks. In the absence of external forces, our method reduces to a variational discretization of the action principle naturally preserving the symplectic structure of the underlying Hamiltonian system. We validate our approach on a variety of synthetic and real-world datasets, demonstrating its effectiveness compared to baseline methods. In particular, we apply our model to (1) measured human motion data and (2) latent embeddings obtained via an autoencoder trained on image sequences. We demonstrate that we can faithfully reconstruct and separate both the conservative and forced dynamics, yielding interpretable and physically consistent predictions.

Authors:Ondŕej Straka, Uwe D. Hanebeck
Title: Efficient Gaussian Mixture Filters based on Transition Density Approximation
Abstract:
Gaussian mixture filters for nonlinear systems usually rely on severe approximations when calculating mixtures in the prediction and filtering step. Thus, offline approximations of noise densities by Gaussian mixture densities to reduce the approximation error have been proposed. This results in exponential growth in the number of components, requiring ongoing component reduction, which is computationally complex. In this paper, the key idea is to approximate the true transition density by an axis-aligned Gaussian mixture, where two different approaches are derived. These approximations automatically ensure a constant number of components in the posterior densities without the need for explicit reduction. In addition, they allow a trade-off between estimation quality and computational complexity.

Authors:Jinpeng Huang, Gangshan Jing
Title: Signed Angle Rigid Graphs for Network Localization and Formation Control
Abstract:
Graph rigidity theory studies the capability of a graph embedded in the Euclidean space to constrain its global geometric shape via local constraints among nodes and edges, and has been widely exploited in network localization and formation control. In recent years, the traditional rigidity theory has been extended by considering new types of local constraints such as bearing, angle, ratio of distance, etc. Among them, the signed angle constraint has received extensive attention, since it is practically measurable and independent of the global coordinate frame. However, the relevant studies always consider special graph structures, which are sufficient but not necessary for signed angle rigidity. This paper presents a comprehensive combinatorial analysis in terms of graphs and angle index sets for signed angle rigidity. We show that Laman graphs equivalently characterize minimally signed angle rigid graphs. Moreover, we propose a method to construct the minimal set of signed angle constraints in a Laman graph to effectively ensure signed angle rigidity. These results are finally applied to distributed network localization and formation stabilization problems, respectively, where each agent only has access to signed angle measurements.

Authors:Tore Gude, Marta Anna Zagorowska, Lars Struen Imsland
Title: Persistently Exciting Online Feedback Optimization Controller with Minimal Perturbations
Abstract:
This paper develops a persistently exciting input generating Online Feedback Optimization (OFO) controller that estimates the sensitivity of a process ensuring minimal deviations from the descent direction while converging. This eliminates the need for random perturbations in feedback loop. The proposed controller is formulated as a bilevel optimization program, where a nonconvex full rank constraint is relaxed using linear constraints and penalization. The validation of the method is performed in a simulated scenario where multiple systems share a limited, costly resource for production optimization, simulating an oil and gas resource allocation problem. The method allows for less input perturbations while accurately estimating gradients, allowing faster convergence when the gradients are unknown. In the case study, the proposed method achieved the same profit compared to an OFO controller with random input perturbations, and $1.4\%$ higher profit compared to an OFO controller without input perturbations.

Authors:Bowen Tian, Roel C. G. M. Loonen, Roland Valckenborg, Jan L. M. Hensen
Title: A fully automated urban PV parameterization framework for improved estimation of energy production profiles
Abstract:
Accurate parameterization of rooftop photovoltaic (PV) installations is critical for effective grid management and strategic large-scale solar deployment. The lack of high-fidelity datasets for PV configuration parameters often compels practitioners to rely on coarse assumptions, undermining both the temporal and numerical accuracy of large-scale PV performance modeling. This study introduces a fully automated framework that innovatively integrates remote sensing data, semantic segmentation, polygon-vector refinement, tilt-azimuth estimation, and module layout inference to produce a richly attributed GIS dataset of distributed PV. Applied to Eindhoven (the Netherlands), the method achieves a correlation ($R^2$) of 0.92 with Distribution System Operator (DSO) records, while capacity estimates for 73$\%$ of neighborhoods demonstrate agreement within a $\pm$25$\%$ margin of recorded data. Additionally, by accurately capturing actual system configuration parameters (e.g., tilt, azimuth, module layout) and seamlessly linking them to advanced performance models, the method yields more reliable PV energy generation forecasts within the distribution networks. Centering our experiments toward a high PV-penetration community, configuration-aware simulations help to reduce Mean Absolute Percentage Error (MAPE) of energy generation modeling by up to 160$\%$ compared to the conventional assumption-based approaches. Furthermore, owing to its modular design and reliance on readily available geospatial resources, the workflow can be extended across diverse regions, offering a scalable solution for robust urban solar integration.

Authors:Shaohong Shi, Jacco Heres, Simon H. Tindemans
Title: Scalable quantile predictions of peak loads for non-residential customer segments
Abstract:
Electrical grid congestion has emerged as an immense challenge in Europe, making the forecasting of load and its associated metrics increasingly crucial. Among these metrics, peak load is fundamental. Non-time-resolved models of peak load have their advantages of being simple and compact, and among them Velander's formula (VF) is widely used in distribution network planning. However, several aspects of VF remain inadequately addressed, including year-ahead prediction, scaling of customers, aggregation, and, most importantly, the lack of probabilistic elements. The present paper proposes a quantile interpretation of VF that enables VF to learn truncated cumulative distribution functions of peak loads with multiple quantile regression under non-crossing constraints. The evaluations on non-residential customer data confirmed its ability to predict peak load year ahead, to fit customers with a wide range of electricity consumptions, and to model aggregations of customers. A noteworthy finding is that for a given electricity consumption, aggregations of customers have statistically larger peak loads than a single customer.

Authors:Maharshi A. Sharma, Albert E. Patterson
Title: Passive Vibration Control of a 3-D Printer Gantry
Abstract:
Improved additive manufacturing capabilities are vital for the future development and improvement of ubiquitous robotic systems. These machines can be integrated into existing robotic systems to allow manufacturing and repair of components, as well as fabrication of custom parts for the robots themselves. The fused filament fabrication (FFF) process is one of the most common and well-developed AM processes but suffers from the effects of vibration-induced position error, particularly as the printing speed is raised. This project adapted and expanded a dynamic model of an FFF gantry system to include a passive spring-mass-damper system controller attached to the extruder carriage and tuned using optimal parameters. A case study was conducted to demonstrate the effects and generate recommendations for implementation. This work is also valuable for other mechatronic systems which operate using an open-loop control system and which suffer from vibration, including numerous robotic systems, pick-and-place machines, positioners, and similar.

Authors:Philipp L. Kinon, Riccardo Morandin, Philipp Schulze
Title: Discrete gradient methods for port-Hamiltonian differential-algebraic equations
Abstract:
Discrete gradient methods are a powerful tool for the time discretization of dynamical systems, since they are structure-preserving regardless of the form of the total energy. In this work, we discuss the application of discrete gradient methods to the system class of nonlinear port-Hamiltonian differential-algebraic equations - as they emerge from the port- and energy-based modeling of physical systems in various domains. We introduce a novel numerical scheme tailored for semi-explicit differential-algebraic equations and further address more general settings using the concepts of discrete gradient pairs and Dirac-dissipative structures. Additionally, the behavior under system transformations is investigated and we demonstrate that under suitable assumptions port-Hamiltonian differential-algebraic equations admit a representation which consists of a parametrized port-Hamiltonian semi-explicit system and an unstructured equation. Finally, we present the application to multibody system dynamics and discuss numerical results to demonstrate the capabilities of our approach.

Authors:Saiful Islam, Sanaz Mostaghim, Michael Hartmann
Title: Multi-Objective Optimization Algorithms for Energy Management Systems in Microgrids: A Control Strategy Based on a PHIL System
Abstract:
In this research a real time power hardware in loop configuration has been implemented for an microgrid with the combination of distribution energy resources such as photovoltaic, grid tied inverter, battery, utility grid, and a diesel generator. This paper introduces an unique adaptive multi-objective optimization approach that employs weighted optimization techniques for real-time microgrid systems. The aim is to effectively balance various factors including fuel consumption, load mismatch, power quality, battery degradation, and the utilization of renewable energy sources. A real time experimental data from power hardware in loop system has been used for dynamically updating system states. The adaptive preference-based selection method are adjusted based on state of battery charging thresholds. The technique has been integrated with six technical objectives and complex constraints. This approach helps to practical microgrid decision making and optimization of dynamic energy systems. The energy management process were also able to maximize photovoltaic production where minimizing power mismatch, stabilizing battery state of charge under different condition. The research results were also compared with the baseline system without optimization techniques, and a reliable outcome was found.

Authors:Rodrigo Bernal, Federico Milano
Title: Transient Slack Capability
Abstract:
This paper introduces the concept of Transient Slack Capability (TSC), a set of three necessary device-level conditions to ensure stability under sustained power perturbations. TSC states that a device must (1) possess sufficient stored energy; (2) a controlled input power; and (3) maintain internal energy balance and synchronization. The paper shows that the relation among the time-scales of storage, control, and power perturbation is at the core of the TSC concept. Using the port-Hamiltonian (PH) framework, these conditions are formalized and validated via simulations on an adapted model of the WSCC 9-bus system. Case studies demonstrate that TSC is achievable in both Grid-Following (GFL) and Grid-Forming (GFM) converter control schemes, provided the conditions above are satisfied. Sensitivity analysis serves to identify storage and power reserve requirements to meet Conditions 1 and 2; the impact of converter current limiters on Condition 3; and inertia-less solutions able to achieve TSC.

Authors:Benoît Jeanson, Simon H. Tindemans
Title: Risk-based approach to the Optimal Transmission Switching problem
Abstract:
This paper deals with the secure Optimal Transmission Switching (OTS) problem in situations where the TSO is forced to accept the risk that some contingencies may result in the de-energization of parts of the grid to avoid the violation of operational limits. This operational policy, which mainly applies to subtransmission systems, is first discussed. Then, a model of that policy is proposed that complements the classical MILP model of the N-1 secure OTS problem. It comprises a connectivity and notably a partial grid loss analysis for branch outage contingencies. Finally, its application to the IEEE 14-bus system is presented. Solutions similar to those observed in operation are reached by the algorithm, notably revealing the preventive-openings-cascade phenomenon.

Authors:Fiaz Hossain, Nilanjan Ray Chaudhuri
Title: A Dynamic Phasor Framework for Analysis of Grid-Forming Converter Connected to Series-Compensated Line
Abstract:
A dynamic phasor (DP) framework for time-domain and frequency-domain analyses of grid-forming converters (GFCs) connected to series-compensated transmission lines is proposed. The proposed framework can capture the behavior of GFCs subjected to unbalanced short circuit faults in presence of different current limiting strategies. Moreover, the linearizability and time invariance of this framework allows us to perform eigen decomposition, which is a powerful tool for root-cause analysis and control design. We show that a certain degree of series compensation may result in poorly-damped oscillations in presence of the grid-forming converter. A participation factor analysis using the DP model reveals that the point of interconnection voltage angle is dominant in this mode. Eigenvalue sensitivity analysis of controller parameters shows that reducing the power-frequency droop coefficient is most effective in stabilizing the poorly-damped mode. Detailed validation with electromagnetic transient model demonstrates the accuracy of the proposed framework.

Authors:Sousannah Abdalla, Sabur Baidya
Title: UAV Control with Vision-based Hand Gesture Recognition over Edge-Computing
Abstract:
Gesture recognition presents a promising avenue for interfacing with unmanned aerial vehicles (UAVs) due to its intuitive nature and potential for precise interaction. This research conducts a comprehensive comparative analysis of vision-based hand gesture detection methodologies tailored for UAV Control. The existing gesture recognition approaches involving cropping, zooming, and color-based segmentation, do not work well for this kind of applications in dynamic conditions and suffer in performance with increasing distance and environmental noises. We propose to use a novel approach leveraging hand landmarks drawing and classification for gesture recognition based UAV control. With experimental results we show that our proposed method outperforms the other existing methods in terms of accuracy, noise resilience, and efficacy across varying distances, thus providing robust control decisions. However, implementing the deep learning based compute intensive gesture recognition algorithms on the UAV's onboard computer is significantly challenging in terms of performance. Hence, we propose to use a edge-computing based framework to offload the heavier computing tasks, thus achieving closed-loop real-time performance. With implementation over AirSim simulator as well as over a real-world UAV, we showcase the advantage of our end-to-end gesture recognition based UAV control system.

Authors:Alberto Jimenez-Ruiz, Federico Milano
Title: Data Center Model for Transient Stability Analysis of Power Systems
Abstract:
The rising demand of computing power leads to the installation of a large number of Data Centers (DCs). Their Fault-Ride-Through (FRT) behavior and their unique power characteristics, especially for DCs catered to Artificial Intelligence (AI) workloads, pose a threat to the stability of power systems. To ensure its stability, it is required accurate models of the loads involved. Here we propose a dynamic load model that properly captures the behaviour of DCs. Its three most defining features are the use of an Uninterrupted Power Supply (UPS) which sits between the server load and the grid, the cooling load represented by an induction motor, and a pulsing load that represents the transients caused by contemporary DCs with significant AI workloads. The features of the proposed model and its impact on the dynamic performance of transmission systems are illustrated through a model of the all-island Irish transmission system and real-world data of the DCs currently connected to this system.

Authors:Deyu Song, Xiangyin Zhang, Zipei Yu, Kaiyu Qin
Title: Coverage Path Planning For Multi-view SAR-UAV Observation System Under Energy Constraint
Abstract:
Multi-view Synthetic Aperture Radar (SAR) imaging can effectively enhance the performance of tasks such as automatic target recognition and image information fusion. Unmanned aerial vehicles (UAVs) have the advantages of flexible deployment and cost reduction. A swarm of UAVs equipped with synthetic aperture radar imaging equipment is well suited to meet the functional requirements of multi-view synthetic aperture radar imaging missions. However, to provide optimal paths for SAR-UAVs from the base station to cover target viewpoints in the mission area is of NP-hard computational complexity. In this work, the coverage path planning problem for multi-view SAR-UAV observation systems is studied. First, the coordinate of observation viewpoints is calculated based on the location of targets and base station under a brief geometric model. Then, the exact problem formulation is modeled in order to fully describe the solution space and search for optimal paths that provide maximum coverage rate for SAR-UAVs. Finally, an Adaptive Density Peak Clustering (ADPC) method is proposed to overcome the additional energy consumption due to the viewpoints being far away from the base station. The Particle Swarm Optimization (PSO) algorithm is introduced for optimal path generation. Experimental results demonstrate the effectiveness and computational efficiency of the proposed approach.

Authors:Zhengji Feng, Hengxiang Chen, Liqun Chen, Heyan Li, Xiaolin Mou
Title: Path Planning Algorithm Comparison Analysis for Wireless AUVs Energy Sharing System
Abstract:
Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework for a wireless energy sharing system among AUVs is proposed, enabling rapid energy replenishment. Path planning plays a crucial role in the energy-sharing process and autonomous navigation, as it must generate feasible trajectories toward designated goals. This article focuses on efficient obstacle avoidance in complex underwater environments, including irregularly shaped obstacles and narrow passages. The proposed method combines Rapidly-exploring Random Trees Star (RRT*) with Particle Swarm Optimization (PSO) to improve path planning efficiency. Comparative analysis of the two algorithms is presented through simulation results in both random and irregular obstacle environments. Index Terms: Wireless charging, autonomous underwater vehicles (AUVs), path planning, irregular obstacles, narrow passages, RRT*, particle swarm optimization (PSO).

Authors:Patrick Cheridito, Jean-Loup Dupret, Donatien Hainaut
Title: Deep Learning for Continuous-time Stochastic Control with Jumps
Abstract:
In this paper, we introduce a model-based deep-learning approach to solve finite-horizon continuous-time stochastic control problems with jumps. We iteratively train two neural networks: one to represent the optimal policy and the other to approximate the value function. Leveraging a continuous-time version of the dynamic programming principle, we derive two different training objectives based on the Hamilton-Jacobi-Bellman equation, ensuring that the networks capture the underlying stochastic dynamics. Empirical evaluations on different problems illustrate the accuracy and scalability of our approach, demonstrating its effectiveness in solving complex, high-dimensional stochastic control tasks.

Authors:Patrice Salzenstein, Blandine Guichardaz, Aya Maroua Bessou, Ekaterina Pavlyuchenko, Martine Comte, Maxim V. Pogumirsky
Title: Self-powered smart contact lenses: a multidisciplinary approach to micro-scale energy and 900 MHz - 1.1 GHz bandwidth microfabricated loop antennas communication systems
Abstract:
Smart contact lenses are at the forefront of integrating microelectronics, biomedical engineering, and optics into wearable technologies. This work addresses a key obstacle in their development: achieving autonomous power without compromising safety or miniaturization. We examine energy harvesting strategies using intrinsic ocular sources-particularly tear salinity and eyelid motion-to enable sustainable operation without external batteries. The study emphasizes compact loop antennas operating between 900 MHz and 1.1 GHz as critical for wireless data transmission and power management. Material choices, signal integrity, and biocompatibility are also discussed. By presenting recent advances in 3D-printed optics, antenna integration, and energy systems, we propose a conceptual framework for the next generation of smart lenses, enabling real-time health monitoring and vision enhancement through self-powered, compact devices.

Authors:Carlos Stein Brito, Daniel McNamee
Title: World Models as Reference Trajectories for Rapid Motor Adaptation
Abstract:
Deploying learned control policies in real-world environments poses a fundamental challenge. When system dynamics change unexpectedly, performance degrades until models are retrained on new data. We introduce Reflexive World Models (RWM), a dual control framework that uses world model predictions as implicit reference trajectories for rapid adaptation. Our method separates the control problem into long-term reward maximization through reinforcement learning and robust motor execution through rapid latent control. This dual architecture achieves significantly faster adaptation with low online computational cost compared to model-based RL baselines, while maintaining near-optimal performance. The approach combines the benefits of flexible policy learning through reinforcement learning with rapid error correction capabilities, providing a principled approach to maintaining performance in high-dimensional continuous control tasks under varying dynamics.

Authors:Michal Kuchař, Jaromír Fišer, Cyril Oswald, Tomáš Vyhlídal
Title: AI-based Decision Support System for Heritage Aircraft Corrosion Prevention
Abstract:
The paper presents a decision support system for the long-term preservation of aeronautical heritage exhibited/stored in sheltered sites. The aeronautical heritage is characterized by diverse materials of which this heritage is constituted. Heritage aircraft are made of ancient aluminum alloys, (ply)wood, and particularly fabrics. The decision support system (DSS) designed, starting from a conceptual model, is knowledge-based on degradation/corrosion mechanisms of prevailing materials of aeronautical heritage. In the case of historical aircraft wooden parts, this knowledge base is filled in by the damage function models developed within former European projects. Model-based corrosion prediction is implemented within the new DSS for ancient aluminum alloys. The novelty of this DSS consists of supporting multi-material heritage protection and tailoring to peculiarities of aircraft exhibition/storage hangars and the needs of aviation museums. The novel DSS is tested on WWII aircraft heritage exhibited in the Aviation Museum Kbely, Military History Institute Prague, Czech Republic.

Authors:Mohamad Mestoukirdi, Mourad Khanfouci
Title: Reliable Vertical Federated Learning in 5G Core Network Architecture
Abstract:
This work proposes a new algorithm to mitigate model generalization loss in Vertical Federated Learning (VFL) operating under client reliability constraints within 5G Core Networks (CNs). Recently studied and endorsed by 3GPP, VFL enables collaborative and load-balanced model training and inference across the CN. However, the performance of VFL significantly degrades when the Network Data Analytics Functions (NWDAFs) - which serve as primary clients for VFL model training and inference - experience reliability issues stemming from resource constraints and operational overhead. Unlike edge environments, CN environments adopt fundamentally different data management strategies, characterized by more centralized data orchestration capabilities. This presents opportunities to implement better distributed solutions that take full advantage of the CN data handling flexibility. Leveraging this flexibility, we propose a method that optimizes the vertical feature split among clients while centrally defining their local models based on reliability metrics. Our empirical evaluation demonstrates the effectiveness of our proposed algorithm, showing improved performance over traditional baseline methods.

Authors:Chenliang Zhou, Heejin Ahn, Ian M. Mitchell
Title: Comparing Parameterizations and Objective Functions for Maximizing the Volume of Zonotopic Invariant Sets
Abstract:
In formal safety verification, many proposed algorithms use parametric set representations and convert the computation of the relevant sets into an optimization problem; consequently, the choice of parameterization and objective function have a significant impact on the efficiency and accuracy of the resulting computation. In particular, recent papers have explored the use of zonotope set representations for various types of invariant sets. In this paper we collect two zonotope parameterizations that are numerically well-behaved and demonstrate that the volume of the corresponding zonotopes is log-concave in the parameters. We then experimentally explore the use of these two parameterizations in an algorithm for computing the maximum volume zonotope invariant under affine dynamics within a specified box constraint over a finite horizon. The true volume of the zonotopes is used as an objective function, along with two alternative heuristics that are faster to compute. We conclude that the heuristics are much faster in practice, although the relative quality of their results declines as the dimension of the problem increases; however, our conclusions are only preliminary due to so-far limited availability of compute resources.

Authors:V. Rajeswari, Nalin Kant Mohanty
Title: A Neural Network Approach to a Modified Quadratic Boost Multiport Resonant Converter for Electric Vehicle Chargers
Abstract:
This topology can achieve a high step-up gain by utilizing a switched capacitor and switched inductor-based VMC network arrangement.Furthermore, the proposed topology can achieve an output gain of approximately three times at a nominal duty ratio with reduced voltage and current stress across the switch, and enhance the maximum efficiency to 96.7

Authors:Gulai Shen, Gurpreet Singh, Ali Mehmani
Title: Co-optimize condenser water temperature and cooling tower fan using high-fidelity synthetic data
Abstract:
This paper introduces a novel method for optimizing HVAC systems in buildings by integrating a high-fidelity physics-based simulation model with machine learning and measured data. The method enables a real-time building advisory system that provides optimized settings for condenser water loop operation, assisting building operators in decision-making. The building and its HVAC system are first modeled using eQuest. Synthetic data are then generated by running the simulation multiple times. The data are then processed, cleaned, and used to train the machine learning model. The machine learning model enables real-time optimization of the condenser water loop using particle swarm optimization. The results deliver both a real-time online optimizer and an offline operation look-up table, providing optimized condenser water temperature settings and the optimal number of cooling tower fans at a given cooling load. Potential savings are calculated by comparing measured data from two summer months with the energy costs the building would have experienced under optimized settings. Adaptive model refinement is applied to further improve accuracy and effectiveness by utilizing available measured data. The method bridges the gap between simulation and real-time control. It has the potential to be applied to other building systems, including the chilled water loop, heating systems, ventilation systems, and other related processes. Combining physics models, data models, and measured data also enables performance analysis, tracking, and retrofit recommendations.

Authors:Jae-Il Jang, Chang-Hun Lee
Title: Customized Interior-Point Methods Solver for Embedded Real-Time Convex Optimization
Abstract:
This paper presents a customized convex optimization solver tailored for embedded real-time optimization, which frequently arise in modern guidance and control (G&C) applications. The solver employs a practically efficient predictor-corrector type primal-dual interior-point method (PDIPM) combined with a homogeneous embedding framework for infeasibility detection. Unlike conventional homogeneous self-dual embedding formulations, the adopted approach can directly handle quadratic cost functions without requiring problem reformulation. To support a systematic workflow, we also develop a code generation tool that analyzes the sparsity pattern of the provided problem family and generates customized solver code using a predefined code template. The generated solver code is written in C with no external dependencies other than the standard library math.h, and it supports complete static allocation of all data. Additionally, it provides parsing information to facilitate the use of the solver API by end users. Benchmark results and numerical experiments on an embedded platform demonstrate that the developed solver outperforms existing solvers in both efficiency and reliability.

Authors:Athul K. Sundarrajan, Daniel R. Herber
Title: Comparison of Data-Driven Modeling Approaches for Control Optimization of Floating Offshore Wind Turbines
Abstract:
Models that balance accuracy against computational costs are advantageous when designing wind turbines with optimization studies, as several hundred predictive function evaluations might be necessary to identify the optimal solution. We explore different approaches to construct low-fidelity models that can be used to approximate dynamic quantities and be used as surrogates for design optimization studies and other use cases. In particular, low-fidelity modeling approaches using classical systems identification and deep learning approaches are considered against derivative function surrogate models ({DFSMs}), or approximate models of the state derivative function. This work proposes a novel method that utilizes a linear parameter varying (LPV) modeling scheme to construct the DFSM. We compare the trade-offs between these different models and explore the efficacy of the proposed DFSM approach in approximating wind turbine performance and design optimization studies for controllers. Results show that the proposed DFSM approach balances computational time and model accuracy better than the system identification and deep learning based models. Additionally, the DFSM provides nearly a fifty times speed-up compared to the high-fidelity model, while balancing accuracy.

Authors:Sribalaji C. Anand, Nicola Bastianello
Title: Security of Distributed Gradient Descent Against Byzantine Agents
Abstract:
This paper investigates the security of Decentralized Gradient Descent (DGD) algorithms on undirected graphs. Specifically, we consider Byzantine agents that inject stealthy attacks to degrade the performance of the DGD algorithm in terms of its optimal value. To mitigate the effect of stealthy attacks, some agents are allocated to monitor the evolution of their gradient. We then propose a method to quantify the maximum deviation caused by the Byzantine agent in the optimal value of the DGD. Our approach serves as a security metric to evaluate the robustness of graph structures against Byzantine attacks. We validate our findings through numerical simulations.

Authors:Youhong Chen, Debraj Bhattacharjee, Balarko Chaudhuri
Title: A Data-Driven Method to Identify IBRs with Dominant Participation in Sub-Synchronous Oscillations
Abstract:
This paper introduces a data-driven (i.e., model-free) approach to identify which inverter-based resources (IBRs) have dominant participation in poorly damped sub-synchronous oscillations (SSO), to get to the root cause for effective mitigation. An Enhanced Dynamic Mode Decomposition (eDMD) method is proposed that incorporates an appropriate set of observables. Based on time-synchronized data (either simulated or real) from IBR connection points, eDMD directly computes data-driven eigenvectors and participation factors to reveal the role of each IBR in poorly damped SSO. We show the improved accuracy of eDMD over conventional Dynamic Mode Decomposition (DMD) by benchmarking both against actual model-based analysis. We demonstrate this first through a synthetic example and then a case study on the IEEE 39-bus test system with 100% IBR. This data-driven, model-free method offers a powerful tool to foresee and mitigate the risk of IBR-induced SSO in planning (simulated data) and post-event analysis (real data) of SSO events.

Authors:Sterre Lutz, Matthijs T. J. Spaan, Anna Lukina
Title: VeRecycle: Reclaiming Guarantees from Probabilistic Certificates for Stochastic Dynamical Systems after Change
Abstract:
Autonomous systems operating in the real world encounter a range of uncertainties. Probabilistic neural Lyapunov certification is a powerful approach to proving safety of nonlinear stochastic dynamical systems. When faced with changes beyond the modeled uncertainties, e.g., unidentified obstacles, probabilistic certificates must be transferred to the new system dynamics. However, even when the changes are localized in a known part of the state space, state-of-the-art requires complete re-certification, which is particularly costly for neural certificates. We introduce VeRecycle, the first framework to formally reclaim guarantees for discrete-time stochastic dynamical systems. VeRecycle efficiently reuses probabilistic certificates when the system dynamics deviate only in a given subset of states. We present a general theoretical justification and algorithmic implementation. Our experimental evaluation shows scenarios where VeRecycle both saves significant computational effort and achieves competitive probabilistic guarantees in compositional neural control.

Authors:Andrea De Simone, Giovanna Turvani, Fabrizio Riente
Title: Incremental Firmware Update Over-the-Air for Low-Power IoT Devices over LoRaWAN
Abstract:
Efficiently supporting remote firmware updates in Internet of Things (IoT) devices remains a significant challenge due to the limitations of many IoT communication protocols, which often make it impractical to transmit full firmware images. Techniques such as firmware partitioning have been introduced to mitigate this issue, but they frequently fall short, especially in battery-powered systems where time and energy constraints are critical. As a result, physical maintenance interventions are still commonly required, which is costly and inconvenient in large-scale deployments. In this work, we present a lightweight and innovative method that addresses this challenge by generating highly compact delta patches, enabling firmware reconstruction directly on the device. Our algorithm is specifically optimized for low-power devices, minimizing both memory usage and computational overhead. Compared to existing solutions, our approach significantly reduces the data volume needed for updates while maintaining performance comparable to more complex alternatives. Experimental evaluations confirm that our method yields substantial time and energy savings, making it particularly well-suited for battery-powered IoT nodes. Although our implementation targets the LoRaWAN protocol, the approach is flexible and can be adapted to other IoT communication technologies.

Authors:Siyuan Zhang, Yufei Zhang, Junlin Lyu, Sunil K. Agrawal
Title: From Structural Design to Dynamics Modeling: Control-Oriented Development of a 3-RRR Parallel Ankle Rehabilitation Robot
Abstract:
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic structure designed for comfort, safety, and compatibility with ankle biomechanics. A complete design-to-dynamics pipeline has been implemented, including structural design, kinematic modeling for motion planning, and Lagrangian-based dynamic modeling for torque estimation and simulation analysis. Preliminary simulations verify stable joint coordination and smooth motion tracking under representative rehabilitation trajectories. The control framework is currently being developed to enhance responsiveness across the workspace. Future work will focus on integrating personalized modeling and adaptive strategies to address kinematic singularities through model based control. This work establishes a foundational platform for intelligent, personalized ankle rehabilitation, enabling both static training and potential extension to gait-phase-timed assistance.

Authors:Tianze Wang, Christian Hubicki
Title: Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing
Abstract:
Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal robots. Our contribution is two-fold: we introduce (1) a novel formulation for adjusting step timing to facilitate faster body avoidance and (2) a novel 3D foot-avoidance formulation that implicitly selects swing trajectories and footholds that either steps over or navigate around obstacles with awareness of Center of Mass (COM) dynamics. We achieve body avoidance by applying a half-space relaxation of the safe region but introduce a switching heuristic based on tracking error to detect a need to change foot-timing schedules. To enable foot avoidance and viable landing footholds on all sides of foot-level obstacles, we decompose the non-convex safe region on the ground into several convex polygons and use Mixed-Integer Quadratic Programming to determine the optimal candidate. We found that introducing a soft minimum-travel-distance constraint is effective in preventing the MPC from being trapped in local minima that can stall half-space relaxation methods behind obstacles. We demonstrated the proposed algorithms on multibody simulations on the bipedal robot platforms, Cassie and Digit, as well as hardware experiments on Digit.

Authors:Long Meng, Paola Terolli, Xiaogang Hu
Title: Reduced Muscle Fatigue Using Continuous Subthreshold Kilohertz Stimulation of Peripheral Nerves
Abstract:
Functional electrical stimulation (FES) is a prevalent technique commonly used to activate muscles in individuals with neurological disorders. Traditional FES strategies predominantly utilize low-frequency (LF) stimulation, which evokes synchronous action potentials, leading to rapid muscle fatigue. To address these limitations, we introduced a subthreshold high-frequency (HF) stimulation method that employed continuous, charge-balanced subthreshold current pulses at kilohertz frequencies, designed to evoke motor unit (MU) activation similar to voluntary activation. We evaluated the effectiveness of HF stimulation on the reduction of muscle fatigue across different force levels (10 %, 25 %, and 40 % of maximum force). The HF stimulation utilized continuous charge-balanced, short pulses of 80 μs (at a 10 kHz frequency) targeted the ulnar/median nerve bundles. We compared the fatigue effects with conventional LF stimulation and voluntary muscle contractions. Our results indicated that HF stimulation maintained more sustained force outputs and muscle activation over a prolonged time compared with LF stimulation. The HF stimulation also evoked a more dispersed muscle activation pattern, similar to voluntary muscle contractions. These findings suggest that HF stimulation can significantly enhance the sustainability of muscle contractions and reduce muscle fatigue, potentially improving the efficacy and applicability of FES in clinical and home-based settings for individuals with neurological impairments.

Authors:Hugo Araujo, Hana Chockler, Mohammad Reza Mousavi, Gustavo Carvalho, Augusto Sampaio
Title: Causality for Cyber-Physical Systems
Abstract:
We present a formal theory for analysing causality in cyber-physical systems. To this end, we extend the theory of actual causality by Halpern and Pearl to cope with the continuous nature of cyber-physical systems. Based on our theory, we develop an analysis technique that is used to uncover the causes for examples of failures resulting from verification, which are represented as continuous trajectories. We develop a search-based technique to efficiently produce such causes and provide an implementation for such a technique. Moreover, we apply our solution to case studies (a suspension system and a connected platoon) and benchmark systems to evaluate its effectiveness; in the experiment, we show that we were able to detect causes for inserted faults.

Authors:Timofei Leahu, Giorgio Picci
Title: An Empirical Bayes approach to ARX Estimation
Abstract:
Empirical Bayes inference is based on estimation of the parameters of an a priori distribution from the observed data. The estimation technique of the parameters of the prior, called hyperparameters, is based on the marginal distribution obtained by integrating the joint density of the model with respect to the prior. This is a key step which needs to be properly adapted to the problem at hand. In this paper we study Empirical Bayes inference of linear autoregressive models with inputs (ARX models) for time series and compare the performance of the marginal parametric estimator with that a full Empirical Bayesian analysis based on the estimated prior. Such a comparison, can only make sense for a (realistic) finite data length. In this setting, we propose a new estimation technique of the hyperparameters by a sequential Bayes procedure which is essentially a backward Kalman filter. It turns out that for finite data length the marginal Bayes tends to behave slightly better than the full Empirical Bayesian parameter estimator and so also in the case of slowly varying random parameters.

Authors:Komeil Nosrati, Juri Belikov, Aleksei Tepljakov, Eduard Petlenkov
Title: Regularized Model Predictive Control
Abstract:
In model predictive control (MPC), the choice of cost-weighting matrices and designing the Hessian matrix directly affects the trade-off between rapid state regulation and minimizing the control effort. However, traditional MPC in quadratic programming relies on fixed design matrices across the entire horizon, which can lead to suboptimal performance. This letter presents a Riccati equation-based method for adjusting the design matrix within the MPC framework, which enhances real-time performance. We employ a penalized least-squares (PLS) approach to derive a quadratic cost function for a discrete-time linear system over a finite prediction horizon. Using the method of weighting and enforcing the constraint equation by introducing a large penalty parameter, we solve the constrained optimization problem and generate control inputs for forward-shifted horizons. This process yields a recursive PLS-based Riccati equation that updates the design matrix as a regularization term in each shift, forming the foundation of the regularized MPC (Re-MPC) algorithm. To accomplish this, we provide a convergence and stability analysis of the developed algorithm. Numerical analysis demonstrates its superiority over traditional methods by allowing Riccati equation-based adjustments.

Authors:Shuang Gao, Peter E. Caines
Title: Transmission Neural Networks: Approximation and Optimal Control
Abstract:
Transmission Neural Networks (TransNNs) introduced by Gao and Caines (2022) connect virus spread models over networks and neural networks with tuneable activation functions. This paper presents the approximation technique and the underlying assumptions employed by TransNNs in relation to the corresponding Markovian Susceptible-Infected-Susceptible (SIS) model with 2^n states, where n is the number of nodes in the network. The underlying infection paths are assumed to be stochastic with heterogeneous and time-varying transmission probabilities. We obtain the conditional probability of infection in the stochastic 2^n-state SIS epidemic model corresponding to each state configuration under mild assumptions, which enables control solutions based on Markov decision processes (MDP). Finally, MDP control with 2^n-state SIS epidemic models and optimal control with TransNNs are compared in terms of mitigating virus spread over networks through vaccination, and it is shown that TranNNs enable the generation of control laws with significant computational savings, albeit with more conservative control actions.

Authors:Amit Cohen, Lev Gloukhenki, Ravid Hadar, Eden Itah, Yehuda Shvut, Michael Schapira
Title: Unleashing Automated Congestion Control Customization in the Wild
Abstract:
Congestion control (CC) crucially impacts user experience across Internet services like streaming, gaming, AR/VR, and connected cars. Traditionally, CC algorithm design seeks universal control rules that yield high performance across diverse application domains and networks. However, varying service needs and network conditions challenge this approach. We share operational experience with a system that automatically customizes congestion control logic to service needs and network conditions. We discuss design, deployment challenges, and solutions, highlighting performance benefits through case studies in streaming, gaming, connected cars, and more. Our system leverages PCC Vivace, an online-learning based congestion control protocol developed by researchers. Hence, along with insights from customizing congestion control, we also discuss lessons learned and modifications made to adapt PCC Vivace for real-world deployment.

Authors:P. A. Diluka Harischandra, Quan Zhou
Title: Data-Efficient Automatic Shaping of Liquid Droplets on an Air-Ferrofluid Interface with Bayesian Optimization
Abstract:
Manipulating the shape of a liquid droplet is essential for a wide range of applications in medicine and industry. However, existing methods are typically limited to generating simple shapes, such as ellipses, or rely on predefined templates. Although recent approaches have demonstrated more complex geometries, they remain constrained by limited adaptability and lack of real-time control. Here, we introduce a data-efficient method that enables real-time, programmable shaping of nonmagnetic liquid droplets into diverse target forms at the air-ferrofluid interface using Bayesian optimization. The droplet can adopt either convex or concave shapes depending on the actuation of the surrounding electromagnets. Bayesian optimization determines the optimal magnetic flux density for shaping the liquid droplet into a desired target shape. Our method enables automatic shaping into various triangular and rectangular shapes with a maximum shape error of 0.81 mm, as well as into letter-like patterns. To the best of our knowledge, this is the first demonstration of real-time, automatic shaping of nonmagnetic liquid droplets into desired target shapes using magnetic fields or other external energy fields.

Authors:Angel Vaca, Federico Milano
Title: Impact of Power Fluctuations on Frequency Quality
Abstract:
This paper analyzes how power injections affect frequency quality in power systems. We first derive a general expression linking active and reactive power injections at buses to the system's frequency. This formulation explicitly considers both real and imaginary frequency components, providing a complete description of frequency behavior in power systems during transients. Next, we extend our analysis to incorporate stochastic variations of power injections. Using the frequency divider concept and power-based frequency estimation, we develop analytical relationships linking stochastic load fluctuations to frequency deviations. We discuss under which conditions the Central Limit Theorem cannot be applied to capture the frequency distribution, thereby clarifying how its hypotheses are not satisfied in power system applications. Then, we establish clear criteria for the appropriate use of statistical methods in frequency analysis. Finally, we validate our theoretical results through simulations on modified IEEE 14-bus and all-island Irish transmission test systems, highlighting the accuracy, practical utility, and limitations of our proposed formulation.

Authors:Mengxin Lyu, Ruiliang Deng, Zongying Shi, Yisheng Zhong
Title: Reach-avoid games for players with damped double integrator dynamics
Abstract:
This paper studies a reach-avoid game of two damped double integrator players. An attacker aims to reach a static target, while a faster defender tries to protect the target by intercepting the attacker before it reaches the target. In scenarios where the defender succeeds, the defender aims to maximize the attacker's final distance from the target, while the attacker aims to minimize it. This work focuses on determining the equilibrium strategy in the defender-winning scenarios. The optimal state feedback strategy is obtained by a differential game approach combining geometric analysis. We construct a multiple reachable region to analyse the damped double integrator player's motion under optimal strategy. Building on this, a new type of the attacker's dominance region is introduced for the first time. It is shown that different strategies are required when the terminal point lies in distinct areas of the attacker's dominance region. Then, a necessary condition is derived for the proposed strategy to be optimal using differential game approach. Furthermore, a case where both players start at rest is discussed, and some useful properties about the dominance region and the optimal strategy are presented. Simulations are conducted to show the effectiveness of the proposed strategy.

Authors:Chih-Yuan Chiu, Bryce L. Ferguson
Title: Robustness of Incentive Mechanisms Against System Misspecification in Congestion Games
Abstract:
To steer the behavior of selfish, resource-sharing agents in a socio-technical system towards the direction of higher efficiency, the system designer requires accurate models of both agent behaviors and the underlying system infrastructure. For instance, traffic controllers often use road latency models to design tolls whose deployment can effectively mitigate traffic congestion. However, misspecifications of system parameters may restrict a system designer's ability to influence collective agent behavior toward efficient outcomes. In this work, we study the impact of system misspecifications on toll design for atomic congestion games. We prove that tolls designed under sufficiently minor system misspecifications, when deployed, do not introduce new Nash equilibria in atomic congestion games compared to tolls designed in the noise-free setting, implying a form of local robustness. We then upper bound the degree to which the worst-case equilibrium system performance could decrease when tolls designed under a given level of system misspecification are deployed. We validate our theoretical results via Monte-Carlo simulations as well as realizations of our worst-case guarantees.

Authors:Eric Hilgert, Andreas Schwung
Title: Stability Analysis of Soft Sensor-Based Control Systems--A Luré-Postnikov Approach Using a Novel Gated Recurrent Neural Network
Abstract:
This article addresses certification of closed-loop stability when a soft-sensor based on a gated recurrent neural network operates in the feedback path of a nonlinear control system. The Hadamard gating used in standard GRU/LSTM cells is shown to violate the Luré-Postnikov Lyapunov conditions of absolute-stability theory, leading to conservative analysis. To overcome this limitation, a modified architecture--termed the Luré-Postnikov gated recurrent neural network (LP-GRNN)--is proposed; its affine update law is compatible with the Luré-Postnikov framework while matching the prediction accuracy of vanilla GRU/LSTM models on the NASA CMAPSS benchmark. Embedding the LP-GRNN, the plant, and a saturated PI controller in a unified standard nonlinear operator form (SNOF) reduces the stability problem to a compact set of tractable linear matrix inequalities (LMIs) whose feasibility certifies global asymptotic stability. A linearized boiler case study illustrates the workflow and validates the closed-loop performance, thereby bridging modern soft-sensor design with formal stability guarantees.

Authors:Louisa Jane Di Felice, Ada Diaconescu, Payam Zahadat, Patricia Mellodge
Title: The Value of Information in Multi-Scale Feedback Systems
Abstract:
Complex adaptive systems (CAS) can be described as systems of information flows dynamically interacting across scales in order to adapt and survive. CAS often consist of many components that work towards a shared goal, and interact across different informational scales through feedback loops, leading to their adaptation. In this context, understanding how information is transmitted among system components and across scales becomes crucial for understanding the behavior of CAS. Shannon entropy, a measure of syntactic information, is often used to quantify the size and rarity of messages transmitted between objects and observers, but it does not measure the value that information has for each specific observer. For this, semantic and pragmatic information have been conceptualized as describing the influence on an observer's knowledge and actions. Building on this distinction, we describe the architecture of multi-scale information flows in CAS through the concept of Multi-Scale Feedback Systems, and propose a series of syntactic, semantic and pragmatic information measures to quantify the value of information flows. While the measurement of values is necessarily context-dependent, we provide general guidelines on how to calculate semantic and pragmatic measures, and concrete examples of their calculation through four case studies: a robotic collective model, a collective decision-making model, a task distribution model, and a hierarchical oscillator model. Our results contribute to an informational theory of complexity, aiming to better understand the role played by information in the behavior of Multi-Scale Feedback Systems.

Authors:Millend Roy, Vladimir Pyltsov, Yinbo Hu
Title: IISE PG&E Energy Analytics Challenge 2025: Hourly-Binned Regression Models Beat Transformers in Load Forecasting
Abstract:
Accurate electricity load forecasting is essential for grid stability, resource optimization, and renewable energy integration. While transformer-based deep learning models like TimeGPT have gained traction in time-series forecasting, their effectiveness in long-term electricity load prediction remains uncertain. This study evaluates forecasting models ranging from classical regression techniques to advanced deep learning architectures using data from the ESD 2025 competition. The dataset includes two years of historical electricity load data, alongside temperature and global horizontal irradiance (GHI) across five sites, with a one-day-ahead forecasting horizon. Since actual test set load values remain undisclosed, leveraging predicted values would accumulate errors, making this a long-term forecasting challenge. We employ (i) Principal Component Analysis (PCA) for dimensionality reduction and (ii) frame the task as a regression problem, using temperature and GHI as covariates to predict load for each hour, (iii) ultimately stacking 24 models to generate yearly forecasts. Our results reveal that deep learning models, including TimeGPT, fail to consistently outperform simpler statistical and machine learning approaches due to the limited availability of training data and exogenous variables. In contrast, XGBoost, with minimal feature engineering, delivers the lowest error rates across all test cases while maintaining computational efficiency. This highlights the limitations of deep learning in long-term electricity forecasting and reinforces the importance of model selection based on dataset characteristics rather than complexity. Our study provides insights into practical forecasting applications and contributes to the ongoing discussion on the trade-offs between traditional and modern forecasting methods.

Authors:Amir Bayat, Alessandro Abate, Necmiye Ozay, Raphael M. Jungers
Title: LLM-Enhanced Symbolic Control for Safety-Critical Applications
Abstract:
Motivated by Smart Manufacturing and Industry 4.0, we introduce a framework for synthesizing Abstraction-Based Controller Design (ABCD) for reach-avoid problems from Natural Language (NL) specifications using Large Language Models (LLMs). A Code Agent interprets an NL description of the control problem and translates it into a formal language interpretable by state-of-the-art symbolic control software, while a Checker Agent verifies the correctness of the generated code and enhances safety by identifying specification mismatches. Evaluations show that the system handles linguistic variability and improves robustness over direct planning with LLMs. The proposed approach lowers the barrier to formal control synthesis by enabling intuitive, NL-based task definition while maintaining safety guarantees through automated validation.

Authors:Menno van Zutphen, Domagoj Herceg, Duarte J. Antunes
Title: Beyond KL-divergence: Risk Aware Control Through Cross Entropy and Adversarial Entropy Regularization
Abstract:
While the idea of robust dynamic programming (DP) is compelling for systems affected by uncertainty, addressing worst-case disturbances generally results in excessive conservatism. This paper introduces a method for constructing control policies robust to adversarial disturbance distributions that relate to a provided empirical distribution. The character of the adversary is shaped by a regularization term comprising a weighted sum of (i) the cross-entropy between the empirical and the adversarial distributions, and (ii) the entropy of the adversarial distribution itself. The regularization weights are interpreted as the likelihood factor and the temperature respectively. The proposed framework leads to an efficient DP-like algorithm -- referred to as the minsoftmax algorithm -- to obtain the optimal control policy, where the disturbances follow an analytical softmax distribution in terms of the empirical distribution, temperature, and likelihood factor. It admits a number of control-theoretic interpretations and can thus be understood as a flexible tool for integrating complementary features of related control frameworks. In particular, in the linear model quadratic cost setting, with a Gaussian empirical distribution, we draw connections to the well-known $\mathcal{H}_{\infty}$-control. We illustrate our results through a numerical example.

Authors:Amit Kumar, Prasad Vilas Chanekar
Title: A Scalable Procedure for $\mathcal{H}_{\infty}-$Control Design
Abstract:
This paper proposes a novel gradient based scalable procedure for $\mathcal{H}_{\infty}-$control design. We compute the gradient using algebraic Riccati equation and then couple it with a novel Armijo rule inspired step-size selection procedure. We perform numerical experiments of the proposed solution procedure on an exhaustive list of benchmark engineering systems to show its convergence properties. Finally we compare our proposed solution procedure with available semi-definite programming based gradient-descent algorithm to demonstrate its scalability.

Authors:Paola Nazate-Burgos, Miguel Torres-Torriti, Sergio Aguilera-Marinovic, Tito Arévalo, Shoudong Huang, Fernando Auat Cheein
Title: Robust 2D lidar-based SLAM in arboreal environments without IMU/GNSS
Abstract:
Simultaneous localization and mapping (SLAM) approaches for mobile robots remains challenging in forest or arboreal fruit farming environments, where tree canopies obstruct Global Navigation Satellite Systems (GNSS) signals. Unlike indoor settings, these agricultural environments possess additional challenges due to outdoor variables such as foliage motion and illumination variability. This paper proposes a solution based on 2D lidar measurements, which requires less processing and storage, and is more cost-effective, than approaches that employ 3D lidars. Utilizing the modified Hausdorff distance (MHD) metric, the method can solve the scan matching robustly and with high accuracy without needing sophisticated feature extraction. The method's robustness was validated using public datasets and considering various metrics, facilitating meaningful comparisons for future research. Comparative evaluations against state-of-the-art algorithms, particularly A-LOAM, show that the proposed approach achieves lower positional and angular errors while maintaining higher accuracy and resilience in GNSS-denied settings. This work contributes to the advancement of precision agriculture by enabling reliable and autonomous navigation in challenging outdoor environments.

Authors:Zaid Ibn Mahmood, Hantao Cui, Ying Zhang
Title: A Virtual Admittance-Based Fault Current Limiting Method for Grid-Forming Inverters
Abstract:
Inverter-based resources (IBRs) are a key component in the ongoing modernization of power systems, with grid-forming (GFM) inverters playing a central role. Effective fault current limiting is a major challenge to modernizing power systems through increased penetration of GFM inverters. Due to their voltage-source nature, GFM inverters offer no direct control over the output current and, therefore, are susceptible to high fault currents. This vulnerability is especially pronounced during large phase jumps, a condition overlooked by most fault current limiting methods. This paper proposes a hybrid fault current limiting method implemented through a virtual admittance by leveraging the advantages of two virtual impedance (VI)-based methods tailored for three-phase faults and phase jump disturbances. Electromagnetic transient simulations conducted in MATLAB-Simulink demonstrate the method's effectiveness across various disturbances, validating its potential in single-loop GFM structures.

Authors:Josef Vojtech, Tomas Novak, Elisabeth Andriantsarazo, Vladimir Smotlacha, Ondrej Havlis, Rudolf Vohnout, Michal Spacek, Martin Slapak, Lada Altmannova, Radek Velc, Petr Pospisil, Jan Kundrat, Martin Cizek, Jan Hrabina, Simon Rerucha, Lenka Pravdova, Josef Lazar, Ondrej Cip, Jaroslav Roztocil
Title: Country wide Shared FibreBased Infrastructure for Dissemination of Precise Time, Coherent Optical Frequency with Vibration Sensing
Abstract:
With the increasing demand for ultra-precise time synchronization and frequency dissemination across various scientific, industrial, and communication fields, the Czech Republic has developed an innovative, non-commercial fiber-based infrastructure. This infrastructure serves as a shared platform, utilizing optical fibers to enable high-precision timing, coherent frequency transfer, and a newly implemented vibrational sensing capability. The project also addresses challenges posed by classical communication noise-particularly from Raman scattering-on quantum channels, especially for Quantum Key Distribution (QKD). By strategically separating classical and quantum channels into distinct wavelength bands, such as the C-band and O-band, the infrastructure achieves minimal interference while enabling multiple concurrent applications over shared fiber lines.

Authors:Stephan Zieger, Hannah Richta
Title: DB InfraGO's Automated Dispatching Assistant ADA-PMB
Abstract:
As railway infrastructure manager, DB InfraGO AG is faced with the challenge of offering fluid and punctual operation despite rising demand and increased construction activity. The high capacity utilisation, especially in the core network sections, causes delays to be propagated quickly and widely across the entire network. Up to now, conflicts between train runs can be identified automatically, but dispatching measures have been based on past human experience. An automated dispatching assistance system is currently being piloted to provide support for train dispatchers in their work. The aim is to offer them helpful dispatching recommendations, particularly in stressful situations with a high conflict density in the network section under consideration, in order to ensure the most efficient operation of the system. The recommendations are currently displayed separately alongside the central control system. In future, they will be integrated into the central control system, which will significantly simplify communication between the train dispatcher and signal setter. Further development steps for the integration process are also presented and discussed.

Authors:Rishabh Kumar Singh, Debraj Chakraborty
Title: Planar Herding of Multiple Evaders with a Single Herder
Abstract:
A planar herding problem is considered, where a superior pursuer herds a flock of non-cooperative, inferior evaders around a predefined target point. An inverse square law of repulsion is assumed between the pursuer and each evader. Two classes of pursuer trajectories are proposed: (i) a constant angular-velocity spiral, and (ii) a constant angular-velocity circle, both centered around the target point. For the spiraling pursuer, the radial velocity is dynamically adjusted based on a feedback law that depends on the instantaneous position of the evader, which is located at the farthest distance from the target at the start of the game. It is shown that, under suitable choices of the model parameters, all the evaders are herded into an arbitrarily small limit cycle around the target point. Meanwhile, the pursuer also converges onto a circular trajectory around the target. The conditions for the stability of these limit cycles are derived. For the circling pursuer, similar guarantees are provided along with explicit formulas for the radii of the limit cycles.

Authors:Sreeni Poolakkal, Abdullah Islam, Arpit Rao, Shrestha Bansal, Ted Dabrowski, Kalsi Kwan, Zhongxuan Wang, Amit Kumar Mishra, Julio Navarro, Shenqiang Ren, John Williams, Sudip Shekhar, Subhanshu Gupta
Title: Dynamic Beam-Stabilized, Additive-Printed Flexible Antenna Arrays with On-Chip Rapid Insight Generation
Abstract:
Conformal phased arrays promise shape-changing properties, multiple degrees of freedom to the scan angle, and novel applications in wearables, aerospace, defense, vehicles, and ships. However, they have suffered from two critical limitations. (1) Although most applications require on-the-move communication and sensing, prior conformal arrays have suffered from dynamic deformation-induced beam pointing errors. We introduce a Dynamic Beam-Stabilized (DBS) processor capable of beam adaptation through on-chip real-time control of fundamental gain, phase, and delay for each element. (2) Prior conformal arrays have leveraged additive printing to enhance flexibility, but conventional printable inks based on silver are expensive, and those based on copper suffer from spontaneous metal oxidation that alters trace impedance and degrades beamforming performance. We instead leverage a low-cost Copper Molecular Decomposition (CuMOD) ink with < 0.1% variation per degree C with temperature and strain and correct any residual deformity in real-time using the DBS processor. Demonstrating unified material and physical deformation correction, our CMOS DBS processor is low power, low-area, and easily scalable due to a tile architecture, thereby ideal for on-device implementations.

Authors:Polina Alexeenko, Matthew Bruchon, Jesse Bennett
Title: Measuring Flexibility through Reduction Potential
Abstract:
While electric vehicles (EVs) often exhibit substantial flexibility, harnessing this flexibility requires precise characterization of its timing and magnitude. This paper introduces the reduction potential matrix, a novel approach to EV load flexibility modeling which is both straightforward to calculate and intuitive to interpret. This paper demonstrates the approach by quantifying flexibility for two distinct commercial vehicle groups--freight vehicles and transit buses--using simulated charging data from Virginia. While both groups are found to have substantial flexibility, its properties vary across the groups. Naturally, this variability manifests in differences in each group's role as a grid resource. The paper concludes with a discussion on how system planners, fleet operators, and other stakeholders can use the matrix to assess and leverage EV flexibility.

Authors:Angelo Caregnato-Neto, Janito Vaqueiro Ferreira
Title: Improved Corner Cutting Constraints for Mixed-Integer Motion Planning of a Differential Drive Micro-Mobility Vehicle
Abstract:
This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach leverages mixed-integer linear programming (MILP) to compute global optimal collision-free trajectories taking into account the kinematics and dynamics of the vehicle. We propose novel constraints for intersample collision avoidance and demonstrate its effectiveness using pick-up and delivery missions and statistical analysis of Monte Carlo simulations. The results show that the novel formulation provides the best trajectories in terms of time expenditure and control effort when compared to two state-of-the-art approaches.

Authors:Zhang Louyue, Li Xin, Zhai Chao, Shi Duoqi, Zhang Hehong, Dan Zhihong, Wang Xi, Liu Jiashuai, Xiao Gaoxi
Title: Coordinated Multi-Valve Disturbance-Rejection Pressure Control for High-Altitude Test Stands via Exterior Penalty Functions
Abstract:
High altitude simulation test benches for aero engines employ multi chamber, multi valve intake systems that demand effective decoupling and strong disturbance rejection during transient tests. This paper proposes a coordinated active disturbance rejection control (ADRC) scheme based on an external penalty function. The chamber pressure safety limit is reformulated as an inequality constrained optimization problem, and an exponential penalty together with a gradient based algorithm is designed for dynamic constraint relaxation, with global convergence rigorously proven. A coordination term is then integrated into a distributed ADRC framework to yield a multi valve coordinated LADRC controller, whose asymptotic stability is established via Lyapunov theory. Hardware in the loop simulations using MATLAB/Simulink and a PLC demonstrate that, under $\pm$3 kPa pressure constraints, chamber V2's maximum error is 1.782 kPa (77.1\% lower than PID control), and under a 180 kg/s^2 flow rate disturbance, valve oscillations decrease from $\pm$27\% to $\pm$5\% (an 81.5\% reduction). These results confirm the proposed method's superior disturbance rejection and decoupling performance.

Authors:Yimou Wu, Mingyang Liang
Title: Robot-Assisted Drone Recovery on a Wavy Surface Using Error-State Kalman Filter and Receding Horizon Model Predictive Control
Abstract:
Recovering a drone on a disturbed water surface remains a significant challenge in maritime robotics. In this paper, we propose a unified framework for Robot-Assisted Drone Recovery on a Wavy Surface that addresses two major tasks: Firstly, accurate prediction of a moving drone's position under wave-induced disturbances using an Error-State Kalman Filter (ESKF), and secondly, effective motion planning for a manipulator via Receding Horizon Control (RHC). Specifically, the ESKF predicts the drone's future position 0.5s ahead, while the manipulator plans a capture trajectory in real time, thus overcoming not only wave-induced base motions but also limited torque constraints. We provide a system design that comprises a manipulator subsystem and a UAV subsystem. On the UAV side, we detail how position control and suspended payload strategies are implemented. On the manipulator side, we show how an RHC scheme outperforms traditional low-level control algorithms. Simulation and real-world experiments - using wave-disturbed motion data - demonstrate that our approach achieves a high success rate - above 95% and outperforms conventional baseline methods by up to 10% in efficiency and 20% in precision. The results underscore the feasibility and robustness of our system, which achieves state-of-the-art (SOTA) performance and offers a practical solution for maritime drone operations.

Authors:Bo Meng, Chenghao Xu, Yongli Zhu
Title: Deep Reinforcement Learning for Power Grid Multi-Stage Cascading Failure Mitigation
Abstract:
Cascading failures in power grids can lead to grid collapse, causing severe disruptions to social operations and economic activities. In certain cases, multi-stage cascading failures can occur. However, existing cascading-failure-mitigation strategies are usually single-stage-based, overlooking the complexity of the multi-stage scenario. This paper treats the multi-stage cascading failure problem as a reinforcement learning task and develops a simulation environment. The reinforcement learning agent is then trained via the deterministic policy gradient algorithm to achieve continuous actions. Finally, the effectiveness of the proposed approach is validated on the IEEE 14-bus and IEEE 118-bus systems.

Authors:Jiachen Qian, Yang Zheng
Title: Model-free Online Learning for the Kalman Filter: Forgetting Factor and Logarithmic Regret
Abstract:
We consider the problem of online prediction for an unknown, non-explosive linear stochastic system. With a known system model, the optimal predictor is the celebrated Kalman filter. In the case of unknown systems, existing approaches based on recursive least squares and its variants may suffer from degraded performance due to the highly imbalanced nature of the regression model. This imbalance can easily lead to overfitting and thus degrade prediction accuracy. We tackle this problem by injecting an inductive bias into the regression model via {exponential forgetting}. While exponential forgetting is a common wisdom in online learning, it is typically used for re-weighting data. In contrast, our approach focuses on balancing the regression model. This achieves a better trade-off between {regression} and {regularization errors}, and simultaneously reduces the {accumulation error}. With new proof techniques, we also provide a sharper logarithmic regret bound of $O(\log^3 N)$, where $N$ is the number of observations.

Authors:Haohui He, Kexin Wang, Ruolin Li
Title: To Stay or to Bypass: Unraveling Mainline Vehicles' Aggregate Strategic Decision-Making at Highway Weaving Ramps
Abstract:
The weaving ramp scenario is a critical bottleneck in highway networks due to conflicting flows and complex interactions among merging, exiting, and through vehicles. In this work, we propose a game-theoretic model to capture and predict the aggregate lane choice behavior of mainline through vehicles as they approach the weaving zone. Faced with potential conflicts from merging and exiting vehicles, mainline vehicles can either bypass the conflict zone by changing to an adjacent lane or stay steadfast in their current lane. Our model effectively captures these strategic choices using a small set of parameters, requiring only limited traffic measurements for calibration. The model's validity is demonstrated through SUMO simulations, achieving high predictive accuracy. The simplicity and flexibility of the proposed framework make it a practical tool for analyzing bottleneck weaving scenarios and informing traffic management strategies.

Authors:Ali Almakhluk, Uthman Baroudi, Yasser El-Alfy
Title: Intelligent Road Anomaly Detection with Real-time Notification System for Enhanced Road Safety
Abstract:
This study aims to improve transportation safety, especially traffic safety. Road damage anomalies such as potholes and cracks have emerged as a significant and recurring cause for accidents. To tackle this problem and improve road safety, a comprehensive system has been developed to detect potholes, cracks (e.g. alligator, transverse, longitudinal), classify their sizes, and transmit this data to the cloud for appropriate action by authorities. The system also broadcasts warning signals to nearby vehicles warning them if a severe anomaly is detected on the road. Moreover, the system can count road anomalies in real-time. It is emulated through the utilization of Raspberry Pi, a camera module, deep learning model, laptop, and cloud service. Deploying this innovative solution aims to proactively enhance road safety by notifying relevant authorities and drivers about the presence of potholes and cracks to take actions, thereby mitigating potential accidents arising from this prevalent road hazard leading to safer road conditions for the whole community.

Authors:Erlend M. Coates, Thor I. Fossen
Title: A spherical amplitude-phase formulation for 3-D adaptive line-of-sight (ALOS) guidance with USGES stability guarantees
Abstract:
A recently proposed 3-D adaptive line-of-sight (ALOS) path-following algorithm addressed coupled motion dynamics of marine craft, aircraft, and uncrewed vehicles under environmental disturbances such as wind, waves, and ocean currents. Stability analysis established uniform semiglobal exponential stability (USGES) of the cross- and vertical-track errors using a body-velocity-based amplitude-phase representation of the North-East-Down (NED) kinematic differential equations. In this brief paper, we revisit the ALOS framework and introduce a novel spherical amplitude-phase representation. This formulation yields a more geometrically intuitive and physically observable description of the guidance errors and enables a significantly simplified stability proof. Unlike the previous model, which relied on a vertical crab angle derived from body-frame velocities, the new representation uses an alternative vertical crab angle and retains the USGES property. It also removes restrictive assumptions such as constant altitude/depth or zero horizontal crab angle, and remains valid for general 3-D maneuvers with nonzero roll, pitch, and flight-path angles.

Authors:Hassan Osman, Daan de Kanter, Jelle Boelens, Manon Kok, Ajay Seth
Title: A Tightly Coupled IMU-Based Motion Capture Approach for Estimating Multibody Kinematics and Kinetics
Abstract:
Inertial Measurement Units (IMUs) enable portable, multibody motion capture (MoCap) in diverse environments beyond the laboratory, making them a practical choice for diagnosing mobility disorders and supporting rehabilitation in clinical or home settings. However, challenges associated with IMU measurements, including magnetic distortions and drift errors, complicate their broader use for MoCap. In this work, we propose a tightly coupled motion capture approach that directly integrates IMU measurements with multibody dynamic models via an Iterated Extended Kalman Filter (IEKF) to simultaneously estimate the system's kinematics and kinetics. By enforcing kinematic and kinetic properties and utilizing only accelerometer and gyroscope data, our method improves IMU-based state estimation accuracy. Our approach is designed to allow for incorporating additional sensor data, such as optical MoCap measurements and joint torque readings, to further enhance estimation accuracy. We validated our approach using highly accurate ground truth data from a 3 Degree of Freedom (DoF) pendulum and a 6 DoF Kuka robot. We demonstrate a maximum Root Mean Square Difference (RMSD) in the pendulum's computed joint angles of 3.75 degrees compared to optical MoCap Inverse Kinematics (IK), which serves as the gold standard in the absence of internal encoders. For the Kuka robot, we observe a maximum joint angle RMSD of 3.24 degrees compared to the Kuka's internal encoders, while the maximum joint angle RMSD of the optical MoCap IK compared to the encoders was 1.16 degrees. Additionally, we report a maximum joint torque RMSD of 2 Nm in the pendulum compared to optical MoCap Inverse Dynamics (ID), and 3.73 Nm in the Kuka robot relative to its internal torque sensors.

Authors:Noboru Katayama, Rintaro Ishida
Title: Fault Detection Method for Power Conversion Circuits Using Thermal Image and Convolutional Autoencoder
Abstract:
A fault detection method for power conversion circuits using thermal images and a convolutional autoencoder is presented. The autoencoder is trained on thermal images captured from a commercial power module at randomly varied load currents and augmented image2 generated through image processing techniques such as resizing, rotation, perspective transformation, and bright and contrast adjustment. Since the autoencoder is trained to output images identical to input only for normal samples, it reconstructs images similar to normal ones even when the input images containing faults. A small heater is attached to the circuit board to simulate a fault on a power module, and then thermal images were captured from different angles and positions, as well as various load currents to test the trained autoencoder model. The areas under the curve (AUC) were obtained to evaluate the proposed method. The results show the autoencoder model can detect anomalies with 100% accuracy under given conditions. The influence of hyperparameters such as the number of convolutional layers and image augmentation conditions on anomaly detection accuracy was also investigated.

Authors:Benjamin Stöckl, Yannick Werner, Sonja Wogrin
Title: Congestion-Sensitive Grid Aggregation for DC Optimal Power Flow
Abstract:
The vast spatial dimension of modern interconnected electricity grids challenges the tractability of the DC optimal power flow problem. Grid aggregation methods try to overcome this challenge by reducing the number of network elements. Many existing methods use Locational Marginal Prices as a distance metric to cluster nodes. In this paper, we show that prevalent methods adopting this distance metric fail to adequately capture the impact of individual lines when there is more than one line congested. This leads to suboptimal outcomes for the optimization of the aggregated model. To overcome those issues, we propose two methods based on the novel Network Congestion Price metric, which preserves the impact of nodal power injections on individual line congestions. The proposed methods are compared to several existing aggregation methods based on Locational Marginal Prices. We demonstrate all methods on adapted versions of the IEEE RTS 24- and 300-Bus systems. We show that the proposed methods outperform existing approaches both in terms of objective function value error and maximum line limit violation, while exhibiting faster node clustering. We conclude that aggregation methods based on the novel Network Congestion Price metric are better at preserving the essential physical characteristics of the network topology in the grid aggregation process than methods based on Locational Marginal Prices.

Authors:Nadine Sandjo Tchatchoua, Line Valdorff Madsen, Anders Rhiger Hansen
Title: Energy personas in Danish households
Abstract:
Technologies to monitor the provision of renewable energy are part of emerging technologies to help address the discrepancy between renewable energy production and its related usage in households. This paper presents various ways householders use a technological artifact for the real-time monitoring of renewable energy provision. Such a monitoring thus affords householders with an opportunity to adjust their energy consumption according to renewable energy provision. In Denmark, Ewii, previously Barry, is a Danish energy supplier which provides householders with an opportunity to monitor energy sources in real time through a technological solution of the same name. This paper use provision afforded by Ewii as a case for exploring how householders organize themselves to use a technological artefact that supports the monitoring of energy and its related usage. This study aims to inform technology design through the derivation of four personas. The derived personas highlight the differences in energy monitoring practices for the householders and their engagement. These personas are characterised as dedicated, organised, sporadic, and convenient. Understanding these differences in energy monitoring practice using the technological artefact form a solid element in the design of future energy technologies that interfere with the everyday practices and energy consumption for households. This is paramount for future energy related technology design, and for the clarification of usage assumptions that are embedded in the rollout of energy related technology as a country such as Denmark moves through its green transition.

Authors:Robbe Elsermans, Jan Steckel
Title: Towards Autonomous 1/8th Offroad RC Racing -- The TruggySense Educational Platform
Abstract:
This paper presents a state-of-the-art Data Acquisition System designed for off-road conditions, deployed on a Team Corally Kagama 1/8 Remote Controlled Vehicle. The system is intended to support Advanced Driver Assistance Systems in an educational context by providing valuable, consistent, and representative data. Key measurement systems are discussed to enable insights into the Remote Controlled Vehicles stability during and after off-road races. Furthermore, four experiments where conducted to evaluate the Data Acquisition Systems accuracy, stability, and consistency in replicating real-world vehicle behavior. The proposed Data Acquisition System platform serves as a solid foundation for use in engineering education, enabling integration with various Advanced Driver Assistance Systems algorithms to enhance vehicle control and overall performance, offering a new dimension to off-road racing. Additionally, realtime telemetry enables verification and validation of Advanced Driver Assistance Systems algorithms based on the live operating state of the Radio Controlled Vehicle during races

Authors:Domenico Dona', Vincenzo Di Paola, Matteo Zoppi, Alberto Trevisani
Title: Stiffness-based Analytic Centre Method for Cable-Driven Parallel Robots
Abstract:
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In particular, the approach relies on the Analytic-Centre method. Indeed, weighting the barrier functions makes natural the stiffness adaptation. The intrinsic ability to adjust the stiffness during the execution of the task enables the CDPRs to effectively meet above-mentioned requirements. The capabilities of the method are demonstrated through simulations by comparing it with the existing approach.

Authors:Arian Yousefian, Avimanyu Sahoo, Vignesh Narayanan
Title: A Novel Online Pseudospectral Method for Approximation of Nonlinear Systems Dynamics
Abstract:
This paper presents a novel online system identification approach utilizing the Chebyshev pseudospectral (PS) method to approximate the dynamics of a continuous-time nonlinear system. Unlike conventional periodic sampling, the proposed identification scheme employs aperiodic state sampling, leveraging the Chebyshev nodes to achieve the desired approximation accuracy. Unlike traditional off-line PS approaches, the scheme utilizes a moving time-window strategy to compute the sampling instants (Chebyshev nodes) forward in time for state measurements. Within each time window, the number of sampling instants is adaptively determined to meet the specified approximation accuracy. The Chebyshev basis is also shifted for each time window to accommodate arbitrary approximation intervals. The least-squares approach is employed to estimate the coefficients of the shifted Chebyshev basis functions using the measured state and its derivatives at the end of each window, resulting in a piecewise approximation of the drift dynamics of the system. In the second step, the identified drift dynamics are utilized to design an adaptive state estimator to reconstruct the continuous system states from the aperiodic state measurements. To address the smoothness of the piecewise approximated system dynamics, the Chebyshev coefficients are recomputed at the window transition instants, between two consecutive time windows, by enforcing continuity of the approximated function and its derivatives. In addition, analytical results are provided to determine the number of sampling instants within each time window, which guarantees the desired approximation accuracy. The boundedness of function approximation and state estimation errors is also proved analytically. Finally, numerical simulation results are included to validate the proposed scheme.

Authors:Xiuzhen Ye, Inaki Esnaola, Samir M. Perlaza, Robert F. Harrison
Title: Decentralized Stealth Attacks on Cyber-Physical Systems
Abstract:
Decentralized stealth attack constructions that minimize the mutual information between the state variables and the measurements are proposed. The attack constructions are formulated as random Gaussian attacks targeting Cyber-physical systems that aims at minimizing the mutual information between the state variables and measurements while constraining the Kullback-Leibler divergence between the distribution of the measurements under attacks and the distribution of the measurements without attacks. The proposed information metrics adopted measure the disruption and attack detection both globally and locally. The decentralized attack constructions are formulated in a framework of normal games. The global and local information metrics yield games with global and local objectives in disruption and attack detection. We have proven the games are potential games and the convexity of the potential functions followed by the uniqueness and the achievability of the Nash Equilibrium, accordingly. We proposed a best response dynamics to achieve the Nash Equilibrium of the games. We numerically evaluate the performance of the proposed decentralized stealth random attacks on IEEE test systems and show it is feasible to exploit game theoretic techniques in decentralized attack constructions.

Authors:Florentina Nicolau, Witold Respondek, Shunjie Li
Title: Dynamic feedback linearization of two-input control systems via successive one-fold prolongations
Abstract:
In this paper, we propose a constructive algorithm to dynamically linearize two-input control systems via successive one-fold prolongations of a control that has to be suitably chosen at each step of the algorithm. Linearization via successive one-fold prolongations requires special properties of the linearizability distributions $\mathcal{D}^0 \subset \mathcal{D}^1 \subset\mathcal{D}^2 \subset \cdots$. Contrary to the case of static feedback linearizability, they need not be involutive but the first noninvolutive one has to contain an involutive subdistribution of corank one. The main idea of the proposed algorithm is to replace, at each step, the first noninvolutive distribution by its involutive subdistribution of corank one, thus for the prolonged system we gain at least one new involutive distribution. Our algorithm is constructive, gives sufficient conditions for flatness, and can be seen as the dual of the dynamic feedback linearization algorithm of Battilotti and Califano [2003, 2005].

Authors:Yan Tong, Qin Wang, Aihong Tang
Title: A Novel Inverter Control Strategy with Power Decoupling for Microgrid Operations in Grid-Connected and Islanded Modes
Abstract:
Grid-forming, particularly those utilizing droop control and virtual synchronous generators (VSG), can actively regulate the frequency and voltage of microgrid systems, exhibiting dynamic characteristics akin to those of synchronous generators. Although droop control and VSG control each have distinct benefits, neither can fully meet the diverse, dynamic needs of both grid-connected (GC) and islanded (IS) modes. Additionally, the coupling between active and reactive power can negatively impact microgrids' dynamic performance and stability. To solve these problems, this paper introduces a unified dynamic power coupling (UDC) model. This model's active power control loop can be tailored to meet diverse requirements. By implementing a well-designed control loop, the system can harness the advantages of both droop control and VSG control. In islanded mode, the proposed model can provide virtual inertia and damping properties, while in grid-connected mode, the inverter's active power output can follow the changed references without significant overshoot or oscillation. Furthermore, the model incorporates coupling compensation and virtual impedance based on a relative gain array in the frequency domain to facilitate quantitative analysis of power coupling characteristics. This paper outlines a distinct design process for the unified model. Finally, the proposed control method has been validated through simulation.

Authors:Zhenhua Zhou, Bozhen Jiang, Qin Wang
Title: Mixer-Informer-Based Two-Stage Transfer Learning for Long-Sequence Load Forecasting in Newly Constructed Electric Vehicle Charging Stations
Abstract:
The rapid rise in electric vehicle (EV) adoption demands precise charging station load forecasting, challenged by long-sequence temporal dependencies and limited data in new facilities. This study proposes MIK-TST, a novel two-stage transfer learning framework integrating Mixer, Informer, and Kolmogorov-Arnold Networks (KAN). The Mixer fuses multi-source features, Informer captures long-range dependencies via ProbSparse attention, and KAN enhances nonlinear modeling with learnable activation functions. Pre-trained on extensive data and fine-tuned on limited target data, MIK-TST achieves 4% and 8% reductions in MAE and MSE, respectively, outperforming baselines on a dataset of 26 charging stations in Boulder, USA. This scalable solution enhances smart grid efficiency and supports sustainable EV infrastructure expansion.

Authors:Naohisa Otsuka, Daiki Kakehi, Przemysław Ignaciuk
Title: Interval reduced-order switched positive observers for uncertain switched positive linear systems
Abstract:
In this paper, existence conditions and a design procedure of reduced-order switched positive observers for continuous- and discrete-time switched positive linear systems with uncertainty are established. In the analyzed class, arbitrary switching is permitted, whereas the uncertainty expressed via matrix inequalities concerns both the initial state and system parameters. Positive lower and positive upper interval switched observers are obtained. The proposed observers are of (n - p) order, where n is the dimension of the state vector and p is the rank of the output matrix, i.e., p-dimensional measurement information. Moreover, as a special case, existence conditions and a design procedure of reduced-order positive observers for uncertain positive linear systems without switching are provided. The theoretical findings are illustrated by two numerical examples for continuous- and discrete-time systems.

Authors:Kyle A. Sonandres, Thomas R. Palazzo, Jonathan P. How
Title: ABAMGuid+: An Enhanced Aerocapture Guidance Framework using Augmented Bank Angle Modulation
Abstract:
Aerocapture consists of converting a hyperbolic approach trajectory into a captured target orbit utilizing the aerodynamic forces generated via a single pass through the atmosphere. Aerocapture guidance systems must be robust to significant environmental variations and modeling uncertainty, particularly regarding atmospheric properties and delivery conditions. Recent work has shown that enabling control over both bank angle and angle of attack, a strategy referred to as augmented bank angle modulation (ABAM), can improve robustness to entry state and atmospheric uncertainties. In this work, we derive optimal control solutions for an aerocapture vehicle using ABAM. We first formulate the problem using a linear aerodynamic model and derive closed-form optimal control profiles using Pontryagin's Minimum Principle. To increase modeling fidelity, we also consider a quadratic aerodynamic model and obtain the solution directly using the optimality conditions. Both formulations are solved numerically using Gauss pseudospectral methods (via GPOPS, a software tool for pseudospectral optimal control), to validate the analytic solutions. We then introduce a novel aerocapture guidance algorithm, ABAMGuid+, which indirectly minimizes propellant usage by mimicking the structure of the optimal control solution, enabling efficient guidance by avoiding the complexity of solving the full optimal control problem online. Extensive Monte Carlo simulations of a Uranus aerocapture mission demonstrate that ABAMGuid+ increases capture success rates and reduces post-capture propellant requirements relative to previous methods.

Authors:Ali Eslami, Khashayar Khorasani
Title: Zero Dynamics Attack Detection and Isolation in Cyber-Physical Systems with Event-triggered Communication
Abstract:
This paper investigates the problem of Zero Dynamics (ZD) cyber-attack detection and isolation in Cyber-Physical Systems (CPS). By utilizing the notion of auxiliary systems with event-based communications, we will develop a detection mechanism capable of detecting and isolating the ZD cyber-attack even when the attackers have full knowledge of the dynamics of the auxiliary system and can launch False Data Injection (FDI) attacks on all the communication channels. More specifically, we will utilize a self-triggering rule for the communication channels connecting the auxiliary system with the Command & Control (C&C) center, leveraging its properties to detect the ZD cyber-attack. Finally, the effectiveness and capabilities of our approach are verified and demonstrated through simulation case studies.

Authors:Rina Davila Severiano, Constance Crozier, Mark O Malley
Title: On the Potential of Electrified Supply Chains to Provide Long Duration Demand Flexibility
Abstract:
Demand flexibility can offset some of the variability introduced on the supply-side by variable renewable generation. However, most efforts (e.g. control of residential vehicle charging) focus on short durations -- typically on the scale of minutes to hours. This paper investigates whether a fully electrified supply chain (transport and manufacturing) could provide demand flexibility over longer durations, exploiting the latency that typically exists between the processing of raw material to the delivery of finished product. Using a case study of the cement industry along the East Coast of the United States, we demonstrate that electrified supply chains could shift gigawatt-hours (GWh) of electricity demand for durations of more than a week, largely following wind power variability. Furthermore, we show that this occurs using low levels of carbon taxing (below $50/tn), at which battery storage is not economically viable. A sensitivity analysis shows potential to provide flexibility in all considered cost scenarios, although where the flexibility comes from can change (e.g. transport vs manufacturing). We show that today's cost of electrified heavy goods vehicles are the most significant parameter -- with substantially lower costs yielding a more demand-flexible supply chain.

Authors:Eric Squires, Phillip Odom, Zsolt Kira
Title: Barrier Function Overrides For Non-Convex Fixed Wing Flight Control and Self-Driving Cars
Abstract:
Reinforcement Learning (RL) has enabled vast performance improvements for robotics systems. To achieve these results though, the agent often must randomly explore the environment, which for safety critical systems presents a significant challenge. Barrier functions can solve this challenge by enabling an override that approximates the RL control input as closely as possible without violating a safety constraint. Unfortunately, this override can be computationally intractable in cases where the dynamics are not convex in the control input or when time is discrete, as is often the case when training RL systems. We therefore consider these cases, developing novel barrier functions for two non-convex systems (fixed wing aircraft and self-driving cars performing lane merging with adaptive cruise control) in discrete time. Although solving for an online and optimal override is in general intractable when the dynamics are nonconvex in the control input, we investigate approximate solutions, finding that these approximations enable performance commensurate with baseline RL methods with zero safety violations. In particular, even without attempting to solve for the optimal override at all, performance is still competitive with baseline RL performance. We discuss the tradeoffs of the approximate override solutions including performance and computational tractability.

Authors:Igor Alentev, Lev Kozlov, Ivan Domrachev, Simeon Nedelchev, Jee-Hwan Ryu
Title: VIMPPI: Enhancing Model Predictive Path Integral Control with Variational Integration for Underactuated Systems
Abstract:
This paper presents VIMPPI, a novel control approach for underactuated double pendulum systems developed for the AI Olympics competition. We enhance the Model Predictive Path Integral framework by incorporating variational integration techniques, enabling longer planning horizons without additional computational cost. Operating at 500-700 Hz with control interpolation and disturbance detection mechanisms, VIMPPI substantially outperforms both baseline methods and alternative MPPI implementations

Authors:Noor ul Misbah Khanum, Hayssam Dahrouj, Ramesh C. Bansal, Hissam Mouayad Tawfik
Title: An Overview of the Prospects and Challenges of Using Artificial Intelligence for Energy Management Systems in Microgrids
Abstract:
Microgrids have emerged as a pivotal solution in the quest for a sustainable and energy-efficient future. While microgrids offer numerous advantages, they are also prone to issues related to reliably forecasting renewable energy demand and production, protecting against cyberattacks, controlling operational costs, optimizing power flow, and regulating the performance of energy management systems (EMS). Tackling these energy management challenges is essential to facilitate microgrid applications and seamlessly incorporate renewable energy resources. Artificial intelligence (AI) has recently demonstrated immense potential for optimizing energy management in microgrids, providing efficient and reliable solutions. This paper highlights the combined benefits of enabling AI-based methodologies in the energy management systems of microgrids by examining the applicability and efficiency of AI-based EMS in achieving specific technical and economic objectives. The paper also points out several future research directions that promise to spearhead AI-driven EMS, namely the development of self-healing microgrids, integration with blockchain technology, use of Internet of things (IoT), and addressing interpretability, data privacy, scalability, and the prospects to generative AI in the context of future AI-based EMS.

Authors:Yufei Zhang, Andrew Sonta
Title: OccuEMBED: Occupancy Extraction Merged with Building Energy Disaggregation for Occupant-Responsive Operation at Scale
Abstract:
Buildings account for a significant share of global energy consumption and emissions, making it critical to operate them efficiently. As electricity grids become more volatile with renewable penetration, buildings must provide flexibility to support grid stability. Building automation plays a key role in enhancing efficiency and flexibility via centralized operations, but it must prioritize occupant-centric strategies to balance energy and comfort targets. However, incorporating occupant information into large-scale, centralized building operations remains challenging due to data limitations. We investigate the potential of using whole-building smart meter data to infer both occupancy and system operations. Integrating these insights into data-driven building energy analysis allows more occupant-centric energy-saving and flexibility at scale. Specifically, we propose OccuEMBED, a unified framework for occupancy inference and system-level load analysis. It combines two key components: a probabilistic occupancy profile generator, and a controllable and interpretable load disaggregator supported by Kolmogorov-Arnold Networks (KAN). This design embeds knowledge of occupancy patterns and load-occupancy-weather relationships into deep learning models. We conducted comprehensive evaluations to demonstrate its effectiveness across synthetic and real-world datasets compared to various occupancy inference baselines. OccuEMBED always achieved average F1 scores above 0.8 in discrete occupancy inference and RMSE within 0.1-0.2 for continuous occupancy ratios. We further demonstrate how OccuEMBED integrates with building load monitoring platforms to display occupancy profiles, analyze system-level operations, and inform occupant-responsive strategies. Our model lays a robust foundation in scaling occupant-centric building management systems to meet the challenges of an evolving energy system.

Authors:Chaopeng Tan, Dingshan Sun, Hao Liu, Marco Rinaldi, Hans van Lint
Title: CV-MP: Max-Pressure Control in Heterogeneously Distributed and Partially Connected Vehicle Environments
Abstract:
Max-pressure (MP) control has emerged as a prominent real-time network traffic signal control strategy due to its simplicity, decentralized structure, and theoretical guarantees of network queue stability. Meanwhile, advances in connected vehicle (CV) technology have sparked extensive research into CV-based traffic signal control. Despite these developments, few studies have investigated MP control in heterogeneously distributed and partially CV environments while ensuring network queue stability. To address these research gaps, we propose a CV-based MP control (CV-MP) method that leverages real-time CV travel time information to compute the pressure, thereby incorporating both the spatial distribution and temporal delays of vehicles, unlike existing approaches that utilized only spatial distribution or temporal delays. In particular, we establish sufficient conditions for road network queue stability that are compatible with most existing MP control methods. Moreover, we pioneered the proof of network queue stability even if the vehicles are only partially connected and heterogeneously distributed, and gave a necessary condition of CV observation for maintaining the stability. Evaluation results on an Amsterdam corridor show that CV-MP significantly reduces vehicle delays compared to both actuated control and conventional MP control across various CV penetration rates. Moreover, in scenarios with dynamic traffic demand, CV-MP achieves lower spillover peaks even with low and heterogeneous CV penetration rates, further highlighting its effectiveness and robustness.

Authors:Changxiang Wu, Yijing Ren, Daniel K. C. So, Jie Tang
Title: Adaptive Biased User Scheduling for Heterogeneous Wireless Federate Learning Network
Abstract:
Federated Learning (FL) has revolutionized collaborative model training in distributed networks, prioritizing data privacy and communication efficiency. This paper investigates efficient deployment of FL in wireless heterogeneous networks, focusing on strategies to accelerate convergence despite stragglers. The primary objective is to minimize long-term convergence wall-clock time through optimized user scheduling and resource allocation. While stragglers may introduce delays in a single round, their inclusion can expedite subsequent rounds, particularly when they possess critical information. Moreover, balancing single-round duration with the number of cumulative rounds, compounded by dynamic training and transmission conditions, necessitates a novel approach beyond conventional optimization solutions. To tackle these challenges, convergence analysis with respect to adaptive and biased scheduling is derived. Then, by factoring in real-time system and statistical information, including diverse energy constraints and users' energy harvesting capabilities, a deep reinforcement learning approach, empowered by proximal policy optimization, is employed to adaptively select user sets. For the scheduled users, Lagrangian decomposition is applied to optimize local resource utilization, further enhancing system efficiency. Simulation results validate the effectiveness and robustness of the proposed framework for various FL tasks, demonstrating reduced task time compared to existing benchmarks under various settings.

Authors:Max Bruninx, Timothy Verstraeten, Jalal Kazempour, Jan Helsen
Title: Day-Ahead Bidding Strategies for Wind Farm Operators under a One-Price Balancing Scheme
Abstract:
We study day-ahead bidding strategies for wind farm operators under a one-price balancing scheme, prevalent in European electricity markets. In this setting, the profit-maximising strategy becomes an all-or-nothing strategy, aiming to take advantage of open positions in the balancing market. However, balancing prices are difficult, if not impossible, to forecast in the day-ahead stage and large open positions can affect the balancing price by changing the direction of the system imbalance. This paper addresses day-ahead bidding as a decision-making problem under uncertainty, with the objective of maximising the expected profit while reducing the imbalance risk related to the strategy. To this end, we develop a stochastic optimisation problem with explicit constraints on the positions in the balancing market, providing risk certificates, and derive an analytical solution to this problem. Moreover, we show how the price-impact of the trading strategy on the balancing market can be included in the ex-post evaluation. Using real data from the Belgian electricity market and an offshore wind farm in the North Sea, we demonstrate that the all-or-nothing strategy negatively impacts the balancing price, resulting in long-term losses for the wind farm. Our risk-constrained strategy, however, can still significantly enhance operational profit compared to traditional point-forecast bidding.

Authors:Robin Chhabra, Farzaneh Abdollahi
Title: Geometric Fault-Tolerant Neural Network Tracking Control of Unknown Systems on Matrix Lie Groups
Abstract:
We present a geometric neural network-based tracking controller for systems evolving on matrix Lie groups under unknown dynamics, actuator faults, and bounded disturbances. Leveraging the left-invariance of the tangent bundle of matrix Lie groups, viewed as an embedded submanifold of the vector space $\R^{N\times N}$, we propose a set of learning rules for neural network weights that are intrinsically compatible with the Lie group structure and do not require explicit parameterization. Exploiting the geometric properties of Lie groups, this approach circumvents parameterization singularities and enables a global search for optimal weights. The ultimate boundedness of all error signals -- including the neural network weights, the coordinate-free configuration error function, and the tracking velocity error -- is established using Lyapunov's direct method. To validate the effectiveness of the proposed method, we provide illustrative simulation results for decentralized formation control of multi-agent systems on the Special Euclidean group.

Authors:Yundi Zhang, Wendong Cheng, Li Chen
Title: NN-Based Joint Mitigation of IQ Imbalance and PA Nonlinearity With Multiple States
Abstract:
Joint mitigation of IQ imbalance and PA nonlinearity is important for improving the performance of radio frequency (RF) transmitters. In this paper, we propose a new neural network (NN) model, which can be used for joint digital pre-distortion (DPD) of non-ideal IQ modulators and PAs in a transmitter with multiple operating states. The model is based on the methodology of multi-task learning (MTL). In this model, the hidden layers of the main NN are shared by all signal states, and the output layer's weights and biases are dynamically generated by another NN. The experimental results show that the proposed model can effectively perform joint DPD for IQ-PA systems, and it achieves better overall performance within multiple signal states than the existing methods.

Authors:Belal Korany, Peerapol Tinnakornsrisuphap, Saadallah Kassir, Prashanth Hande, Hyun Yong Lee, Thomas Stockhammer
Title: UX-aware Rate Allocation for Real-Time Media
Abstract:
Immersive communications is a key use case for 6G where applications require reliable latency-bound media traffic at a certain data rate to deliver an acceptable User Experience (UX) or Quality-of-Experience (QoE). The Quality-of-Service (QoS) framework of current cellular systems (4G and 5G) and prevalent network congestion control algorithms for latency-bound traffic like L4S typically target network-related Key Performance Indicators (KPIs) such as data rates and latencies. Network capacity is based on the number of users that attain these KPIs. However, the UX of an immersive application for a given data rate and latency is not the same across users, since it depends on other factors such as the complexity of the media being transmitted and the encoder format. This implies that guarantees on network KPIs do not necessarily translate to guarantees on the UX. In this paper, we propose a framework in which the communication network can provide guarantees on the UX. The framework requires application servers to share real-time information on UX dependency on data rate to the network, which in turn, uses this information to maximize a UX-based network utility function. Our framework is motivated by the recent industry trends of increasing application awareness at the network, and pushing application servers towards the edge, allowing for tighter coordination between the servers and the 6G system. Our simulation results show that the proposed framework substantially improves the UX capacity of the network, which is the number of users above a certain UX threshold, compared to conventional rate control algorithms.

Authors:Fernando Paganini, Diego Goldsztajn
Title: Dynamic load balancing for cloud systems under heterogeneous setup delays
Abstract:
We consider a distributed cloud service deployed at a set of distinct server pools. Arriving jobs are classified into heterogeneous types, in accordance with their setup times which are differentiated at each of the pools. A dispatcher for each job type controls the balance of load between pools, based on decentralized feedback. The system of rates and queues is modeled by a fluid differential equation system, and analyzed via convex optimization. A first, myopic policy is proposed, based on task delay-to-service. Under a simplified dynamic fluid queue model, we prove global convergence to an equilibrium point which minimizes the mean setup time; however queueing delays are incurred with this method. A second proposal is then developed based on proximal optimization, which explicitly models the setup queue and is proved to reach an optimal equilibrium, devoid of queueing delay. Results are demonstrated through a simulation example.

Authors:Julian Barreiro-Gomez, Ye Wang
Title: Multi-Class Stackelberg Games for the Co-Design of Networked Systems
Abstract:
We investigate a co-design problem, encompassing simultaneous design of system infrastructure and control, through a game-theoretical framework. To this end, we propose the co-design problem as a two-layer hierarchical strategic interaction. At the upper layer, a leader (or multiple leaders) determines system design parameters, while at the lower layer, a follower (or multiple followers) optimizes the control strategy. To capture this hierarchy, we propose four novel classes of Stackelberg games that integrate diverse strategic behaviors, including combinations of cooperative and non-cooperative interactions across two different layers. Notably, the leaders' interactions are represented using a normal-form game, whereas the followers' interactions are modeled by different games (dynamic games in discrete time). These distinct game structures result in a Stackelberg game that accommodates different game types per layer, and/or supports heterogeneous strategic behaviors involving cooperation and non-cooperation simultaneously. Learning algorithms using the best-response dynamics are used to solve the game problems when considering a discrete strategic space for the leaders. The efficacy of the proposed approach is demonstrated through an application to the co-design of the Barcelona drinking water network.

Authors:Michal Špaček, Josef Vojtěch, Jaroslav Roztočil
Title: Impact of Transceiver Selection on Synchronization Accuracy in White Rabbit Networks
Abstract:
Achieving optimal synchronization accuracy between two White Rabbit devices hinges on the proper selection of transceivers, which act as electro-optical converters connecting WR devices to the optical network infrastructure. The correct choice of transceivers can significantly improve resilience to changes in the time offset between WR devices due to temperature fluctuations in the connecting optical fiber. To compare the performance of BiDi WDM and DWDM transceivers, an experimental setup was established under laboratory conditions to simulate a real optical network used for distributing precise time and frequency between two remote locations. The optical connection was emulated by integrating a 20 km G.652.D optical fiber into a climatic chamber, which provided variable environmental conditions similar to those experienced in real applications. The study compared BiDi WDM 1310/1550 nm transceivers with DWDM Ch33/Ch34 transceivers. Results showed that DWDM transceivers exhibited nearly thirteen times less sensitivity to temperature-induced changes in the optical connection, leading to a smaller time offset. Therefore, for achieving the highest accuracy in synchronizing WR devices in practical applications, DWDM transceiver technology is essential.

Authors:Emir Esenov, Olof Hjortstam, Yuriy Serdyuk, Thomas Hammarström, Christian Häger
Title: Inverse Modeling of Dielectric Response in Time Domain using Physics-Informed Neural Networks
Abstract:
Dielectric response (DR) of insulating materials is key input information for designing electrical insulation systems and defining safe operating conditions of various HV devices. In dielectric materials, different polarization and conduction processes occur at different time scales, making it challenging to physically interpret raw measured data. To analyze DR measurement results, equivalent circuit models (ECMs) are commonly used, reducing the complexity of the physical system to a number of circuit elements that capture the dominant response. This paper examines the use of physics-informed neural networks (PINNs) for inverse modeling of DR in time domain using parallel RC circuits. To assess their performance, we test PINNs on synthetic data generated from analytical solutions of corresponding ECMs, incorporating Gaussian noise to simulate measurement errors. Our results show that PINNs are highly effective at solving well-conditioned inverse problems, accurately estimating up to five unknown RC parameters with minimal requirements on neural network size, training duration, and hyperparameter tuning. Furthermore, we extend the ECMs to incorporate temperature dependence and demonstrate that PINNs can accurately recover embedded, nonlinear temperature functions from noisy DR data sampled at different temperatures. This case study in modeling DR in time domain presents a solution with wide-ranging potential applications in disciplines relying on ECMs, utilizing the latest technology in machine learning for scientific computation.

Authors:Atulya Mahesh, Swastik Mittal, Frank Mueller
Title: CONQURE: A Co-Execution Environment for Quantum and Classical Resources
Abstract:
Cutting edge classical computing today relies on a combination of CPU-based computing with a strong reliance on accelerators. In particular, high-performance computing (HPC) and machine learning (ML) rely heavily on acceleration via GPUs for numerical kernels. In the future, acceleration via quantum devices may complement GPUs for kernels where algorithms provide quantum advantage, i.e., significant speedups over classical algorithms. Computing with quantum kernels mapped onto quantum processing units (QPUs) requires seamless integration into HPC and ML. However, quantum offloading onto HPC/cloud lacks open-source software infrastructure. For classical algorithms, parallelization standards, such as OpenMP, MPI, or CUDA exist. In contrast, a lack of quantum abstractions currently limits the adoption of quantum acceleration in practical applications creating a gap between quantum algorithm development and practical HPC integration. Such integration needs to extend to efficient quantum offloading of kernels, which further requires scheduling of quantum resources, control of QPU kernel execution, tracking of QPU results, providing results to classical calling contexts and coordination with HPC scheduling. This work proposes CONQURE, a co-execution environment for quantum and classical resources. CONQURE is a fully open-source cloud queue framework that presents a novel modular scheduling framework allowing users to offload OpenMP quantum kernels to QPUs as quantum circuits, to relay results back to calling contexts in classical computing, and to schedule quantum resources via our CONQURE API. We show our API has a low overhead averaging 12.7ms in our tests, and we demonstrate functionality on an ion-trap device. Our OpenMP extension enables the parallelization of VQE runs with a 3.1X reduction in runtime.

Authors:Jingwang Li, Xiao Li
Title: Dual Acceleration for Minimax Optimization: Linear Convergence Under Relaxed Assumptions
Abstract:
This paper addresses the bilinearly coupled minimax optimization problem: $\min_{x \in \mathbb{R}^{d_x}}\max_{y \in \mathbb{R}^{d_y}} \ f_1(x) + f_2(x) + y^{\top} Bx - g_1(y) - g_2(y)$, where $f_1$ and $g_1$ are smooth convex functions, $f_2$ and $g_2$ are potentially nonsmooth convex functions, and $B$ is a coupling matrix. Existing algorithms for solving this problem achieve linear convergence only under stronger conditions, which may not be met in many scenarios. We first introduce the Primal-Dual Proximal Gradient (PDPG) method and demonstrate that it converges linearly under an assumption where existing algorithms fail to achieve linear convergence. Building on insights gained from analyzing the convergence conditions of existing algorithms and PDPG, we further propose the inexact Dual Accelerated Proximal Gradient (iDAPG) method. This method achieves linear convergence under weaker conditions than those required by existing approaches. Moreover, even in cases where existing methods guarantee linear convergence, iDAPG can still provide superior theoretical performance in certain scenarios.

Authors:Reza Safari, Mohsen Hamzeh, Nima Mahdian Dehkordi
Title: Deep Reinforcement Learning-Aided Frequency Control of LCC-S Resonant Converters for Wireless Power Transfer Systems
Abstract:
This paper presents a novel deep reinforcement learning (DRL)-based control strategy for achieving precise and robust output voltage regulation in LCC-S resonant converters, specifically designed for wireless power transfer applications. Unlike conventional methods that rely on manually tuned PI controllers or heuristic tuning approaches, our method leverages the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm to systematically optimize PI controller parameters. The complex converter dynamics are captured using the Direct Piecewise Affine (DPWA) modeling technique, providing a structured approach to handling its nonlinearities. This integration not only eliminates the need for manual tuning, but also enhances control adaptability under varying operating conditions. The simulation and experimental results confirm that the proposed DRL-based tuning approach significantly outperforms traditional methods in terms of stability, robustness, and response time. This work demonstrates the potential of DRL in power electronic control, offering a scalable and data-driven alternative to conventional controller design approaches.

Authors:Seif Hussein, Chinwendu Enyioha, Carlo Fischione
Title: Multiple Receiver Over-the-Air Computation for Wireless Networked Control Systems
Abstract:
We propose a multi-sender, multi-receiver over-the-air computation (OAC) framework for wireless networked control systems (WNCS) with structural constraints. Our approach enables actuators to directly compute and apply control signals from sensor measurements, eliminating the need for a centralized controller. We use an iterative and convexifying procedure to obtain a control law that is structured with respect to the network topology and minimizes the overall system energy-to-energy gain. Furthermore, we solve a constrained matrix factorization problem to find the optimal OAC configuration with respect to power consumption, robustness, and stability of the WNCS. We prove the convergence of our proposed algorithms and present numerical results that validate our approach to preserve closed-loop stability with robust control performance and constrained power.

Authors:Hongpei Shao, Da-Qing Zhang, Feilong Lu
Title: Enhanced Prediction Model for Time Series Characterized by GARCH via Interval Type-2 Fuzzy Inference System
Abstract:
GARCH-type time series (characterized by Generalized Autoregressive Conditional Heteroskedasticity) exhibit pronounced volatility, autocorrelation, and heteroskedasticity. To address these challenges and enhance predictive accuracy, this study introduces a hybrid forecasting framework that integrates the Interval Type-2 Fuzzy Inference System (IT2FIS) with the GARCH model. Leveraging the interval-based uncertainty representation of IT2FIS and the volatility-capturing capability of GARCH, the proposed model effectively mitigates the adverse impact of heteroskedasticity on prediction reliability. Specifically, the GARCH component estimates conditional variance, which is subsequently incorporated into the Gaussian membership functions of IT2FIS. This integration transforms IT2FIS into an adaptive variable-parameter system, dynamically aligning with the time-varying volatility of the target series. Through systematic parameter optimization, the framework not only captures intricate volatility patterns but also accounts for heteroskedasticity and epistemic uncertainties during modeling, thereby improving both prediction precision and model robustness. Experimental validation employs diverse datasets, including air quality concentration, urban traffic flow, and energy consumption. Comparative analyses are conducted against models: the GARCH-Takagi-Sugeno-Kang (GARCH-TSK) model, fixed-variance time series models, the GARCH-Gated Recurrent Unit (GARCH-GRU), and Long Short-Term Memory (LSTM) networks. The results indicate that the proposed model achieves superior predictive performance across the majority of test scenarios in error metrics. These findings underscore the effectiveness of hybrid approaches in forecasting uncertainty for GARCH-type time series, highlighting their practical utility in real-world time series forecasting applications.

Authors:David Nguyen, Kendrick D. Cancio, Sangbae Kim
Title: High Speed Robotic Table Tennis Swinging Using Lightweight Hardware with Model Predictive Control
Abstract:
We present a robotic table tennis platform that achieves a variety of hit styles and ball-spins with high precision, power, and consistency. This is enabled by a custom lightweight, high-torque, low rotor inertia, five degree-of-freedom arm capable of high acceleration. To generate swing trajectories, we formulate an optimal control problem (OCP) that constrains the state of the paddle at the time of the strike. The terminal position is given by a predicted ball trajectory, and the terminal orientation and velocity of the paddle are chosen to match various possible styles of hits: loops (topspin), drives (flat), and chops (backspin). Finally, we construct a fixed-horizon model predictive controller (MPC) around this OCP to allow the hardware to quickly react to changes in the predicted ball trajectory. We validate on hardware that the system is capable of hitting balls with an average exit velocity of 11 m/s at an 88% success rate across the three swing types.

Authors:Rafael Castro, Alexandre dos Santos Roque
Title: Embedded System for Recording and Controlling Hand Hygiene in Healthcare Environments
Abstract:
Nowadays, more effective control of hand hygiene (HH) by healthcare teams has become essential. HH control is crucial to prevent cross-contamination and healthcare-associated infections (HAI), according to Brazilian regulatory standards and WHO guidelines. The lack of widespread technology to measure acceptable hygiene rates within hospital environments leads to the practice of a manual sample audit reading, requiring more time for decision making. Thus, the present study addresses the lack of automation technologies for HH, aiming to record, measure, and provide data for internal audits in hospitals. This article introduces an embedded system for HH control and recording, comprising low-cost hardware architecture with IoT connectivity and online monitoring. Results with practical evaluation in a real hospital setting for 3 hours demonstrated the system's effectiveness in recording HH indices.

Authors:Thomas Beckers, Leonardo Colombo
Title: Physics-informed Learning for Passivity-based Tracking Control
Abstract:
Passivity-based control ensures system stability by leveraging dissipative properties and is widely applied in electrical and mechanical systems. Port-Hamiltonian systems (PHS), in particular, are well-suited for interconnection and damping assignment passivity-based control (IDA-PBC) due to their structured, energy-centric modeling approach. However, current IDA-PBC faces two key challenges: (i) it requires precise system knowledge, which is often unavailable due to model uncertainties, and (ii) it is typically limited to set-point control. To address these limitations, we propose a data-driven tracking control approach based on a physics-informed model, namely Gaussian process Port-Hamiltonian systems, along with the modified matching equation. By leveraging the Bayesian nature of the model, we establish probabilistic stability and passivity guarantees. A simulation demonstrates the effectiveness of our approach.

Authors:Bharathkumar Hegde, Melanie Bouroche
Title: Safe and Efficient CAV Lane Changing using Decentralised Safety Shields
Abstract:
Lane changing is a complex decision-making problem for Connected and Autonomous Vehicles (CAVs) as it requires balancing traffic efficiency with safety. Although traffic efficiency can be improved by using vehicular communication for training lane change controllers using Multi-Agent Reinforcement Learning (MARL), ensuring safety is difficult. To address this issue, we propose a decentralised Hybrid Safety Shield (HSS) that combines optimisation and a rule-based approach to guarantee safety. Our method applies control barrier functions to constrain longitudinal and lateral control inputs of a CAV to ensure safe manoeuvres. Additionally, we present an architecture to integrate HSS with MARL, called MARL-HSS, to improve traffic efficiency while ensuring safety. We evaluate MARL-HSS using a gym-like environment that simulates an on-ramp merging scenario with two levels of traffic densities, such as light and moderate densities. The results show that HSS provides a safety guarantee by strictly enforcing a dynamic safety constraint defined on a time headway, even in moderate traffic density that offers challenging lane change scenarios. Moreover, the proposed method learns stable policies compared to the baseline, a state-of-the-art MARL lane change controller without a safety shield. Further policy evaluation shows that our method achieves a balance between safety and traffic efficiency with zero crashes and comparable average speeds in light and moderate traffic densities.

Authors:Mohammed Sumayli, Olugbenga Moses Anubi
Title: Integration of Multi-Mode Preference into Home Energy Management System Using Deep Reinforcement Learning
Abstract:
Home Energy Management Systems (HEMS) have emerged as a pivotal tool in the smart home ecosystem, aiming to enhance energy efficiency, reduce costs, and improve user comfort. By enabling intelligent control and optimization of household energy consumption, HEMS plays a significant role in bridging the gap between consumer needs and energy utility objectives. However, much of the existing literature construes consumer comfort as a mere deviation from the standard appliance settings. Such deviations are typically incorporated into optimization objectives via static weighting factors. These factors often overlook the dynamic nature of consumer behaviors and preferences. Addressing this oversight, our paper introduces a multi-mode Deep Reinforcement Learning-based HEMS (DRL-HEMS) framework, meticulously designed to optimize based on dynamic, consumer-defined preferences. Our primary goal is to augment consumer involvement in Demand Response (DR) programs by embedding dynamic multi-mode preferences tailored to individual appliances. In this study, we leverage a model-free, single-agent DRL algorithm to deliver a HEMS framework that is not only dynamic but also user-friendly. To validate its efficacy, we employed real-world data at 15-minute intervals, including metrics such as electricity price, ambient temperature, and appliances' power consumption. Our results show that the model performs exceptionally well in optimizing energy consumption within different preference modes. Furthermore, when compared to traditional algorithms based on Mixed-Integer Linear Programming (MILP), our model achieves nearly optimal performance while outperforming in computational efficiency.

Authors:Ahmed Al-Shafei, Nima Amjady, Hamidreza Zareipour, Yankai Cao
Title: Power System Transition Planning: An Industry-Aligned Framework for Long-Term Optimization
Abstract:
This work introduces the category of Power System Transition Planning optimization problem. It aims to shift power systems to emissions-free networks efficiently. Unlike comparable work, the framework presented here broadly applies to the industry's decision-making process. It defines a field-appropriate functional boundary focused on the economic efficiency of power systems. Namely, while imposing a wide range of planning factors in the decision space, the model maintains the structure and depth of conventional power system planning under uncertainty, which leads to a large-scale multistage stochastic programming formulation that encounters intractability in real-life cases. Thus, the framework simultaneously invokes high-performance computing defaultism. In this comprehensive exposition, we present a guideline model, comparing its scope to existing formulations, supported by a fully detailed example problem, showcasing the analytical value of the solution gained in a small test case. Then, the framework's viability for realistic applications is demonstrated by solving an extensive test case based on a realistic planning construct consistent with Alberta's power system practices for long-term planning studies. The framework resorts to Stochastic Dual Dynamic Programming as a decomposition method to achieve tractability, leveraging High-Performance Computing and parallel computation.

Authors:Sungje Park, Stephen Tu
Title: Integration Matters for Learning PDEs with Backwards SDEs
Abstract:
Backward stochastic differential equation (BSDE)-based deep learning methods provide an alternative to Physics-Informed Neural Networks (PINNs) for solving high-dimensional partial differential equations (PDEs), offering algorithmic advantages in settings such as stochastic optimal control, where the PDEs of interest are tied to an underlying dynamical system. However, existing BSDE-based solvers have empirically been shown to underperform relative to PINNs in the literature. In this paper, we identify the root cause of this performance gap as a discretization bias introduced by the standard Euler-Maruyama (EM) integration scheme applied to short-horizon self-consistency BSDE losses, which shifts the optimization landscape off target. We find that this bias cannot be satisfactorily addressed through finer step sizes or longer self-consistency horizons. To properly handle this issue, we propose a Stratonovich-based BSDE formulation, which we implement with stochastic Heun integration. We show that our proposed approach completely eliminates the bias issues faced by EM integration. Furthermore, our empirical results show that our Heun-based BSDE method consistently outperforms EM-based variants and achieves competitive results with PINNs across multiple high-dimensional benchmarks. Our findings highlight the critical role of integration schemes in BSDE-based PDE solvers, an algorithmic detail that has received little attention thus far in the literature.

Authors:Ian O'Flynn, Harun Å iljak
Title: Emergence of Roles in Robotic Teams with Model Sharing and Limited Communication
Abstract:
We present a reinforcement learning strategy for use in multi-agent foraging systems in which the learning is centralised to a single agent and its model is periodically disseminated among the population of non-learning agents. In a domain where multi-agent reinforcement learning (MARL) is the common approach, this approach aims to significantly reduce the computational and energy demands compared to approaches such as MARL and centralised learning models. By developing high performing foraging agents, these approaches can be translated into real-world applications such as logistics, environmental monitoring, and autonomous exploration. A reward function was incorporated into this approach that promotes role development among agents, without explicit directives. This led to the differentiation of behaviours among the agents. The implicit encouragement of role differentiation allows for dynamic actions in which agents can alter roles dependent on their interactions with the environment without the need for explicit communication between agents.

Authors:Kevin Quinn, Cormac Molloy, Harun Å iljak
Title: Decentralised, Self-Organising Drone Swarms using Coupled Oscillators
Abstract:
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and damage. This paper proposes using coupled oscillators to create a drone swarm that is decentralised and self organising. This allows for greater flexibility and adaptiveness than a hard-coded swarm, with more resilience and scalability than a centralised system. Our method allows for a variable number of drones to spontaneously form a swarm and react to changing swarm conditions. Additionally, this method includes provisions to prevent communication interference between drones, and signal processing techniques to ensure a smooth and cohesive swarm.

Authors:Marco Jeschke, Timm Faulwasser, Roland Fried
Title: Probabilistic Time Series Forecasting of Residential Loads -- A Copula Approach
Abstract:
Predicting the time series of future evolutions of renewable injections and demands is of utmost importance for the operation of power systems. However, the current state of the art is mostly focused on mean-value time series predictions and only very few methods provide probabilistic forecasts. In this paper, we rely on kernel density estimation and vine copulas to construct probabilistic models for individual load profiles of private households. Our approach allows the quantification of variability of individual energy consumption in general and of daily peak loads in particular. We draw upon an Australian distribution grid dataset to illustrate our findings. We generate synthetic loads that follow the distribution of the real data.

Authors:Y. Xiang, L. Wu, K. Velitsikakis, A. L. J. Janssen
Title: Switching Transients in Constrained Transformer-Line/Cable Configurations
Abstract:
This paper investigates the transient phenomena that occur in two special cases in the Netherlands: (A) during the energization of a power transformer via a cable feeder and (B) the energization of a power transformer together with an overhead line (OHL). In Case A a 7 km long 150 kV cable and a 150/50 kV transformer are connected and energized at the same time. In Case B a 150/50 kV transformer and a short 50 kV OHL are connected and energized simultaneously. The reason behind this kind of situations is related to space restrictions and cost efficiency.

Authors:Maria Morão Patrício, Anahita Jamshidnejad
Title: Leveraging Systems and Control Theory for Social Robotics: A Model-Based Behavioral Control Approach to Human-Robot Interaction
Abstract:
Social robots (SRs) should autonomously interact with humans, while exhibiting proper social behaviors associated to their role. By contributing to health-care, education, and companionship, SRs will enhance life quality. However, personalization and sustaining user engagement remain a challenge for SRs, due to their limited understanding of human mental states. Accordingly, we leverage a recently introduced mathematical dynamic model of human perception, cognition, and decision-making for SRs. Identifying the parameters of this model and deploying it in behavioral steering system of SRs allows to effectively personalize the responses of SRs to evolving mental states of their users, enhancing long-term engagement and personalization. Our approach uniquely enables autonomous adaptability of SRs by modeling the dynamics of invisible mental states, significantly contributing to the transparency and awareness of SRs. We validated our model-based control system in experiments with 10 participants who interacted with a Nao robot over three chess puzzle sessions, 45 - 90 minutes each. The identified model achieved a mean squared error (MSE) of 0.067 (i.e., 1.675% of the maximum possible MSE) in tracking beliefs, goals, and emotions of participants. Compared to a model-free controller that did not track mental states of participants, our approach increased engagement by 16% on average. Post-interaction feedback of participants (provided via dedicated questionnaires) further confirmed the perceived engagement and awareness of the model-driven robot. These results highlight the unique potential of model-based approaches and control theory in advancing human-SR interactions.

Authors:Mingxuan Sun, Shengxiang Zou
Title: Adaptive Neural Control with Desired Approximation: An Integral Lyapunov Function Approach
Abstract:
The inherent approximation ability of neural networks plays an essential role in adaptive neural control, where the prerequisite for existence of the compact set is crucial in the control designs. Instead of using practical system state, in this paper, the desired approximation approach is characterized to tackle such a problem, where the desired state signal is required only as the input to the network. An integral Lyapunov function-based adaptive controller is designed, in the sense of the error tracking, where the treatment of the state-dependent input gain is adopted. Theoretical results for the performance analysis of the integral and incremental adaptation algorithms are presented in details. In particular, the boundedness of the variables in the closed-loop is characterized, while the transient performance of the output error is analytically quantified. It is shown that the proposed control schemes assure that the tracking error converges to an adjustable set without any requirement on the knowledge of the region that the practical variables evolve, and remove the requirement for the setting of initial conditions including system states and weight estimates.

Authors:Pelin Sekercioglu, Angela Fontan, Dimos V. Dimarogonas
Title: Stability of Open Multi-agent Systems over Dynamic Signed Graphs
Abstract:
This paper addresses the bipartite consensus-control problem in open multi-agent systems containing both cooperative and antagonistic interactions. In these systems, new agents can join and new interactions can be formed over time. Moreover, the types of interactions, cooperative or antagonistic, may change. To model these structural changes, we represent the system as a switched system interconnected over a dynamic signed graph. Using the signed edge-based agreement protocol and constructing strict Lyapunov functions for signed edge-Laplacian matrices with multiple zero eigenvalues, we establish global asymptotic stability of the bipartite consensus control. Numerical simulations validate our theoretical results.

Authors:S. Barja-Martinez, M. Aragues-Penalba, A. Sumper, R. Villafafila-Robles
Title: Local energy communities optimization considering cost and greenhouse gases minimization
Abstract:
Local Energy Communities (LECs) facilitate consumer involvement in local electricity generation and distribution, offering a significant opportunity for society to participate in the energy transition. This paper presents the optimization of a renewable energy community in Spain, consisting of four office buildings, a collectively owned centralized photovoltaic system, and a Li-ion battery storage system. The case study assesses the performance and feasibility of the proposed solutions. The results indicate a 6% reduction in emissions and a 20% reduction in electricity costs, demonstrating the potential of LECs to enhance energy security by saving costs and emission while mitigating the vulnerability of local areas to power outages and disruptions

Authors:Andrea Sannino, David-Peter Wiens, Maurits Ortmanns, José I. Artigas, Aránzazu Otín
Title: Non-Linear Modeling and Analysis of Amplifier-Less Potentiostat Architectures
Abstract:
In this article, a previously published amplifier-less potentiostat architecture is further examined. Starting with a linearized model, the impact of the most important parameters is studied taking in account the electrodes-solution electrochemical interface. A detailed model is obtained and thoroughly verified, and recommended operating conditions are given for certain limit load conditions. Then, a more complete non-linear model is developed to take in account the measurement uncertainty introduced by the circuit non-linear components. This non-linear model is compared to a time domain description of the circuit and it is verified that it can predict the non-linear behavior with a precision better than 20%. This result enables the circuit designers to compensate for these effects and ultimately reduce the overall measurement uncertainty.

Authors:Liheng Wan, Panshuo Li, James Lam
Title: An Online Cross-layered Defense Strategy with Bandwidth Allocation for Multi-channel Systems under DoS Attacks
Abstract:
This paper proposes an online cross-layered defense strategy for multi-channel systems with switched dynamics under DoS attacks. The enabling condition of a channel under attacks is formulated with respect to attack flow and channel bandwidth, then a new networked control system model bridging the gap between system dynamics and network deployment is built. Based on this, the cross-layered defense strategy is proposed. It jointly optimizes the controller gain and bandwidth allocation of channels according to the real-time attack flow and system dynamics, by solving a mixed-integer semidefinite programming online. A smart enumeration algorithm for non-convex bi-level optimization is proposed to analyze the stability under the strategy. Numerical examples are given to illustrate the high resilience from the cross-layered feature.

Authors:Costas Mylonas, Emmanouel Varvarigos, Georgios Tsaousoglou
Title: Safe Bottom-Up Flexibility Provision from Distributed Energy Resources
Abstract:
Modern renewables-based power systems need to tap on the flexibility of Distributed Energy Resources (DERs) connected to distribution networks. It is important, however, that DER owners/users remain in control of their assets, decisions, and objectives. At the same time, the dynamic landscape of DER-penetrated distribution networks calls for agile, data-driven flexibility management frameworks. In the face of these developments, the Multi-Agent Reinforcement Learning (MARL) paradigm is gaining significant attention, as a distributed and data-driven decision-making policy. This paper addresses the need for bottom-up DER management decisions to account for the distribution network's safety-related constraints. While the related literature on safe MARL typically assumes that network characteristics are available and incorporated into the policy's safety layer, which implies active DSO engagement, this paper ensures that self-organized DER communities are enabled to provide distribution-network-safe flexibility services without relying on the aspirational and problematic requirement of bringing the DSO in the decision-making loop.

Authors:Srikar Annamraju, Yuxi Chen, Jooyoung Lim, Inki Kim
Title: Estimation of Tissue Deformation and Interactive Force in Robotic Surgery through Vision-based Learning
Abstract:
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue deformation level is presented here. Methods: An experimental test bed is built for studying the interaction, and the forces are estimated from the raw data. Since tissue deformation and stiffness are non-linearly related, they are independently computed for enhanced reliability. A Convolutional Neural Network (CNN) based vision model is deployed, and both classification and regression models are developed. Results: The forces applied on the tissue are estimated, and the tissue is classified based on its deformation. The exact deformation of the tissue is also computed. Conclusions: The surgeons can render precise forces and detect tumors using the proposed method. The rarely discussed efficacy of computing the deformation level is also demonstrated.

Authors:Wenkai Du, Guangzhong Gao, Suhan Li, Bo Fu, Jiawu Li, Ledong Zhu
Title: A novel real-time aeroelastic hybrid simulation system of section model wind tunnel testing based on adaptive extended Kalman filter
Abstract:
Elastically-supported section model tests are the most basic experimental technique in wind engineering, where helical springs are commonly employed to simulate the two-degree-of-freedom low-order modal motions of flexible structures. However, the traditional technique has intrinsic limitations in accurately modeling nonlinear structural behaviors and accurate adjustments of nonlinear structural damping. This study proposes a novel Real-Time Aeroelastic Hybrid Simulation system for section model wind tunnel tests by integrating an active control algorithm of adaptive Kalman filter. The proposed system enables the simulation of nonlinear heave-transverse-torsion coupled vibrations of a section model under the action of the oncoming wind. The structural properties, i.g. mass, damping and stiffness, are numerically simulated via an active control system, and the aerodynamic forces are physically modelled via the model-wind interaction in the wind tunnel. To validate the feasibility and accuracy of the proposed RTAHS system, a MATLAB/Simulink-FLUENT/UDF co-simulation framework is developed. Numerical verification results indicate that the proposed algorithm effectively estimates the motion responses in both linear and nonlinear scenarios.

Authors:Aydoğan Soylu, Tufan Kumbasar
Title: Capturing Aerodynamic Characteristics of ATTAS Aircraft with Evolving Intelligent System
Abstract:
Accurate modeling of aerodynamic coefficients is crucial for understanding and optimizing the performance of modern aircraft systems. This paper presents the novel deployment of an Evolving Type-2 Quantum Fuzzy Neural Network (eT2QFNN) for modeling the aerodynamic coefficients of the ATTAS aircraft to express the aerodynamic characteristics. eT2QFNN can represent the nonlinear aircraft model by creating multiple linear submodels with its rule-based structure through an incremental learning strategy rather than a traditional batch learning approach. Moreover, it enhances robustness to uncertainties and data noise through its quantum membership functions, as well as its automatic rule-learning and parameter-tuning capabilities. During the estimation of the aerodynamic coefficients via the flight data of the ATTAS, two different studies are conducted in the training phase: one with a large amount of data and the other with a limited amount of data. The results show that the modeling performance of the eT2QFNN is superior in comparison to baseline counterparts. Furthermore, eT2QFNN estimated the aerodynamic model with fewer rules compared to Type-1 fuzzy counterparts. In addition, by applying the Delta method to the proposed approach, the stability and control derivatives of the aircraft are analyzed. The results prove the superiority of the proposed eT2QFNN in representing aerodynamic coefficients.

Authors:Pengbiao Wang, Xuemei Ren, Dongdong Zheng
Title: Asynchronous Push-sum Dual Gradient Algorithm in Distributed Model Predictive Control
Abstract:
This paper studies the distributed model predictive control (DMPC) problem for distributed discrete-time linear systems with both local and global constraints over directed communication networks. We establish an optimization problem to formulate the DMPC policy, including the design of terminal ingredients. To cope with the global constraint, we transform the primal optimization problem into its dual problem. Then, we propose a novel asynchronous push-sum dual gradient (APDG) algorithm with an adaptive step-size scheme to solve this dual problem in a fully asynchronous distributed manner. The proposed algorithm does not require synchronous waiting and any form of coordination, which greatly improves solving efficiency. We theoretically prove that the APDG algorithm converges at an R-linear rate as long as the step-size does not exceed the designed upper bound. Furthermore, we develop a distributed termination criterion to terminate the APDG algorithm when its output solution satisfies the specified suboptimality and the global constraint, thereby avoiding an infinite number of iterations. The recursive feasibility and the stability of the closed-loop system are also established. Finally, a numerical example clarifies and validates theoretical findings.

Authors:Gharbi Khamis Alshammari, Ahmad Abubakar, Nada M. O. Sid Ahmed, Naif Khalaf Alshammari
Title: Federated Learning-based Semantic Segmentation for Lane and Object Detection in Autonomous Driving
Abstract:
Autonomous Vehicles (AVs) require precise lane and object detection to ensure safe navigation. However, centralized deep learning (DL) approaches for semantic segmentation raise privacy and scalability challenges, particularly when handling sensitive data. This research presents a new federated learning (FL) framework that integrates secure deep Convolutional Neural Networks (CNNs) and Differential Privacy (DP) to address these issues. The core contribution of this work involves: (1) developing a new hybrid UNet-ResNet34 architecture for centralized semantic segmentation to achieve high accuracy and tackle privacy concerns due to centralized training, and (2) implementing the privacy-preserving FL model, distributed across AVs to enhance performance through secure CNNs and DP mechanisms. In the proposed FL framework, the methodology distinguishes itself from the existing approach through the following: (a) ensuring data decentralization through FL to uphold user privacy by eliminating the need for centralized data aggregation, (b) integrating DP mechanisms to secure sensitive model updates against potential adversarial inference attacks, and (c) evaluating the frameworks performance and generalizability using RGB and semantic segmentation datasets derived from the CARLA simulator. Experimental results show significant improvements in accuracy, from 81.5% to 88.7% for the RGB dataset and from 79.3% to 86.9% for the SEG dataset over 20 to 70 Communication Rounds (CRs). Global loss was reduced by over 60%, and minor accuracy trade-offs from DP were observed. This study contributes by offering a scalable, privacy-preserving FL framework tailored for AVs, optimizing communication efficiency while balancing performance and data security.

Authors:Beyzanur Aydin, Rebecca Holt, Mads Almassalkhi
Title: Fairness-aware Dynamic Hosting Capacity and the Impacts of Strategic Solar PV Curtailment
Abstract:
Rapid deployment of distributed energy resources (DERs), such as solar photovoltaics (PV), poses a risk to the distribution grid under high penetration. Therefore, studying hosting capacity (HC) limits considering grid physics and demand variability is crucial. This paper introduces an improved framework for determining the HC of radial distribution networks by enhancing an existing convex inner approximation (CIA) approach. The proposed method achieves a more accurate and larger inner approximation, resulting in better HC limits. We also consider time-varying demand and the design of objective functions to ensure equitable access to grid resources. A case study with solar PV integration is conducted using a modified IEEE-37 radial network to examine the impact of increased PV capacity, demonstrating that with no more than 5% annual solar PV energy curtailed, it is possible to increase solar PV hosting capacity by at least 50% with no negative grid impacts and a net positive economic impact when accounted for the cost of carbon. Results show that fair allocation methods can lead to higher net profits and reduced PV curtailment and CO2.

Authors:Omid Abbassi Aghd, Oussama Ben Haj Belkacem, Dou Hu, João Guerreiro, Nuno Souto, Michal Szczachor, Rui Dinis
Title: Advanced Channel Decomposition Techniques in OTFS: A GSVD Approach for Multi-User Downlink
Abstract:
In this paper, we propose a multi-user downlink system for two users based on the orthogonal time frequency space (OTFS) modulation scheme. The design leverages the generalized singular value decomposition (GSVD) of the channels between the base station and the two users, applying precoding and detection matrices based on the right and left singular vectors, respectively. We derive the analytical expressions for three scenarios and present the corresponding simulation results. These results demonstrate that, in terms of bit error rate (BER), the proposed system outperforms the conventional multi-user OTFS system in two scenarios when using minimum mean square error (MMSE) equalizers or precoder, both for perfect channel state information and for a scenario with channel estimation errors. In the third scenario, the design is equivalent to zero-forcing (ZF) precoding at the transmitter.

Authors:Riti Bhandarkar, Qian Luo, Emil Dimanchev, Jesse D. Jenkins
Title: Are EVs Cleaner Than We Think? Evaluating Consequential Greenhouse Gas Emissions from EV Charging
Abstract:
While electrifying transportation eliminates tailpipe greenhouse gas (GHG) emissions, electric vehicle (EV) adoption can create additional electricity sector emissions. To quantify this emissions impact, prior work typically employs short-run marginal emissions or average emissions rates calculated from historical data or power systems models that do not consider changes in installed capacity. In this work, we use an electricity system capacity expansion model to consider the full consequential GHG emissions impact from large-scale EV adoption in the western United States, accounting for induced changes in generation and storage capacity. We find that the metrics described above do not accurately reflect the true emissions impact of EV adoption-average emissions rates can either under- or over-estimate emission impacts, and short-run marginal emissions rates can significantly underestimate emission reductions, especially when charging timing is flexible. Our results also show that using short-run marginal emission rates as signals to coordinate EV charging could increase emissions relative to price-based charging signals, indicating the need for alternative control strategies to minimize consequential emissions.

Authors:Franco Angelo Torchiaro, Gianfranco Gagliardi, Francesco Tedesco, Alessandro Casavola
Title: Distributed Unknown Input Observers for Discrete-Time Linear Time-Invariant Systems
Abstract:
This paper introduces a Distributed Unknown Input Observer (D-UIO) design methodology that uses a technique called node-wise detectability decomposition to estimate the state of a discrete-time linear time-invariant (LTI) system in a distributed way, even when there are noisy measurements and unknown inputs. In the considered scenario, sensors are associated to nodes of an underlying communication graph. Each node has a limited scope as it can only access local measurements and share data with its neighbors. The problem of designing the observer gains is divided into two separate sub-problems: (i) design local output injection gains to mitigate the impact of measurement noise, and (ii) design diffusive gains to compensate for the lack of information through a consensus protocol. A direct and computationally efficient synthesis strategy is formulated by linear matrix inequalities (LMIs) and solved via semidefinite programming. Finally, two simulative scenarios are presented to illustrate the effectiveness of the distributed observer when two different node-wise decompositions are adopted.

Authors:Magne Erlandsen, Tomas Meijer, Maurice Heemels, Sebastiaan van den Eijnden
Title: Continuity Conditions for Piecewise Quadratic Functions on Simplicial Conic Partitions are Equivalent
Abstract:
Analysis of continuous-time piecewise linear (PWL) systems based on piecewise quadratic (PWQ) Lyapunov functions typically requires continuity of these functions over a partition of the state space. Several conditions for guaranteeing continuity of PWQ functions over state space partitions can be found in the literature. In this technical note, we show that these continuity conditions are equivalent over so-called simplicial conic partitions. A key element in our proof is a technical lemma, which, in addition to being of independent interest, plays a crucial role in demonstrating the equivalence of these conditions. As a consequence, the choice of which condition to impose can be based solely on practical considerations such as specific application or numerical aspects, without introducing additional conservatism in the analysis.

Authors:Anlong Zhang, Jianmin Ji
Title: Research on Navigation Methods Based on LLMs
Abstract:
In recent years, the field of indoor navigation has witnessed groundbreaking advancements through the integration of Large Language Models (LLMs). Traditional navigation approaches relying on pre-built maps or reinforcement learning exhibit limitations such as poor generalization and limited adaptability to dynamic environments. In contrast, LLMs offer a novel paradigm for complex indoor navigation tasks by leveraging their exceptional semantic comprehension, reasoning capabilities, and zero-shot generalization properties. We propose an LLM-based navigation framework that leverages function calling capabilities, positioning the LLM as the central controller. Our methodology involves modular decomposition of conventional navigation functions into reusable LLM tools with expandable configurations. This is complemented by a systematically designed, transferable system prompt template and interaction workflow that can be easily adapted across different implementations. Experimental validation in PyBullet simulation environments across diverse scenarios demonstrates the substantial potential and effectiveness of our approach, particularly in achieving context-aware navigation through dynamic tool composition.

Authors:Abhishek Tyagi, Charu Gaur
Title: SLAM-Based Navigation and Fault Resilience in a Surveillance Quadcopter with Embedded Vision Systems
Abstract:
We present an autonomous aerial surveillance platform, Veg, designed as a fault-tolerant quadcopter system that integrates visual SLAM for GPS-independent navigation, advanced control architecture for dynamic stability, and embedded vision modules for real-time object and face recognition. The platform features a cascaded control design with an LQR inner-loop and PD outer-loop trajectory control. It leverages ORB-SLAM3 for 6-DoF localization and loop closure, and supports waypoint-based navigation through Dijkstra path planning over SLAM-derived maps. A real-time Failure Detection and Identification (FDI) system detects rotor faults and executes emergency landing through re-routing. The embedded vision system, based on a lightweight CNN and PCA, enables onboard object detection and face recognition with high precision. The drone operates fully onboard using a Raspberry Pi 4 and Arduino Nano, validated through simulations and real-world testing. This work consolidates real-time localization, fault recovery, and embedded AI on a single platform suitable for constrained environments.

Authors:Bo Zhu, Wei Yu, Hugh H. T. Liu
Title: PID-GM: PID Control with Gain Mapping
Abstract:
Proportional-Integral-Differential (PID) control is widely used in industrial control systems. However, up to now there are at least two open problems related with PID control. One is to have a comprehensive understanding of its robustness with respect to model uncertainties and disturbances. The other is to build intuitive, explicit and mathematically provable guidelines for PID gain tuning. In this paper, we introduce a simple nonlinear mapping to determine PID gains from three auxiliary parameters. By the mapping, PID control is shown to be equivalent to a new PD control (serving as a nominal control) plus an uncertainty and disturbance compensator (to recover the nominal performance). Then PID control can be understood, designed and tuned in a Two-Degree-of-Freedom (2-DoF) control framework. We discuss some basic properties of the mapping, including the existence, uniqueness and invertibility. Taking as an example the PID control applied to a general uncertain second-order plant, we prove by the singular perturbation theory that the closed-loop steady-state and transient performance depends explicitly on one auxiliary parameter which can be viewed as the virtual singular perturbation parameter (SPP) of PID control. All the three PID gains are monotonically decreasing functions of the SPP, indicating that the smaller the SPP is, the higher the PID gains are, and the better the robustness of PID control is. Simulation and experimental examples are provided to demonstrate the properties of the mapping as well as the effectiveness of the mapping based PID gain turning.

Authors:Yuxiao Zhao, Zhen Shen, Shiyu Li, Jing Feng, Hao Min
Title: Considerations on the Design of Transceivers for Ambient Internet of Things
Abstract:
The Ambient IoT (A-IoT) will introduce trillions of connections and enable low-cost battery-less devices. The A-IoT nodes can achieve low cost ($\sim\$ 0.1$ like RFID tag), sub-1mW average power consumption, $\leq 10$ kbps data rates, maintenance-free working for decades, cm-scale size, and support applications like supply chain and smart agriculture. The transceiver challenges in A-IoT focus on sub-mW receivers and crystal-less clock generation. The paper proposes an approximate low-IF receiver and carrier-auxiliary IF feedback LO synthesizer architecture for Type-B/C A-IoT devices, which tracks the RF carrier frequency and eliminates external crystals. The proposed receiver and LO generator are implemented using 55nm CMOS technology. After locking the LO calibration loop, the receiver sensitivity is better than -88 dBm. The proposed receiver architecture will promote zero-power devices for ubiquitous IoT connectivity, bridging digital and physical worlds.

Authors:Jianqiang Zhang, Kaijun Yang
Title: Event triggered optimal formation control for nonlinear multi-agent systems under Denial-of-Service attacks
Abstract:
This paper investigates the optimal formation control problem of a class of nonlinear multi-agent systems(MASs) under Denial-of-Service(DoS) attacks. We design the optimal formation control law using an event-triggered control scheme to achieve formation objectives under DoS attacks. Critic neural network (NN)-based approach is employed to achieve the optimal control policy under DoS attacks. Event-triggered mechanism is introduced to ensure the saving of control resources. Additionally, Lyapunov stability theory is utilized to demonstrate that the local neighborhood formation error exhibits exponential stability and the estimation error of weights are uniformly ultimately bounded. Finally, the effectiveness of the control algorithm is validated through matlab simulations. The results indicate that under DoS attacks, the nonlinear MAS successfully achieves the desired formation for the MAS.

Authors:Amit Kumar, Domenico Campolo, Ravi N. Banavar
Title: Haptic-based Complementary Filter for Rigid Body Rotations
Abstract:
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense, not all learning-based algorithms that are currently available generalize to 3D orientation estimation. Non-linear filters defined on $\mathbf{\mathbb{SO}(3)}$ are widely used with inertial measurement sensors; however, none of them have been used with haptic measurements. This paper presents a unique complementary filtering framework that interprets the geometric shape of objects in the form of superquadrics, exploits the symmetry of $\mathbf{\mathbb{SO}(3)}$, and uses force and vision sensors as measurements to provide an estimate of orientation. The framework's robustness and almost global stability are substantiated by a set of experiments on a dual-arm robotic setup.

Authors:Sebastian Incicco, Juan Ignacio Giribet, Leonardo Colombo
Title: Enhanced UAV Navigation Systems through Sensor Fusion with Trident Quaternions
Abstract:
This paper presents an integrated navigation algorithm based on trident quaternions, an extension of dual quaternions. The proposed methodology provides an efficient approach for achieving precise and robust navigation by leveraging the advantages of trident quaternions. The performance of the navigation system was validated through experimental tests using a multi-rotor UAV equipped with two navigation computers: one executing the proposed algorithm and the other running a commercial autopilot, which was used as a reference.

Authors:Md Azizul Hoque, Babul Salam, Mohd Khair Hassan, Abdulkabir Aliyu, Abedalmuhdi Almomany, Muhammed Sutcu
Title: Prognosis Of Lithium-Ion Battery Health with Hybrid EKF-CNN+LSTM Model Using Differential Capacity
Abstract:
Battery degradation is a major challenge in electric vehicles (EV) and energy storage systems (ESS). However, most degradation investigations focus mainly on estimating the state of charge (SOC), which fails to accurately interpret the cells' internal degradation mechanisms. Differential capacity analysis (DCA) focuses on the rate of change of cell voltage about the change in cell capacity, under various charge/discharge rates. This paper developed a battery cell degradation testing model that used two types of lithium-ions (Li-ion) battery cells, namely lithium nickel cobalt aluminium oxides (LiNiCoAlO2) and lithium iron phosphate (LiFePO4), to evaluate internal degradation during loading conditions. The proposed battery degradation model contains distinct charge rates (DCR) of 0.2C, 0.5C, 1C, and 1.5C, as well as discharge rates (DDR) of 0.5C, 0.9C, 1.3C, and 1.6C to analyze the internal health and performance of battery cells during slow, moderate, and fast loading conditions. Besides, this research proposed a model that incorporates the Extended Kalman Filter (EKF), Convolutional Neural Network (CNN), and Long Short-Term Memory (LSTM) networks to validate experimental data. The proposed model yields excellent modelling results based on mean squared error (MSE), and root mean squared error (RMSE), with errors of less than 0.001% at DCR and DDR. The peak identification technique (PIM) has been utilized to investigate battery health based on the number of peaks, peak position, peak height, peak area, and peak width. At last, the PIM method has discovered that the cell aged gradually under normal loading rates but deteriorated rapidly under fast loading conditions. Overall, LiFePO4 batteries perform more robustly and consistently than (LiNiCoAlO2) cells under varying loading conditions.

Authors:Guangyao Wang, Yulin Pan
Title: Data Assimilation-based Simultaneous Phase-Resolved Ocean Wave and Ship Motion Forecast
Abstract:
This paper presents a data-assimilation (DA)-based approach to forecast the phase-resolved wave evolution process and ship motion, which is developed by coupling the high-order spectral method (HOS), ensemble Kalman filter (EnKF), and a Cummins-equation-based ship model (CMI). With the developed EnKF-HOS-CMI method, the observation data for wave, ship, or both can be incorporated into the model, therefore producing the optimal analysis results. The developed method is validated and tested based on a synthetic problem on the motions of an irregular wave field and a box-shaped free-floating ship. We show that the EnKF-HOS-CMI method achieves much higher accuracy in the long-term simulation of nonlinear phase-resolved wave field and ship motion in comparison with the HOS-CMI method. Also, the ship parameters are estimated accurately by using a parameter-augmented state space in EnKF.

Authors:Uthman Baroudi, Alala BaHamid, Yasser Elalfy, Ziad Al Alami
Title: Enhancing Pothole Detection and Characterization: Integrated Segmentation and Depth Estimation in Road Anomaly Systems
Abstract:
Road anomaly detection plays a crucial role in road maintenance and in enhancing the safety of both drivers and vehicles. Recent machine learning approaches for road anomaly detection have overcome the tedious and time-consuming process of manual analysis and anomaly counting; however, they often fall short in providing a complete characterization of road potholes. In this paper, we leverage transfer learning by adopting a pre-trained YOLOv8-seg model for the automatic characterization of potholes using digital images captured from a dashboard-mounted camera. Our work includes the creation of a novel dataset, comprising both images and their corresponding depth maps, collected from diverse road environments in Al-Khobar city and the KFUPM campus in Saudi Arabia. Our approach performs pothole detection and segmentation to precisely localize potholes and calculate their area. Subsequently, the segmented image is merged with its depth map to extract detailed depth information about the potholes. This integration of segmentation and depth data offers a more comprehensive characterization compared to previous deep learning-based road anomaly detection systems. Overall, this method not only has the potential to significantly enhance autonomous vehicle navigation by improving the detection and characterization of road hazards but also assists road maintenance authorities in responding more effectively to road damage.

Authors:Christopher Lewis, Drew Sellers, Michael Hamilton
Title: Implementation of Field Programmable Gate Arrays (FPGAs) in Extremely Cold Environments for Space and Cryogenic Computing Applications
Abstract:
The operation of CMOS Field Programmable Gate Arrays (FPGAs) at extremely cold environments as low as 4 K is demonstrated. Various FPGA and periphery hardware design techniques spanning from HDL design to improvements of peripheral circuitry such as discrete voltage regulators are displayed, and their respective performances are reported. While general operating conditions for voltage regulators are widened, FPGAs see a broader temperature range with improved jitter performance, reduced LUT delays, and enhanced transceiver performance at extremely low temperatures.

Authors:Zekai Chen, Leon Kehler
Title: A Model Predictive Control Approach for Quadrotor Cruise Control
Abstract:
This paper investigates the application of a Model Predictive Controller (MPC) for the cruise control system of a quadrotor, focusing on hovering point stabilization and reference tracking. Initially, a full-state-feedback MPC is designed for the ideal scenario. To account for real-world conditions, a constant disturbance is introduced to the quadrotor, simulating a gust of wind in a specific direction. In response, an output-feedback offset-free MPC is developed to stabilize the quadrotor while rejecting the disturbance. We validate the design of the controller by conducting stability analysis, as well as numerical simulations under different circumstances. It is shown that the designed controller can achieve all the expected goals for the cruise control, including reference tracking and disturbance rejection. This project was implemented using Python and the CVXPY library for convex optimization.

Authors:Isaac Adom, Mohammmad Iqbal Hossain, Hassan Mahmoud, Ahmad Alsharif, Mahmoud Nabil Mahmoud, Yang Xiao
Title: Leveraging Functional Encryption and Deep Learning for Privacy-Preserving Traffic Forecasting
Abstract:
Over the past few years, traffic congestion has continuously plagued the nation's transportation system creating several negative impacts including longer travel times, increased pollution rates, and higher collision risks. To overcome these challenges, Intelligent Transportation Systems (ITS) aim to improve mobility and vehicular systems, ensuring higher levels of safety by utilizing cutting-edge technologies, sophisticated sensing capabilities, and innovative algorithms. Drivers' participatory sensing, current/future location reporting, and machine learning algorithms have considerably improved real-time congestion monitoring and future traffic management. However, each driver's sensitive spatiotemporal location information can create serious privacy concerns. To address these challenges, we propose in this paper a secure, privacy-preserving location reporting and traffic forecasting system that guarantees privacy protection of driver data while maintaining high traffic forecasting accuracy. Our novel k-anonymity scheme utilizes functional encryption to aggregate encrypted location information submitted by drivers while ensuring the privacy of driver location data. Additionally, using the aggregated encrypted location information as input, this research proposes a deep learning model that incorporates a Convolutional-Long Short-Term Memory (Conv-LSTM) module to capture spatial and short-term temporal features and a Bidirectional Long Short-Term Memory (Bi-LSTM) module to recover long-term periodic patterns for traffic forecasting. With extensive evaluation on real datasets, we demonstrate the effectiveness of the proposed scheme with less than 10% mean absolute error for a 60-minute forecasting horizon, all while protecting driver privacy.

Authors:L. Wan, S. Smith, Y. -J. Pan, E. Witrant
Title: Adaptive Task Space Non-Singular Terminal Super-Twisting Sliding Mode Control of a 7-DOF Robotic Manipulator
Abstract:
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of chattering, unknown disturbances, and rotational motion tracking, making it suited for high-DOF manipulators in dexterous manipulation tasks. A rigorous boundedness proof is provided, offering gain selection guidelines for practical implementation. Simulations and hardware experiments with external disturbances demonstrate the proposed controller's robust, accurate tracking with reduced control effort under unknown disturbances compared to other NT-STSM and conventional controllers. The results demonstrated that the proposed NT-STSM controller mitigates chattering and instability in complex motions, making it a viable solution for dexterous robotic manipulations and various industrial applications.

Authors:Quan Zhou, Jingjing Zhao, Kaiquan Cai, Yanbo Zhu
Title: RIS-Assisted Beamfocusing in Near-Field IoT Communication Systems: A Transformer-Based Approach
Abstract:
The massive number of antennas in extremely large aperture array (ELAA) systems shifts the propagation regime of signals in internet of things (IoT) communication systems towards near-field spherical wave propagation. We propose a reconfigurable intelligent surfaces (RIS)-assisted beamfocusing mechanism, where the design of the two-dimensional beam codebook that contains both the angular and distance domains is challenging. To address this issue, we introduce a novel Transformer-based two-stage beam training algorithm, which includes the coarse and fine search phases. The proposed mechanism provides a fine-grained codebook with enhanced spatial resolution, enabling precise beamfocusing. Specifically, in the first stage, the beam training is performed to estimate the approximate location of the device by using a simple codebook, determining whether it is within the beamfocusing range (BFR) or the none-beamfocusing range (NBFR). In the second stage, by using a more precise codebook, a fine-grained beam search strategy is conducted. Experimental results unveil that the precision of the RIS-assisted beamfocusing is greatly improved. The proposed method achieves beam selection accuracy up to 97% at signal-to-noise ratio (SNR) of 20 dB, and improves 10% to 50% over the baseline method at different SNRs.

Authors:Adrià Mompó Alepuz, Dimitrios Papageorgiou, Silvia Tolu
Title: Learning-based Delay Compensation for Enhanced Control of Assistive Soft Robots
Abstract:
Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays, especially in applications like a soft robotic arm for patient care. This paper presents a learning-based approach to approximate the nonlinear state predictor (Smith Predictor), aiming to improve tracking performance in a two-module soft robot arm with a short inherent input delay. The method uses Kernel Recursive Least Squares Tracker (KRLST) for online learning of the system dynamics and a Legendre Delay Network (LDN) to compress past input history for efficient delay compensation. Experimental results demonstrate significant improvement in tracking performance compared to a baseline model-based non-linear controller. Statistical analysis confirms the significance of the improvements. The method is computationally efficient and adaptable online, making it suitable for real-world scenarios and highlighting its potential for enabling safer and more accurate control of soft robots in assistive care applications.

Authors:Peter A. Hoeher, Yang Leng, Maximilian Mewis, Rongwu Zhu
Title: Power Line Communication vs. Talkative Power Conversion: A Benchmarking Study
Abstract:
The convergence of energy transmission and data communication has become a key feature of decentralized energy systems across a broad spectrum of voltage/power ranges, including smart grid applications and cyber-physical power systems. This paper compares two distinct approaches: Power Line Communications (PLC) and Talkative Power Conversion (TPC). While PLC leverages existing power infrastructure for data transmission by using external data transmitters and receivers, TPC integrates communication capabilities directly into power electronic converters. We present their technical foundations and applications, benchmark their strengths and bottlenecks, and outline future research directions regarding TPC that could bridge the gap between power and communication technologies.

Authors:Alberto Bemporad, Roland Tóth
Title: Efficient identification of linear, parameter-varying, and nonlinear systems with noise models
Abstract:
We present a general system identification procedure capable of estimating of a broad spectrum of state-space dynamical models, including linear time-invariant (LTI), linear parameter-varying} (LPV), and nonlinear (NL) dynamics, along with rather general classes of noise models. Similar to the LTI case, we show that for this general class of model structures, including the NL case, the model dynamics can be separated into a deterministic process and a stochastic noise part, allowing to seamlessly tune the complexity of the combined model both in terms of nonlinearity and noise modeling. We parameterize the involved nonlinear functional relations by means of artificial neural-networks (ANNs), although alternative parametric nonlinear mappings can also be used. To estimate the resulting model structures, we optimize a prediction-error-based criterion using an efficient combination of a constrained quasi-Newton approach and automatic differentiation, achieving training times in the order of seconds compared to existing state-of-the-art ANN methods which may require hours for models of similar complexity. We formally establish the consistency guarantees for the proposed approach and demonstrate its superior estimation accuracy and computational efficiency on several benchmark LTI, LPV, and NL system identification problems.

Authors:Joachim Deutscher, Tarik Enderes
Title: A Koopman Operator Approach to Data-Driven Control of Semilinear Parabolic Systems
Abstract:
This paper is concerned with the data-driven stabilization of unknown boundary controlled semilinear parabolic systems. The nonlinear dynamics of the system are lifted using a finite number of eigenfunctionals of the Koopman operator related to the autonomous semilinear PDE. This results in a novel data-driven finite-dimensional model of the lifted dynamics, which is amenable to apply design procedures for finite-dimensional systems to stabilize the semilinear parabolic system. In order to facilitate this, a bilinearization of the lifted dynamics is considered and feedback linearization is applied for the data-driven stabilization of the semilinear parabolic PDE. This reveals a novel connection between the assignment of eigenfunctionals to the closed-loop Koopman operator and feedback linearization. By making use of a modal representation, exponential stability of the closed-loop system in the presence of errors resulting from the data-driven computation of eigenfunctionals and the bilinearization is verified. The data-driven controller directly follows from applying generalized eDMD to state data available for the semilinear parabolic PDE. An example of an unstable semilinear reaction-diffusion system with finite-time blow up demonstrates the novel data-driven stabilization approach.

Authors:Yiting Wang, Yunxin Fan, Fei Liu
Title: Probabilistic Task Parameterization of Tool-Tissue Interaction via Sparse Landmarks Tracking in Robotic Surgery
Abstract:
Accurate modeling of tool-tissue interactions in robotic surgery requires precise tracking of deformable tissues and integration of surgical domain knowledge. Traditional methods rely on labor-intensive annotations or rigid assumptions, limiting flexibility. We propose a framework combining sparse keypoint tracking and probabilistic modeling that propagates expert-annotated landmarks across endoscopic frames, even with large tissue deformations. Clustered tissue keypoints enable dynamic local transformation construction via PCA, and tool poses, tracked similarly, are expressed relative to these frames. Embedding these into a Task-Parameterized Gaussian Mixture Model (TP-GMM) integrates data-driven observations with labeled clinical expertise, effectively predicting relative tool-tissue poses and enhancing visual understanding of robotic surgical motions directly from video data.

Authors:Federico Porcari, Donatello Materassi, Simone Formentin
Title: eXplainable AI for data driven control: an inverse optimal control approach
Abstract:
Understanding the behavior of black-box data-driven controllers is a key challenge in modern control design. In this work, we propose an eXplainable AI (XAI) methodology based on Inverse Optimal Control (IOC) to obtain local explanations for the behavior of a controller operating around a given region. Specifically, we extract the weights assigned to tracking errors and control effort in the implicit cost function that a black-box controller is optimizing, offering a more transparent and interpretable representation of the controller's underlying objectives. This approach presents connections with well-established XAI techniques, such as Local Interpretable Model-agnostic Explanations (LIME) since it is still based on a local approximation of the control policy. However, rather being limited to a standard sensitivity analysis, the explanation provided by our method relies on the solution of an inverse Linear Quadratic (LQ) problem, offering a structured and more control-relevant perspective. Numerical examples demonstrate that the inferred cost function consistently provides a deeper understanding of the controller's decision-making process, shedding light on otherwise counterintuitive or unexpected phenomena.

Authors:Mahdi Hasanzadeh, Kasem Khalil, Cynthia Sturton, Ahmad Patooghy
Title: HeatSense: Intelligent Thermal Anomaly Detection for Securing NoC-Enabled MPSoCs
Abstract:
Multi-Processor System-on-Chips (MPSoCs) are highly vulnerable to thermal attacks that manipulate dynamic thermal management systems. To counter this, we propose an adaptive real-time monitoring mechanism that detects abnormal thermal patterns in chip tiles. Our design space exploration helped identify key thermal features for an efficient anomaly detection module to be implemented at routers of network-enabled MPSoCs. To minimize hardware overhead, we employ weighted moving average (WMA) calculations and bit-shift operations, ensuring a lightweight yet effective implementation. By defining a spectrum of abnormal behaviors, our system successfully detects and mitigates malicious temperature fluctuations, reducing severe cases from 3.00°C to 1.9°C. The anomaly detection module achieves up to 82% of accuracy in detecting thermal attacks, which is only 10-15% less than top-performing machine learning (ML) models like Random Forest. However, our approach reduces hardware usage by up to 75% for logic resources and 100% for specialized resources, making it significantly more efficient than ML-based solutions. This method provides a practical, low-cost solution for resource-constrained environments, ensuring resilience against thermal attacks while maintaining system performance.

Authors:Alberto Castillo, Elliot Pryor, Anas El Fathi, Boris Kovatchev, Marc Breton
Title: Neural Networks for on-chip Model Predictive Control: a Method to Build Optimized Training Datasets and its application to Type-1 Diabetes
Abstract:
Training Neural Networks (NNs) to behave as Model Predictive Control (MPC) algorithms is an effective way to implement them in constrained embedded devices. By collecting large amounts of input-output data, where inputs represent system states and outputs are MPC-generated control actions, NNs can be trained to replicate MPC behavior at a fraction of the computational cost. However, although the composition of the training data critically influences the final NN accuracy, methods for systematically optimizing it remain underexplored. In this paper, we introduce the concept of Optimally-Sampled Datasets (OSDs) as ideal training sets and present an efficient algorithm for generating them. An OSD is a parametrized subset of all the available data that (i) preserves existing MPC information up to a certain numerical resolution, (ii) avoids duplicate or near-duplicate states, and (iii) becomes saturated or complete. We demonstrate the effectiveness of OSDs by training NNs to replicate the University of Virginia's MPC algorithm for automated insulin delivery in Type-1 Diabetes, achieving a four-fold improvement in final accuracy. Notably, two OSD-trained NNs received regulatory clearance for clinical testing as the first NN-based control algorithm for direct human insulin dosing. This methodology opens new pathways for implementing advanced optimizations on resource-constrained embedded platforms, potentially revolutionizing how complex algorithms are deployed.

Authors:Hazem Abdel-Khalek, Eddy Jalbout, Caspar Schauß, Benjamin Pfluger
Title: Balancing hydrogen delivery in national energy systems: impact of the temporal flexibility of hydrogen delivery on export prices
Abstract:
Hydrogen is expected to play a key role in the energy transition. Analyses exploring the price of hydrogen usually calculate average or marginal production costs regardless of the time of delivery. A key factor that affects the price of hydrogen is the balancing costs, which we define as the expense of ensuring a steady schedule of hydrogen delivery. We explore the effect of delivering hydrogen to the export ports at different schedules, ranging from fully flexible to moderately stable with a daily and weekly buffer, to fully stable. We quantify the rise in hydrogen price with strict balancing constraint in three countries: Brazil, Morocco and Turkey, and three export volumes: 10, 50 and 200 TWh. The price difference between the flexible and stable schedules was found to reach a maximum of 36% in Brazil, 47% in Morocco and 18% in Turkey across the different export volumes.

Authors:Bo Ma, Yi Ji, Liyong Fang
Title: A Multi-UAV Formation Obstacle Avoidance Method Combined Improved Simulated Annealing and Adaptive Artificial Potential Field
Abstract:
The traditional Artificial Potential Field (APF) method exhibits limitations in its force distribution: excessive attraction when UAVs are far from the target may cause collisions with obstacles, while insufficient attraction near the goal often results in failure to reach the target. Furthermore, APF is highly susceptible to local minima, compromising motion reliability in complex environments. To address these challenges, this paper presents a novel hybrid obstacle avoidance algorithm-Deflected Simulated Annealing-Adaptive Artificial Potential Field (DSA-AAPF)-which combines an improved simulated annealing mechanism with an enhanced APF model. The proposed approach integrates a Leader-Follower distributed formation strategy with the APF framework, where the resultant force formulation is redefined to smooth UAV trajectories. An adaptive gravitational gain function is introduced to dynamically adjust UAV velocity based on environmental context, and a fast-converging controller ensures accurate and efficient convergence to the target. Moreover, a directional deflection mechanism is embedded within the simulated annealing process, enabling UAVs to escape local minima caused by semi-enclosed obstacles through continuous rotational motion. The simulation results, covering formation reconfiguration, complex obstacle avoidance, and entrapment escape, demonstrate the feasibility, robustness, and superiority of the proposed DSA-AAPF algorithm.

Authors:Chi-Bach Pham, Homayoun Hamedmoghadam Rafati, Robert Noel Shorten
Title: Vehicle Dynamics Control for Simultaneous Optimization of Tire Emissions and Performance in EVs
Abstract:
In recent years, Electric Vehicles (EVs) have seen widespread public adoption. While EVs produce zero tailpipe emissions, they contribute to an increase in another type of vehicular emission: tire emissions. Battery-operated EVs are generally heavier than their combustion-engine counterparts and require greater acceleration forces, which their high-torque electric motors provide. This combination of increased weight and traction forces leads to higher tire emissions, which possess various adverse health and environmental effects. Here, we propose a control solution with promising results in mitigating tire wear in all-wheel-drive EVs. The idea is to utilize different tire profiles on each drive axis: a low-wear, low-traction axis and a high-wear, high-traction axis. Derived from detailed mathematical analyses, we propose a simple control scheme to counteract the performance difference from using the low-traction tires. The proposed control mechanism then distributes torque optimally between the two axes, maximizing usage from the low-wear axis and simultaneously maintaining stability and performance by leveraging high-traction tires. Through detailed numerical simulations, we demonstrate that the developed model significantly reduces tire emissions and maintains vehicle drivability and performance.

Authors:Ali Nazari, Ali Olfat
Title: Spectrum Sharing in STAR-RIS-assisted UAV with NOMA for Cognitive Radio Networks
Abstract:
As an emerging technology, the simultaneous transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) can improve the spectrum efficiency (SE) of primary users (PUs) and secondary users (SUs) in cognitive radio (CR) networks by mitigating the interference of the incident signals. The STAR-RIS-assisted unmanned aerial vehicle (UAV) can fully cover the dynamic environment through high mobility and fast deployment. According to the dynamic air-to-ground channels, the STAR-RIS-assisted UAV may face a challenge configuring their elements' coefficients (i.e., reflecting and transmitting the amplitude and phases). Hence, to meet the requirements of dynamic channel determination with the SE approach, this paper proposes the sum rate maximization of both PUs and SUs through non-orthogonal multiple access in CR network to jointly optimize the trajectory and transmission-reflection beamforming design of the STAR-RIS-assisted UAV, and power allocation. Since the non-convex joint optimization problem includes coupled optimization variables, we develop an alternative optimization algorithm. Simulation results study the impact of: 1) the significant parameters, 2) the performance of different intelligence surface modes and STAR-RIS operating protocols, 3) the joint trajectory and beamforming design with fixed and mobile users, and 4) STAR-RIS capabilities such as mitigating the interference, and how variations in the roles of elements dynamically.

Authors:Sunyi Liu, Mengzhe Geng, Rebecca Hart
Title: Exploring Generative AI Techniques in Government: A Case Study
Abstract:
The swift progress of Generative Artificial intelligence (GenAI), notably Large Language Models (LLMs), is reshaping the digital landscape. Recognizing this transformative potential, the National Research Council of Canada (NRC) launched a pilot initiative to explore the integration of GenAI techniques into its daily operation for performance excellence, where 22 projects were launched in May 2024. Within these projects, this paper presents the development of the intelligent agent Pubbie as a case study, targeting the automation of performance measurement, data management and insight reporting at the NRC. Cutting-edge techniques are explored, including LLM orchestration and semantic embedding via RoBERTa, while strategic fine-tuning and few-shot learning approaches are incorporated to infuse domain knowledge at an affordable cost. The user-friendly interface of Pubbie allows general government users to input queries in natural language and easily upload or download files with a simple button click, greatly reducing manual efforts and accessibility barriers.

Authors:Alana Marie Dee, Sajjad Moazeni
Title: A 10.8mW Mixed-Signal Simulated Bifurcation Ising Solver using SRAM Compute-In-Memory with 0.6us Time-to-Solution
Abstract:
Combinatorial optimization problems are funda- mental for various fields ranging from finance to wireless net- works. This work presents a simulated bifurcation (SB) Ising solver in CMOS for NP-hard optimization problems. Analog domain computing led to a superior implementation of this algorithm as inherent and injected noise is required in SB Ising solvers. The architecture novelties include the use of SRAM compute-in-memory (CIM) to accelerate bifurcation as well as the generation and injection of optimal decaying noise in the analog domain. We propose a novel 10-T SRAM cell capable of performing ternary multiplication. When measured with 60- node, 50% density, random, binary MAXCUT graphs, this all- to-all connected Ising solver reliably achieves above 93% of the ground state solution in 0.6us with 10.8mW average power in TSMC 180nm CMOS. Our chip achieves an order of magnitude improvement in time-to-solution and power compared to previously proposed Ising solvers in CMOS and other platforms.

Authors:Zahid Javid, Firdous Ul Nazir, Wentao Zhu, Diptargha Chakravorty, Ahmed Aboushady, Mohamed Galeela
Title: A New Paradigm in IBR Modeling for Power Flow and Short Circuit Analysis
Abstract:
The fault characteristics of inverter-based resources (IBRs) are different from conventional synchronous generators. The fault response of IBRs is non-linear due to saturation states and mainly determined by fault ride through (FRT) strategies of the associated voltage source converter (VSC). This results in prohibitively large solution times for power flows considering these short circuit characteristics, especially when the power system states change fast due to uncertainty in IBR generations. To overcome this, a phasor-domain steady state (SS) short circuit (SC) solver for IBR dominated power systems is proposed in this paper, and subsequently the developed IBR models are incorporated with a novel Jacobian-based Power Flow (PF) solver. In this multiphase PF solver, any power system components can be modeled by considering their original non-linear or linear mathematical representations. Moreover, two novel FRT strategies are proposed to fully utilize the converter capacity and to comply with IEEE-2800 2022 std and German grid code. The results are compared with the Electromagnetic Transient (EMT) simulation on the IEEE 34 test network and the 120 kV EPRI benchmark system. The developed IBR sequence domain PF model demonstrates more accurate behavior compared to the classical IBR generator model. The error in calculating the short circuit current with the proposed SC solver is less than 3%, while achieving significant speed improvements of three order of magnitudes.

Authors:Shilpa T. N., Rakesh Sinha
Title: Fully-Adaptive and Semi-Adaptive Frequency Sweep Algorithm Exploiting Loewner-State Model for EM Simulation of Multiport Systems
Abstract:
This paper employs a fully adaptive and semi-adaptive frequency sweep algorithm using the Loewner matrix-based state model for the electromagnetic simulation. The proposed algorithms use two Loewner matrix models with different or the same orders with small frequency perturbation for adaptive frequency selection. The error between the two models is calculated in each iteration, and the next frequency points are selected to minimize maximum error. With the help of memory, the algorithm terminates when the error between the model and the simulation result is reached within the specified error tolerance. In the fully adaptive frequency sweep algorithm, the method starts with the minimum and maximum frequency of simulation. In the semi-adaptive algorithm, a novel approach has been proposed to determine the initial number of frequency points necessary for system interpolation based on the electrical size of the structure. The proposed algorithms have been compared with the Stoer-Bulirsch algorithm and Pradovera's minimal sampling algorithm for electromagnetic simulation. Four examples are presented using MATLAB R2024b. The results show that the proposed methods offer better performance in terms of speed, accuracy and the requirement of the minimum number of frequency samples. The proposed method shows remarkable consistency with full-wave simulation data, and the algorithm can be effectively applicable to electromagnetic simulations.

Authors:Yingying Liu, Zhaojian Cai, Kai Cai
Title: Markov Clustering based Fully Automated Nonblocking Hierarchical Supervisory Control of Large-Scale Discrete-Event Systems
Abstract:
In this paper we revisit the abstraction-based approach to synthesize a hierarchy of decentralized supervisors and coordinators for nonblocking control of large-scale discrete-event systems (DES), and augment it with a new clustering method for automatic and flexible grouping of relevant components during the hierarchical synthesis process. This method is known as Markov clustering, which not only automatically performs grouping but also allows flexible tuning the sizes of the resulting clusters using a single parameter. Compared to the existing abstraction-based approach that lacks effective grouping method for general cases, our proposed approach based on Markov clustering provides a fully automated and effective hierarchical synthesis procedure applicable to general large-scale DES. Moreover, it is proved that the resulting hierarchy of supervisors and coordinators collectively achieves global nonblocking (and maximally permissive) controlled behavior under the same conditions as those in the existing abstraction-based approach. Finally, a benchmark case study is conducted to empirically demonstrate the effectiveness of our approach.

Authors:Tianlong Zhao, Fei Hao
Title: Appointed-Time Fault-Tolerant Control for Flexible Hypersonic Vehicles with Unmeasurable States Independent of Initial Errors
Abstract:
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping technique, an appointed-time fault-tolerant protocol independent of initial errors is proposed. Firstly, a new type of a state observer is constructed to reconstruct the unmeasurable states. Then, an error transformation function is designed to achieve prescribed performance control that does not depend on the initial tracking error. To deal with the actuator failures, practical fixed-time neural network observers are established to provide the estimation of the lumped disturbances. Finally, the proposed control strategy can ensure the practical fixed-time convergence of the closed-loop system, thereby greatly enhancing the transient performance. The proposed method addresses the challenges of ensuring real-time measurement accuracy for angle of attack and flight path angle in hypersonic vehicles, coupled with potential sudden actuator failures, effectively overcoming the drawback of prescribed performance control that requires knowledge of initial tracking errors. Some simulation results are provided to demonstrate the feasibility and the effectiveness of the proposed strategy

Authors:Ali Rasteh, Sundeep Rangan
Title: Computationally Efficient Signal Detection with Unknown Bandwidths
Abstract:
Signal detection in environments with unknown signal bandwidth and time intervals is a basic problem in adversarial and spectrum-sharing scenarios. This paper addresses the problem of detecting signals occupying unknown degrees of freedom from non-coherent power measurements where the signal is constrained to an interval in one dimension or hypercube in multiple dimensions. A Generalized Likelihood Ratio Test (GLRT) is derived, resulting in a straightforward metric involving normalized average signal energy on each candidate signal set. We present bounds on false alarm and missed detection probabilities, demonstrating their dependence on signal-to-noise ratios (SNR) and signal set sizes. To overcome the inherent computational complexity of exhaustive searches, we propose a computationally efficient binary search method, reducing the complexity from O(N2) to O(N) for one-dimensional cases. Simulations indicate that the method maintains performance near exhaustive searches and achieves asymptotic consistency, with interval-of-overlap converging to one under constant SNR as measurement size increases. The simulation studies also demonstrate superior performance and reduced complexity compared to contemporary neural network-based approaches, specifically outperforming custom-trained U-Net models in spectrum detection tasks.

Authors:Hossein Shojaei, Hamid Rahmanei, Seyed Hossein Sadati
Title: Performance Evaluation of Trajectory Tracking Controllers for a Quadruped Robot Leg
Abstract:
The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic model complexity, which utilizes an adaptive PI-algorithm to adjust the control gains. The performance of the proposed control algorithm is compared with the conventional transpose Jacobian and sliding mode control algorithms and evaluated by the root mean square of the errors and control input energy criteria. In order to appraise the effectiveness of the proposed control system, simulations are carried out in MATLAB/Simulink software for a quadruped robot leg for semi-elliptical path tracking. The obtained results show that the proposed adaptive transpose Jacobian reduces the overshoot and root mean square of the errors and at the same time, decreases the control input energy. Moreover, transpose Jacobin and adaptive transpose Jacobian are more robust to changes in initial conditions compared to the conventional sliding mode control. Furthermore, sliding mode control performs well up to 20% uncertainties in the parameters due to its model-based nature, whereas the transpose Jacobin and the proposed adaptive transpose Jacobian algorithms show promising results even in higher mass uncertainties.

Authors:Daniel Maldonado Naranjo, Anuradha M. Annaswamy
Title: Adaptive Control of Dubins Vehicle in the Presence of Loss of Effectiveness (Extended Version)
Abstract:
The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with the underlying stability analysis guaranteeing closed-loop boundedness and tracking of a desired path. It is shown that a path constructed by waypoints and a minimum turn radius can be specified using a reference model which can be followed by the closed loop system. The control design utilizes the complex state-space representation as well as a PID controller for the nominal closed-loop. How the design can be modified to ensure path following even in the presence input constraints is also discussed. Simulation studies are carried out to complement the theoretical derivations.

Authors:Sruti Mallik, ShiNung Ching
Title: Episodically adapted network-based controllers
Abstract:
We consider the problem of distributing a control policy across a network of interconnected units. Distributing controllers in this way has a number of potential advantages, especially in terms of robustness, as the failure of a single unit can be compensated by the activity of others. However, it is not obvious a priori how such network-based controllers should be constructed for any given system and control objective. Here, we propose a synthesis procedure for obtaining dynamical networks that enact well-defined control policies in a model-free manner. We specifically consider an augmented state space consisting of both the plant state and the network states. Solution of an optimization problem in this augmented state space produces a desired objective and specification of the network dynamics. Because of the analytical tractability of this method, we are able to provide convergence and robustness assessments

Authors:K. Ashoka Deepthi, Manoj Varma, Arup Polley
Title: On-Chip and Off-Chip TIA Amplifiers for Nanopore Signal Readout Design, Performance and Challenges: A Review
Abstract:
Advancements in biomedical research have driven continuous innovations in sensing and diagnostic technologies. Among these, nanopore based single molecule sensing and sequencing is rapidly emerging as a powerful and versatile sensing methodology. Advancements in nanopore based approaches require concomitant improvements in the electronic readout methods employed, from the point of low noise, bandwidth and form factor. This article focuses on current sensing circuits designed and employed for ultra low noise nanopore signal readout, addressing the fundamental limitations of traditional off chip transimpedance amplifiers (TIAs), which suffer from high input parasitic capacitance, bandwidth constraints, and increased noise at high frequencies. This review explores the latest design schemes and circuit structures classified into on-chip and off-chip TIA designs, highlighting their design implementation, performance, respective challenges and explores the interplay between noise performance, capacitance, and bandwidth across diverse transimpedance amplifier (TIA) configurations. Emphasis is placed on characterizing noise response under varying parasitic capacitance and operational frequencies, a systematic evaluation not extensively addressed in prior literature while also considering the allowable input current compliance range limitations. The review also compares the widely used Axopatch 200B system to the designs reported in literature. The findings offer valuable insights into optimizing TIA designs for enhanced signal integrity in high speed and high sensitivity applications focusing on noise reduction, impedance matching, DC blocking, and offset cancellation techniques.

Authors:Yongkang Zhang, Bin Jiang, Yajie Ma
Title: Distributed Fault-Tolerant Control for Heterogeneous MAS with Prescribed Performance under Communication Failures
Abstract:
This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and communication link failures. The proposed distributed fault-tolerant control scheme enables UAVs to accurately track a virtual leader's trajectory and achieve the desired formation, while ensuring UGVs converge within the convex hull formed by leader UAVs. By accounting for differences in system parameters and state dimensions between UAVs and UGVs, the method leverages performance functions to guarantee predefined transient and steady-state behavior. Additionally, a variable prescribed performance boundary control strategy with an adaptive learning rate is introduced to tackle actuator saturation, ensuring reliable formation tracking in real-world scenarios. Simulation results demonstrate the effectiveness and robustness of the proposed approach.

Authors:Andreas Nüchter, Lennart Werner, Martin Hesse, Dorit Borrmann, Thomas Walter, Sergio Montenegro, Gernot Grömer
Title: UWB Anchor Based Localization of a Planetary Rover
Abstract:
Localization of an autonomous mobile robot during planetary exploration is challenging due to the unknown terrain, the difficult lighting conditions and the lack of any global reference such as satellite navigation systems. We present a novel approach for robot localization based on ultra-wideband (UWB) technology. The robot sets up its own reference coordinate system by distributing UWB anchor nodes in the environment via a rocket-propelled launcher system. This allows the creation of a localization space in which UWB measurements are employed to supplement traditional SLAM-based techniques. The system was developed for our involvement in the ESA-ESRIC challenge 2021 and the AMADEE-24, an analog Mars simulation in Armenia by the Austrian Space Forum (ÖWF).

Authors:David Schaurecker, David Wozabal, Nils Löhndorf, Thorsten Staake
Title: Maximizing Battery Storage Profits via High-Frequency Intraday Trading
Abstract:
Maximizing revenue for grid-scale battery energy storage systems in continuous intraday electricity markets requires strategies that are able to seize trading opportunities as soon as new information arrives. This paper introduces and evaluates an automated high-frequency trading strategy for battery energy storage systems trading on the intraday market for power while explicitly considering the dynamics of the limit order book, market rules, and technical parameters. The standard rolling intrinsic strategy is adapted for continuous intraday electricity markets and solved using a dynamic programming approximation that is two to three orders of magnitude faster than an exact mixed-integer linear programming solution. A detailed backtest over a full year of German order book data demonstrates that the proposed dynamic programming formulation does not reduce trading profits and enables the policy to react to every relevant order book update, enabling realistic rapid backtesting. Our results show the significant revenue potential of high-frequency trading: our policy earns 58% more than when re-optimizing only once every hour and 14% more than when re-optimizing once per minute, highlighting that profits critically depend on trading speed. Furthermore, we leverage the speed of our algorithm to train a parametric extension of the rolling intrinsic, increasing yearly revenue by 8.4% out of sample.

Authors:Vuong Anh Trung, Thanh Son Pham, Truc Thanh Tran, Tran le Thang Dong, Tran Thuan Hoang
Title: Learning-Inspired Fuzzy Logic Algorithms for Enhanced Control of Oscillatory Systems
Abstract:
The transportation of sensitive equipment often suffers from vibrations caused by terrain, weather, and motion speed, leading to inefficiencies and potential damage. To address this challenge, this paper explores an intelligent control framework leveraging fuzzy logic, a foundational AI technique, to suppress oscillations in suspension systems. Inspired by learning based methodologies, the proposed approach utilizes fuzzy inference and Gaussian membership functions to emulate adaptive, human like decision making. By minimizing the need for explicit mathematical models, the method demonstrates robustness in both linear and nonlinear systems. Experimental validation highlights the controllers ability to adapt to varying suspension lengths, reducing oscillation amplitudes and improving stability under dynamic conditions. This research bridges the gap between traditional control systems and learning inspired techniques, offering a scalable, data efficient solution for modern transportation challenges

Authors:Gulshan Kumar, Prasannaa Kumar D, Jay Dhariwal, Seshan Srirangarajan
Title: Reliability Assessment of Low-Cost PM Sensors under High Humidity and High PM Level Outdoor Conditions
Abstract:
Low-cost particulate matter (PM) sensors have become increasingly popular due to their compact size, low power consumption, and cost-effective installation and maintenance. While several studies have explored the effects of meteorological conditions and pollution exposure on low-cost sensor (LCS) performance, few have addressed the combined impact of high PM concentration and high humidity levels. In contrast to most evaluation studies, which generally report $\text{PM}_{2.5}$ levels below $150~μ\text{g/m}^3$, our study observed hourly average $\text{PM}_{2.5}$ concentrations ranging from $6-611~μ\text{g/m}^3$ (mean value of $137~μ\text{g/m}^3$), with relative humidity between $25-95\%$ (mean value of $72\%$), and temperature varying from $6-29^\circ$C (mean value of $16^\circ$C). We evaluate three LCS models (SPS30, PMS7003, HPMA115C0-004) in outdoor conditions during the winter season in New Delhi, India, deployed alongside a reference-grade beta attenuation monitor (BAM). The results indicate a strong correlation between LCS and BAM measurements (${R^2} > 90\%$). The RMSE increases with increasing PM concentration and humidity levels but the narrow $95\%$ confidence interval range of LCS as a function of the reference BAM suggests the importance of LCS in air pollution monitoring. Among the evaluated LCS models, SPS30 showed the highest overall accuracy. Overall, the study demonstrates that LCS can effectively monitor air quality in regions with high PM and high humidity levels, provided appropriate correction models are applied.

Authors:Samantha Israel, Sanjana Kunkolienkar, Ana Goulart, Kate Davis, Thomas Overbye
Title: A Scalable Automatic Model Generation Tool for Cyber-Physical Network Topologies and Data Flows for Large-Scale Synthetic Power Grid Models
Abstract:
Power grids and their cyber infrastructure are classified as Critical Energy Infrastructure/Information (CEII) and are not publicly accessible. While realistic synthetic test cases for power systems have been developed in recent years, they often lack corresponding cyber network models. This work extends synthetic grid models by incorporating cyber-physical representations. To address the growing need for realistic and scalable models that integrate both cyber and physical layers in electric power systems, this paper presents the Scalable Automatic Model Generation Tool (SAM-GT). This tool enables the creation of large-scale cyber-physical topologies for power system models. The resulting cyber-physical network models include power system switches, routers, and firewalls while accounting for data flows and industrial communication protocols. Case studies demonstrate the tool's application to synthetic grid models of 500, 2,000, and 10,000 buses, considering three distinct network topologies. Results from these case studies include network metrics on critical nodes, hops, and generation times, showcasing effectiveness, adaptability, and scalability of SAM-GT.

Authors:Iman Soltani, Johnaton Schofield, Mehran Madani, Daniel Kish, Parisa Emami-Naeini
Title: User-Centered Insights into Assistive Navigation Technologies for Individuals with Visual Impairment
Abstract:
Navigational challenges significantly impact the independence and mobility of Individuals with Visual Impairment (IVI). While numerous assistive technologies exist, their adoption remains limited due to usability challenges, financial constraints, and a lack of alignment with user needs. This study employs a mixed-methods approach, combining structured surveys and virtual workshops with 19 IVI to investigate their experiences, needs, and preferences regarding assistive technologies for navigation and daily living. The survey results provide insights into participants technological competence, preferences for assistive devices, and willingness to adopt new solutions. In parallel, workshop discussions offer qualitative perspectives on key navigation challenges, including difficulties in detecting overhead obstacles, navigating environments with complex layout, and the limitations of existing technologies. Findings highlight the need for assistive devices that integrate both navigational guidance and high-level spatial awareness, allowing users to build mental maps of their surroundings. Additionally, multimodal feedback, combining audio, haptic, and tactile cues, emerges as a crucial feature to accommodate diverse user preferences and environmental conditions. The study also underscores financial and training barriers that limit access to advanced assistive technologies. Based on these insights, we recommend the development of customizable, user-friendly, and most importantly affordable navigation aids that align with the daily needs of IVI. The findings from this study provide guidance for technology developers, researchers, and policymakers working toward more inclusive and effective assistive solutions.

Authors:Tihol Ivanov Donchev, Brayan M. Shali, Rodolphe Sepulchre
Title: Linear time-and-space-invariant relaxation systems
Abstract:
This paper generalizes the physical property of relaxation from linear time-invariant (LTI) to linear time-and-space-invariant (LTSI) systems. It is shown that the defining features of relaxation -- complete monotonicity, passivity, and memory-based storage -- carry over seamlessly to the spatio-temporal domain. An LTSI system is shown to be of relaxation type if and only if its associated spatio-temporal Hankel operator is cyclically monotone. This implies the existence of an intrinsic quadratic storage functional defined uniquely by past inputs, independently of any state-space realization. As in the LTI case, LTSI relaxation systems are shown to be those systems for which the state-space concept of storage coincides with the input-output concept of fading memory functional.

Authors:Kang Tong, Christian Grussler, Michelle S. Chong
Title: Self-sustained oscillations in discrete-time relay feedback systems
Abstract:
We study the problem of determining self-sustained oscillations in discrete-time linear time-invariant relay feedback systems. Concretely, we are interested in predicting when such a system admits unimodal oscillations, i.e., when the output has a single-peaked period. Under the assumption that the linear system is stable and has an impulse response that is strictly monotonically decreasing on its infinite support, we take a novel approach in using the framework of total positivity to address our main question. It is shown that unimodal self-oscillations can only exist if the number of positive and negative elements in a period coincides. Based on this result, we derive conditions for the existence of such oscillations, determine bounds on their periods, and address the question of uniqueness.

Authors:Kerd Topallaj, Colin McKerrell, Suraj Ramanathan, Ioannis Zografopoulos
Title: Impact Assessment of Cyberattacks in Inverter-Based Microgrids
Abstract:
In recent years, the evolution of modern power grids has been driven by the growing integration of remotely controlled grid assets. Although Distributed Energy Resources (DERs) and Inverter-Based Resources (IBRs) enhance operational efficiency, they also introduce cybersecurity risks. The remote accessibility of such critical grid components creates entry points for attacks that adversaries could exploit, posing threats to the stability of the system. To evaluate the resilience of energy systems under such threats, this study employs real-time simulation and a modified version of the IEEE 39-bus system that incorporates a Microgrid (MG) with solar-based IBR. The study assesses the impact of remote attacks impacting the MG stability under different levels of IBR penetration through hardware-in-the-loop (HIL) simulations. Namely, we analyze voltage, current, and frequency profiles before, during, and after cyberattack-induced disruptions. The results demonstrate that real-time HIL testing is a practical approach to uncover potential risks and develop robust mitigation strategies for resilient MG operations.

Authors:Juan Giribet, Alejandro Ghersin, Ignacio Mas
Title: Adaptive Multirobot Virtual Structure Control using Dual Quaternions
Abstract:
A dual quaternion-based control strategy for formation flying of small UAV groups is proposed. Through the definition of a virtual structure, the coordinated control of formation's position, orientation, and shape parameters is enabled. This abstraction simplifies formation management, allowing a low-level controller to compute commands for individual UAVs. The controller is divided into a pose control module and a geometry-based adaptive strategy, providing efficient and precise task execution. Simulation and experimental results validate the approach.

Authors:Amine Othmane, Kathrin Flaßkamp
Title: Neural network-enhanced integrators for simulating ordinary differential equations
Abstract:
Numerous applications necessitate the computation of numerical solutions to differential equations across a wide range of initial conditions and system parameters, which feeds the demand for efficient yet accurate numerical integration methods.This study proposes a neural network (NN) enhancement of classical numerical integrators. NNs are trained to learn integration errors, which are then used as additive correction terms in numerical schemes. The performance of these enhanced integrators is compared with well-established methods through numerical studies, with a particular emphasis on computational efficiency. Analytical properties are examined in terms of local errors and backward error analysis. Embedded Runge-Kutta schemes are then employed to develop enhanced integrators that mitigate generalization risk, ensuring that the neural network's evaluation in previously unseen regions of the state space does not destabilize the integrator. It is guaranteed that the enhanced integrators perform at least as well as the desired classical Runge-Kutta schemes. The effectiveness of the proposed approaches is demonstrated through extensive numerical studies using a realistic model of a wind turbine, with parameters derived from the established simulation framework OpenFast.

Authors:Sasan Vakili, Manuel Mazo, Peyman Mohajerin Esfahani
Title: Optimal Bayesian Affine Estimator and Active Learning for the Wiener Model
Abstract:
This paper presents a Bayesian estimation framework for Wiener models, focusing on learning nonlinear output functions under known linear state dynamics. We derive a closed-form optimal affine estimator for the unknown parameters, characterized by the so-called "dynamic basis statistics" (DBS). Several features of the proposed estimator are studied, including Bayesian unbiasedness, closed-form posterior statistics, error monotonicity in trajectory length, and consistency condition (also known as persistent excitation). In the special case of Fourier basis functions, we demonstrate that the closed-form description is computationally available, as the Fourier DBS enjoys explicit expressions. Furthermore, we identify an inherent inconsistency in the Fourier bases for single-trajectory measurements, regardless of the input excitation. Leveraging the closed-form estimation error, we develop an active learning algorithm synthesizing input signals to minimize estimation error. Numerical experiments validate the efficacy of our approach, showing significant improvements over traditional regularized least-squares methods.

Authors:Malak Annabi, Abdelhafid Zeroual, Nadhir Messai
Title: Towards Zero Trust Security in Connected Vehicles: A Comprehensive Survey
Abstract:
Zero Trust is the new cybersecurity model that challenges the traditional one by promoting continuous verification of users, devices, and applications, whatever their position or origin. This model is critical for reducing the attack surface and preventing lateral movement without relying on implicit trust. Adopting the zero trust principle in Intelligent Transportation Systems (ITS), especially in the context of connected vehicles (CVs), presents an adequate solution in the face of increasing cyber threats, thereby strengthening the ITS environment. This paper offers an understanding of Zero Trust security through a comprehensive review of existing literature, principles, and challenges. It specifically examines its applications in emerging technologies, particularly within connected vehicles, addressing potential issues and cyber threats faced by CVs. Inclusion/exclusion criteria for the systematic literature review were planned alongside a bibliometric analysis. Moreover, keyword co-occurrence analysis was done, which indicates trends and general themes for the Zero Trust model, Zero Trust implementation, and Zero Trust application. Furthermore, the paper explores various ZT models proposed in the literature for connected vehicles, shedding light on the challenges associated with their integration into CV systems. Future directions of this research will focus on incorporating Zero Trust principles within Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communication paradigms. This initiative intends to enhance the security posture and safety protocols within interconnected vehicular networks. The proposed research seeks to address the unique cybersecurity vulnerabilities inherent in the highly dynamic nature of vehicular communication systems.

Authors:Blanka Burchard, Franek Stark
Title: Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum
Abstract:
The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendubot from any configuration in the state space. This paper presents an optimal control-based approach using a real-time Nonlinear Model Predictive Control (MPC). The results show that the controller achieves good performance and robustness and can reliably handle disturbances.

Authors:Ramachandran Anantharaman, Carlos Gonzalez Rojas, Luna Artemis van Leeuwen, Leyla Özkan
Title: Estimation of Heat Transfer Coefficient in Heat Exchangers from closed-loop data using Neural Networks
Abstract:
Heat exchangers (HEXs) play a central role in process industries for thermal energy transfer. Fouling, the gradual accumulation of solids on heat transfer surfaces, causes a time-varying decrease in the overall heat transfer coefficient (U(t)), significantly impacting the efficiency of heat transfer. Good estimation and modeling of fouling (the heat transfer coefficient) will lead to better fouling mitigation strategies. This study investigates the identifiability of the time-varying $U(t)$ in HEXs from closed-loop operational data, without external excitation of reference signals or knowledge of the controller parameters. We establish that while the complete system model cannot be identified under these given constraints, the time-varying heat transfer coefficient $U(t)$ remains identifiable. Further, we propose a neural network based architecture, called (Per-PINN), for estimation and modeling the heat transfer coefficient from the closed-loop system data. This Per-PINN model is shown to perform better than the existing Physics-Informed Neural Networks (PINN) based models for inverse parameter learning as it inherently fixes the underlying physical equations and learns only the time-varying parameter U(t).

Authors:Ziqing Guo, Binh H. Nguyen, Hamed Hamzehbahmani, Ruth V. Sabariego
Title: Dynamic hysteresis model of grain-oriented ferromagnetic material using neural operators
Abstract:
Accurately capturing the behavior of grain-oriented (GO) ferromagnetic materials is crucial for modeling the electromagnetic devices. In this paper, neural operator models, including Fourier neural operator (FNO), U-net combined FNO (U-FNO) and Deep operator network (DeepONet) are used to approximate the dynamic hysteresis models of GO steel. Furthermore, two types of data augmentation strategies including cyclic rolling augmentation and Gaussian data augmentation (GDA) are implemented to enhance the learning ability of models. With the inclusion of these augmentation techniques, the optimized models account for not only the peak values of the magnetic flux density but also the effects of different frequencies and phase shifts. The accuracy of all models is assessed using the L2-norm of the test data and the mean relative error (MRE) of calculated core losses. Each model performs well in different scenarios, but FNO consistently achieves the best performance across all cases.

Authors:Yogesh Gajula, Ravi Varma Lingala
Title: Modeling, Translation, and Analysis of Different examples using Simulink, Stateflow, SpaceEx, and FlowStar
Abstract:
This report details the translation and testing of multiple benchmarks, including the Six Vehicle Platoon, Two Bouncing Ball, Three Tank System, and Four-Dimensional Linear Switching, which represent continuous and hybrid systems. These benchmarks were gathered from past instances involving diverse verification tools such as SpaceEx, Flow*, HyST, MATLAB-Simulink, Stateflow, etc. They cover a range of systems modeled as hybrid automata, providing a comprehensive set for analysis and evaluation. Initially, we created models for all four systems using various suitable tools. Subsequently, these models were converted to the SpaceEx format and then translated into different formats compatible with various verification tools. Adapting our approach to the dynamic characteristics of each system, we performed reachability analysis using the respective verification tools.

Authors:Fernando Rosas, Alexander Boyd, Manuel Baltieri
Title: AI in a vat: Fundamental limits of efficient world modelling for agent sandboxing and interpretability
Abstract:
Recent work proposes using world models to generate controlled virtual environments in which AI agents can be tested before deployment to ensure their reliability and safety. However, accurate world models often have high computational demands that can severely restrict the scope and depth of such assessments. Inspired by the classic `brain in a vat' thought experiment, here we investigate ways of simplifying world models that remain agnostic to the AI agent under evaluation. By following principles from computational mechanics, our approach reveals a fundamental trade-off in world model construction between efficiency and interpretability, demonstrating that no single world model can optimise all desirable characteristics. Building on this trade-off, we identify procedures to build world models that either minimise memory requirements, delineate the boundaries of what is learnable, or allow tracking causes of undesirable outcomes. In doing so, this work establishes fundamental limits in world modelling, leading to actionable guidelines that inform core design choices related to effective agent evaluation.

Authors:Cheng Yuwen, Guanghui Wen, Jialing Zhou, Meng Luan, Tingwen Huang
Title: Distributed Nash Equilibrium Seeking in Coalition Games for Uncertain Euler-Lagrange Systems With Application to USV Swarm Confrontation
Abstract:
In this paper, a coalition game with local and coupling constraints is studied for uncertain Euler-Lagrange (EL) systems subject to disturbances with unknown bounds. In the coalition game, each agent collaborates with other agents within the same coalition to optimize its coalition's cost function while simultaneously competing against agents in other coalitions. Under a distributed framework where each agent has access only to its own action, cost function, and constraint parameters, a distributed strategy is proposed to seek the Nash equilibrium (NE). By combining adaptive methods and sign functions, model uncertainties and disturbances with unknown bounds in the EL system are compensated and suppressed, respectively. Furthermore, an integration of adaptive methods and consensus protocols is employed to update the Lagrange multipliers of both local and coupling constraints. A dynamic average consensus is employed to estimate the gradient of coalition function, while the leader-following protocol is adopted to estimate the actions of other agents. By leveraging Lyapunov theory, the NE is proven to be asymptotically stable. Moreover, an unmanned surface vehicle swarm confrontation is meticulously modeled and analyzed in the coalition game framework. A diverse array of tasks, including formation, encirclement, and interception, are systematically formulated. A numerical example demonstrates the effectiveness of the proposed algorithm.

Authors:Zhewei Wang, Olugbenga Moses Anubi, Marcos M. Vasconcelos
Title: Optimal Teaming for Coordination with Bounded Rationality via Convex Optimization
Abstract:
Teaming is the process of establishing connections among agents within a system to enable collaboration toward achieving a collective goal. This paper examines teaming in the context of a network of agents learning to coordinate with bounded rationality. In our framework, the team structure is represented via a weighted graph, and the agents use log-linear learning. We formulate the design of the graph's weight matrix as a convex optimization problem whose objective is to maximize the probability of learning a Nash equilibrium while minimizing a connectivity cost. Despite its convexity, solving this optimization problem is computationally challenging, as the objective function involves the summation over the action profile space, which grows exponentially with the number of agents. Leveraging the underlying symmetry and convexity properties of the problem, when there are no sparsity constraints, we prove that there exists an optimal solution corresponding to a uniformly weighted graph, simplifying to a one-dimensional convex optimization problem. Additionally, we show that the optimal weight decreases monotonically with the agent's rationality, implying that when the agents become more rational the optimal team requires less connectivity.

Authors:Yufei Jiang, Yuanzhu Zhan, Harsh Vardhan Gupta, Chinmay Borde, Junyi Geng
Title: A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning
Abstract:
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular planning systems often introduce latency and suboptimal performance due to limited information sharing and local minima issues. End-to-end learning approaches streamline the pipeline by mapping sensory observations directly to actions but require large-scale datasets, face significant sim-to-real gaps, or lack dynamical feasibility. In this paper, we propose a self-supervised UAV trajectory planning pipeline that integrates a learning-based depth perception with differentiable trajectory optimization. A 3D cost map guides UAV behavior without expert demonstrations or human labels. Additionally, we incorporate a neural network-based time allocation strategy to improve the efficiency and optimality. The system thus combines robust learning-based perception with reliable physics-based optimization for improved generalizability and interpretability. Both simulation and real-world experiments validate our approach across various environments, demonstrating its effectiveness and robustness. Our method achieves a 31.33% improvement in position tracking error and 49.37% reduction in control effort compared to the state-of-the-art.

Authors:Kesav Kaza, Jerome Le Ny, Aditya Mahajan
Title: Task load dependent decision referrals for joint binary classification in human-automation teams
Abstract:
We consider the problem of optimal decision referrals in human-automation teams performing binary classification tasks. The automation, which includes a pre-trained classifier, observes data for a batch of independent tasks, analyzes them, and may refer a subset of tasks to a human operator for fresh and final analysis. Our key modeling assumption is that human performance degrades with task load. We model the problem of choosing which tasks to refer as a stochastic optimization problem and show that, for a given task load, it is optimal to myopically refer tasks that yield the largest reduction in expected cost, conditional on the observed data. This provides a ranking scheme and a policy to determine the optimal set of tasks for referral. We evaluate this policy against a baseline through an experimental study with human participants. Using a radar screen simulator, participants made binary target classification decisions under time constraint. They were guided by a decision rule provided to them, but were still prone to errors under time pressure. An initial experiment estimated human performance model parameters, while a second experiment compared two referral policies. Results show statistically significant gains for the proposed optimal referral policy over a blind policy that determines referrals using the automation and human-performance models but not based on the observed data.

Authors:Farbod Younesi, Milad Rabiei, Soroush Keivanfard, Mohsen Sharifi, Marzieh Ghayour Najafabadi, Bahar Moadeli, Arshia Jafari, Mohammad Hossein Moaiyeri
Title: An Optimized Density-Based Lane Keeping System for A Cost-Efficient Autonomous Vehicle Platform: AurigaBot V1
Abstract:
The development of self-driving cars has garnered significant attention from researchers, universities, and industries worldwide. Autonomous vehicles integrate numerous subsystems, including lane tracking, object detection, and vehicle control, which require thorough testing and validation. Scaled-down vehicles offer a cost-effective and accessible platform for experimentation, providing researchers with opportunities to optimize algorithms under constraints of limited computational power. This paper presents a four-wheeled autonomous vehicle platform designed to facilitate research and prototyping in autonomous driving. Key contributions include (1) a novel density-based clustering approach utilizing histogram statistics for landmark tracking, (2) a lateral controller, and (3) the integration of these innovations into a cohesive platform. Additionally, the paper explores object detection through systematic dataset augmentation and introduces an autonomous parking procedure. The results demonstrate the platform's effectiveness in achieving reliable lane tracking under varying lighting conditions, smooth trajectory following, and consistent object detection performance. Though developed for small-scale vehicles, these modular solutions are adaptable for full-scale autonomous systems, offering a versatile and cost-efficient framework for advancing research and industry applications.

Authors:Muhammad El-Mahdy, Nourhan Sakr, Rodrigo Carrasco
Title: Improving Mixed-Criticality Scheduling with Reinforcement Learning
Abstract:
This paper introduces a novel reinforcement learning (RL) approach to scheduling mixed-criticality (MC) systems on processors with varying speeds. Building upon the foundation laid by [1], we extend their work to address the non-preemptive scheduling problem, which is known to be NP-hard. By modeling this scheduling challenge as a Markov Decision Process (MDP), we develop an RL agent capable of generating near-optimal schedules for real-time MC systems. Our RL-based scheduler prioritizes high-critical tasks while maintaining overall system performance. Through extensive experiments, we demonstrate the scalability and effectiveness of our approach. The RL scheduler significantly improves task completion rates, achieving around 80% overall and 85% for high-criticality tasks across 100,000 instances of synthetic data and real data under varying system conditions. Moreover, under stable conditions without degradation, the scheduler achieves 94% overall task completion and 93% for high-criticality tasks. These results highlight the potential of RL-based schedulers in real-time and safety-critical applications, offering substantial improvements in handling complex and dynamic scheduling scenarios.

Authors:Luca Meda, Stephanie Stockar
Title: Koopman-Based Methods for EV Climate Dynamics: Comparing eDMD Approaches
Abstract:
In this paper, data-driven algorithms based on Koopman Operator Theory are applied to identify and predict the nonlinear dynamics of a vapor compression system and cabin temperature in a light-duty electric vehicle. By leveraging a high-fidelity nonlinear HVAC model, the system behavior is captured in a lifted higher-dimensional state space, enabling a linear representation. A comparative analysis of three Koopman-based system identification approaches (polynomial libraries, radial basis functions (RBF), and neural network-based dictionary learning) is conducted. Accurate prediction of power consumption over entire driving cycles is demonstrated by incorporating power as a measurable output within the Koopman framework. The performance of each method is rigorously evaluated through simulations under various driving cycles and ambient conditions, highlighting their potential for real-time prediction and control in energy-efficient vehicle climate management. This study offers a scalable, data-driven methodology that can be extended to other complex nonlinear systems.

Authors:Maria Parajeles Herrera, Gabriela Hug
Title: Modeling Charging Demand and Quantifying Flexibility Bounds for Large-Scale BEV Fleets
Abstract:
This paper presents a bottom-up method to model baseline charging power demand and quantify available flexibility for large-scale BEV fleets. The method utilizes geographic and sociodemographic information to represent the fleet's mobility and driving energy needs. It models the charging decisions of drivers based on their driving energy needs and range comfort level using real-world data. The flexibility quantification provides an hourly maximum and minimum bound for the charging power and limits the amount of daily flexible charging energy. We apply the methodology to the future fully electrified fleet of Switzerland as a case study and compare the spatio-temporal characteristics of the charging demand and flexibility of different geographic areas and urbanization levels.

Authors:Lucas Cammann, Johannes Jäschke
Title: State estimation for gas purity monitoring and control in water electrolysis systems
Abstract:
Green hydrogen, produced via water electrolysis using renewable energy, is seen as a cornerstone of the energy transition. Coupling of renewable power supplies to water electrolysis processes is, however, challenging, as explosive gas mixtures (hydrogen in oxygen) might form at low loads. This has prompted research into gas purity control of such systems. While these attempts have shown to be successful in theoretical and practical studies, they are currently limited in that they only consider the gas purity at locations where composition measurements are available. As these locations are generally positioned downstream of the disturbance origin, this incurs considerable delays and can lead to undetected critical conditions. In this work, we propose the use of an Extended Kalman Filter (EKF) in combination with a simple process model to estimate and control the gas composition at locations where measurements are not available. The model uses noise-driven states for the gas impurity and is hence agnostic towards any mechanistic disturbance model. We show in simulations that this simple approach performs well under various disturbance types and can reduce the time spent in potentially hazardous conditions by up to one order of magnitude.

Authors:Dongjun Wu, Guilherme Perticarari, Thierry Baasch
Title: Controllability Analysis of Multi-Modal Acoustic Particle Manipulation in One-Dimensional Standing Waves
Abstract:
Acoustic manipulation in microfluidic devices enables contactless handling of biological cells for Lab-on-Chip applications. This paper analyzes the controllability of multi-particle systems in a one-dimensional acoustic standing wave system using multi-modal actuation. By modeling the system as a nonlinear control system, we analyze its global and local controllability, quantifying these properties in terms of mode numbers. Our results show that sufficient modes enable dense reachability sets, while mode mixing with 10 modes grants a strict notion of controllability to 80\% of the state space in a two-particle system. These findings offer theoretical insights for designing acoustic manipulation algorithms, supporting efficient control in biomedical applications.

Authors:Joppe De Jonghe, Mariya Ishteva
Title: Non-parametric B-spline decoupling of multivariate functions
Abstract:
Many scientific fields and applications require compact representations of multivariate functions. For this problem, decoupling methods are powerful techniques for representing the multivariate functions as a combination of linear transformations and nonlinear univariate functions. This work introduces an efficient decoupling algorithm that leverages the use of B-splines to allow a non-parametric estimation of the decoupling's internal functions. The use of B-splines alleviates the problem of choosing an appropriate basis, as in parametric methods, but still allows an intuitive way to tweak the flexibility of the estimated functions. Besides the non-parametric property, the use of B-spline representations allows for easy integration of nonnegativity or monotonicity constraints on the function shapes, which is not possible for the currently available (non-)parametric decoupling methods. The proposed algorithm is illustrated on synthetic examples that highlight the flexibility of the B-spline representation and the ease with which a monotonicity constraint can be added. The examples also show that if monotonic functions are required, enforcing the constraint is necessary.

Authors:Yu Kawano, Bart Besselink, Jacquelien M. A. Scherpen
Title: On Differential Controllability and Observability Functions
Abstract:
Differential balancing theory for nonlinear model reduction relies on differential controllability and observability functions. In this paper, we further investigate them from two different perspectives. First, we establish novel connections between these differential energy functions and their incremental counterparts by assuming the existence of the corresponding optimal state feedback for each controllability function. Specifically, an upper bound on the incremental controllability/observability function is provided by the corresponding differential energy function. Conversely, an upper bound on the differential controllability function can be estimated from the incremental controllability function. Furthermore, the differential observability function can be constructed from the incremental observability function. Second, we explore the positive definiteness of the differential controllability/observability function in the context of controllability/observability and stability.

Authors:Youngjae Jeon, Eunho Heo, Jinmo Lee, Taewon Uhm, Dongjin Lee
Title: A Robust Method for Fault Detection and Severity Estimation in Mechanical Vibration Data
Abstract:
This paper proposes a robust method for fault detection and severity estimation in multivariate time-series data to enhance predictive maintenance of mechanical systems. We use the Temporal Graph Convolutional Network (T-GCN) model to capture both spatial and temporal dependencies among variables. This enables accurate future state predictions under varying operational conditions. To address the challenge of fluctuating anomaly scores that reduce fault severity estimation accuracy, we introduce a novel fault severity index based on the mean and standard deviation of anomaly scores. This generates a continuous and reliable severity measurement. We validate the proposed method using two experimental datasets: an open IMS bearing dataset and data collected from a fanjet electric propulsion system. Results demonstrate that our method significantly reduces abrupt fluctuations and inconsistencies in anomaly scores. This provides a more dependable foundation for maintenance planning and risk management in safety-critical applications.

Authors:Lantian Zhang, Silun Zhang
Title: Online Learning for Nonlinear Dynamical Systems without the I.I.D. Condition
Abstract:
This paper investigates online identification and prediction for nonlinear stochastic dynamical systems. In contrast to offline learning methods, we develop online algorithms that learn unknown parameters from a single trajectory. A key challenge in this setting is handling the non-independent data generated by the closed-loop system. Existing theoretical guarantees for such systems are mostly restricted to the assumption that inputs are independently and identically distributed (i.i.d.), or that the closed-loop data satisfy a persistent excitation (PE) condition. However, these assumptions are often violated in applications such as adaptive feedback control. In this paper, we propose an online projected Newton-type algorithm for parameter estimation in nonlinear stochastic dynamical systems, and develop an online predictor for system outputs based on online parameter estimates. By using both the stochastic Lyapunov function and martingale estimation methods, we demonstrate that the average regret converges to zero without requiring traditional persistent excitation (PE) conditions. Furthermore, we establish a novel excitation condition that ensures global convergence of the online parameter estimates. The proposed excitation condition is applicable to a broader class of system trajectories, including those violating the PE condition.

Authors:Lu Cheng, Qixiu Zhang, Beibei Xu, Zhiwei Huang, Cirun Zhang, Yanan Lyu, Fan Zhang
Title: Exploration of Multi-Element Collaborative Research and Application for Modern Power System Based on Generative Large Models
Abstract:
The transition to intelligent, low-carbon power systems necessitates advanced optimization strategies for managing renewable energy integration, energy storage, and carbon emissions. Generative Large Models (GLMs) provide a data-driven approach to enhancing forecasting, scheduling, and market operations by processing multi-source data and capturing complex system dynamics. This paper explores the role of GLMs in optimizing load-side management, energy storage utilization, and electricity carbon, with a focus on Smart Wide-area Hybrid Energy Systems with Storage and Carbon (SGLSC). By leveraging spatiotemporal modeling and reinforcement learning, GLMs enable dynamic energy scheduling, improve grid stability, enhance carbon trading strategies, and strengthen resilience against extreme weather events. The proposed framework highlights the transformative potential of GLMs in achieving efficient, adaptive, and low-carbon power system operations.

Authors:Max Herkersdorf, Oliver Nelles
Title: Online and Offline Space-Filling Input Design for Nonlinear System Identification: A Receding Horizon Control-Based Approach
Abstract:
The effectiveness of data-driven techniques heavily depends on the input signal used to generate the estimation data. However, a significant research gap exists in the field of input design for nonlinear dynamic system identification. In particular, existing methods largely overlook the minimization of the generalization error, i.e., model inaccuracies in regions not covered by the estimation dataset. This work addresses this gap by proposing an input design method that embeds a novel optimality criterion within a receding horizon control (RHC)-based optimization framework. The distance-based optimality criterion induces a space-filling design within a user-defined region of interest in a surrogate model's input space, requiring only minimal prior knowledge. Additionally, the method is applicable both online, where model parameters are continuously updated based on process observations, and offline, where a fixed model is employed. The space-filling performance of the proposed strategy is evaluated on an artificial example and compared to state-of-the-art methods, demonstrating superior efficiency in exploring process operating regions.

Authors:Athanasios Gkelias, Patrick J. Baker, Kin K. Leung, Olwen Worthington, Christopher R. Melville
Title: Digital Twins for Internet of Battlespace Things (IoBT) Coalitions
Abstract:
This paper presents a new framework for integrating Digital Twins (DTs) within Internet of battlespace Things (IoBT) coalitions. We introduce a novel three-tier architecture that enables efficient coordination and management of DT models across coalition partners while addressing key challenges in interoperability, security, and resource allocation. The architecture comprises specialized controllers at each tier: Digital Twin Coalition Partner (DTCP) controllers managing individual coalition partners' DT resources, a central Digital Twin Coalition(DTC) controller orchestrating cross-partner coordination, and Digital Twin Coalition Mission (DTCP) controllers handling mission-specific DT interactions. We propose a hybrid approach for DT model placement across edge devices, tactical nodes, and cloud infrastructure, optimizing performance while maintaining security and accessibility. The architecture leverages software-defined networking principles for dynamic resource allocation and slice management, enabling efficient sharing of computational and network resources between DT operations and primary IoBT functions. Our proposed framework aims to provide a robust foundation for deploying and managing Digital Twins in coalition warfare, enhancing situational awareness, decision-making capabilities, and operational effectiveness while ensuring secure and interoperable operations across diverse coalition partners.

Authors:Rodolphe Sepulchre, Guanchun Tong
Title: On the threshold of excitable systems: An energy-based perspective
Abstract:
A fundamental characteristic of excitable systems is their ability to exhibit distinct subthreshold and suprathreshold behaviors. Precisely quantifying this distinction requires a proper definition of the threshold, which has remained elusive in neurodynamics. In this paper, we introduce a novel, energy-based threshold definition for excitable circuits grounded in dissipativity theory, specifically using the classical concept of required supply. According to our definition, the threshold corresponds to a local maximum of the required supply, clearly separating subthreshold passive responses from suprathreshold regenerative spikes. We illustrate and validate the proposed definition through analytical and numerical studies of three canonical systems: a simple RC circuit, the FitzHugh--Nagumo model, and the biophysically detailed Hodgkin--Huxley model.

Authors:Dipankar Maity, Kushal Chakrabarti
Title: On Model Protection in Federated Learning against Eavesdropping Attacks
Abstract:
In this study, we investigate the protection offered by federated learning algorithms against eavesdropping adversaries. In our model, the adversary is capable of intercepting model updates transmitted from clients to the server, enabling it to create its own estimate of the model. Unlike previous research, which predominantly focuses on safeguarding client data, our work shifts attention protecting the client model itself. Through a theoretical analysis, we examine how various factors, such as the probability of client selection, the structure of local objective functions, global aggregation at the server, and the eavesdropper's capabilities, impact the overall level of protection. We further validate our findings through numerical experiments, assessing the protection by evaluating the model accuracy achieved by the adversary. Finally, we compare our results with methods based on differential privacy, underscoring their limitations in this specific context.

Authors:Peter Ashwood-Smith, Bill McCormick
Title: Orthodromic Routing and Forwarding for Large Satellite Constellations
Abstract:
Low earth orbit satellite constellations with intersatellite links (ISLs) are currently being developed and deployed. The availability of ISLs provides the capability to route across the satellite constellation, rather than using the satellite as a single hop in a bent-pipe configuration. We present a fully distributed solution to routing and forwarding which we call Orthodromic Routing (OR(r) ). OR(r) routing is built on a foundation of both geographic and link state routing to create a hybrid protocol which scales to enormous constellations with excellent failure handling. Our work includes an addressing and forwarding plane for OR(r)which can be implemented in hardware in a highly parallel manner to achieve line rates while only requiring a bounded number of forwarding table entries.

Authors:Seyyed Reza Jafari, Anders Hansson, Bo Wahlberg
Title: Path planning with moving obstacles using stochastic optimal control
Abstract:
Navigating a collision-free, optimal path for a robot poses a perpetual challenge, particularly in the presence of moving objects such as humans. In this study, we formulate the problem of finding an optimal path as a stochastic optimal control problem. However, obtaining a solution to this problem is nontrivial. Therefore, we consider a simplified problem, which is more tractable. For this simplified formulation, we are able to solve the corresponding Bellman equation. However, the solution obtained from the simplified problem does not sufficiently address the original problem of interest. To address the full problem, we propose a numerical procedure where we solve an optimization problem at each sampling instant. The solution to the simplified problem is integrated into the online formulation as a final-state penalty. We illustrate the efficiency of the proposed method using a numerical example.

Authors:Ioannis Faros, Herbert G. Tanner
Title: System Identification and Adaptive Input Estimation on the Jaiabot Micro Autonomous Underwater Vehicle
Abstract:
This paper reports an attempt to model the system dynamics and estimate both the unknown internal control input and the state of a recently developed marine autonomous vehicle, the Jaiabot. Although the Jaiabot has shown promise in many applications, process and sensor noise necessitates state estimation and noise filtering. In this work, we present the first surge and heading linear dynamical model for Jaiabots derived from real data collected during field testing. An adaptive input estimation algorithm is implemented to accurately estimate the control input and hence the state. For validation, this approach is compared to the classical Kalman filter, highlighting its advantages in handling unknown control inputs.

Authors:Andrew Rosemberg, Michael Klamkin
Title: Differentiable Optimization for Deep Learning-Enhanced DC Approximation of AC Optimal Power Flow
Abstract:
The growing scale of power systems and the increasing uncertainty introduced by renewable energy sources necessitates novel optimization techniques that are significantly faster and more accurate than existing methods. The AC Optimal Power Flow (AC-OPF) problem, a core component of power grid optimization, is often approximated using linearized DC Optimal Power Flow (DC-OPF) models for computational tractability, albeit at the cost of suboptimal and inefficient decisions. To address these limitations, we propose a novel deep learning-based framework for network equivalency that enhances DC-OPF to more closely mimic the behavior of AC-OPF. The approach utilizes recent advances in differentiable optimization, incorporating a neural network trained to predict adjusted nodal shunt conductances and branch susceptances in order to account for nonlinear power flow behavior. The model can be trained end-to-end using modern deep learning frameworks by leveraging the implicit function theorem. Results demonstrate the framework's ability to significantly improve prediction accuracy, paving the way for more reliable and efficient power systems.

Authors:Sara Ruiz-Moreno, Antonio J. Gallego, Manuel Macías, Eduardo F. Camacho
Title: Market-Oriented Flow Allocation for Thermal Solar Plants: An Auction-Based Methodology with Artificial Intelligence
Abstract:
This paper presents a novel method to optimize thermal balance in parabolic trough collector (PTC) plants. It uses a market-based system to distribute flow among loops combined with an artificial neural network (ANN) to reduce computation and data requirements. This auction-based approach balances loop temperatures, accommodating varying thermal losses and collector efficiencies. Validation across different thermal losses, optical efficiencies, and irradiance conditions-sunny, partially cloudy, and cloudy-show improved thermal power output and intercept factors compared to a no-allocation system. It demonstrates scalability and practicality for large solar thermal plants, enhancing overall performance. The method was first validated through simulations on a realistic solar plant model, then adapted and successfully tested in a 50 MW solar trough plant, demonstrating its advantages. Furthermore, the algorithms have been implemented, commissioned, and are currently operating in 13 commercial solar trough plants.

Authors:Trevor Karpinski, Alexander Blakesley, Jakub Krol, Bani Anvari, George Gorospe, Liang Sun
Title: Model-Predictive Planning and Airspeed Regulation to Minimize Flight Energy Consumption
Abstract:
Although battery technology has advanced tremendously over the past decade, it continues to be a bottleneck for the mass adoption of electric aircraft in long-haul cargo and passenger delivery. The onboard energy is expected to be utilized in an efficient manner. Energy concumption modeling research offers increasingly accurate mathematical models, but there is scant research pertaining to real-time energy optimization at an operational level. Additionally, few publications include landing and take-off energy demands in their governing models. This work presents fundamental energy equations and proposes a proportional-integral-derivative (PID) controller. The proposed method demonstrates a unique approach to an energy consumption model that tracks real-time energy optimization along a predetermined path. The proposed PID controller was tested in simulation, and the results show its effectiveness and accuracy in driving the actual airspeed to converge to the optimal velocity without knowing the system dynamics. We also propose a model-predictive method to minimize the energy usage in landing and take-off by optimizing the flight trajectory.

Authors:Roy El-Helou, Matthew K. X. J Pan
Title: The Social Life of Industrial Arms: How Arousal and Attention Shape Human-Robot Interaction
Abstract:
This study explores how human perceptions of a non-anthropomorphic robotic manipulator are shaped by two key dimensions of behaviour: arousal, defined as the robot's movement energy and expressiveness, and attention, defined as the robot's capacity to selectively orient toward and engage with a user. We introduce a novel control architecture that integrates a gaze-like attention engine with an arousal-modulated motion system to generate socially meaningful behaviours. In a user study, we find that robots exhibiting high attention -- actively directing their focus toward users -- are perceived as warmer and more competent, intentional, and lifelike. In contrast, high arousal -- characterized by fast, expansive, and energetic motions -- increases perceptions of discomfort and disturbance. Importantly, a combination of focused attention and moderate arousal yields the highest ratings of trust and sociability, while excessive arousal diminishes social engagement. These findings offer design insights for endowing non-humanoid robots with expressive, intuitive behaviours that support more natural human-robot interaction.

Authors:Sheikh A. Tahmid, Gennaro Notomista
Title: Value Iteration for Learning Concurrently Executable Robotic Control Tasks
Abstract:
Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work proposes a novel method, based on the Reinforcement Learning (RL) paradigm, to train redundant robots to be able to execute multiple tasks concurrently. Our approach differs from typical multi-objective RL methods insofar as the learned tasks can be combined and executed in possibly time-varying prioritized stacks. We do so by first defining a notion of task independence between learned value functions. We then use our definition of task independence to propose a cost functional that encourages a policy, based on an approximated value function, to accomplish its control objective while minimally interfering with the execution of higher priority tasks. This allows us to train a set of control policies that can be executed simultaneously. We also introduce a version of fitted value iteration to learn to approximate our proposed cost functional efficiently. We demonstrate our approach on several scenarios and robotic systems.

Authors:Mario Gleirscher, Philip Hönnecke
Title: A Parametric Model for Near-Optimal Online Synthesis with Robust Reach-Avoid Guarantees
Abstract:
Objective: To obtain explainable guarantees in the online synthesis of optimal controllers for high-integrity cyber-physical systems, we re-investigate the use of exhaustive search as an alternative to reinforcement learning. Approach: We model an application scenario as a hybrid game automaton, enabling the synthesis of robustly correct and near-optimal controllers online without prior training. For modal synthesis, we employ discretised games solved via scope-adaptive and step-pre-shielded discrete dynamic programming. Evaluation: In a simulation-based experiment, we apply our approach to an autonomous aerial vehicle scenario. Contribution: We propose a parametric system model and a parametric online synthesis.

Authors:Sebastian Zieglmeier, Mathias Hudoba de Badyn, Narada D. Warakagoda, Thomas R. Krogstad, Paal Engelstad
Title: Semi-Data-Driven Model Predictive Control: A Physics-Informed Data-Driven Control Approach
Abstract:
Data-enabled predictive control (DeePC) has emerged as a powerful technique to control complex systems without the need for extensive modeling efforts. However, relying solely on offline collected data trajectories to represent the system dynamics introduces certain drawbacks. Therefore, we present a novel semi-data-driven model predictive control (SD-MPC) framework that combines (limited) model information with DeePC to address a range of these drawbacks, including sensitivity to noisy data and a lack of robustness. In this work, we focus on the performance of DeePC in operating regimes not captured by the offline collected data trajectories and demonstrate how incorporating an underlying parametric model can counteract this issue. SD-MPC exhibits equivalent closed-loop performance as DeePC for deterministic linear time-invariant systems. Simulations demonstrate the general control performance of the proposed SD-MPC for both a linear time-invariant system and a nonlinear system modeled as a linear parameter-varying system. These results provide numerical evidence of the enhanced robustness of SD-MPC over classical DeePC.

Authors:S. J. Abbasi Koumleh, Fabio Paparella
Title: Intermodal Network of Autonomous Mobility-on-Demand and Micromobility Systems
Abstract:
This paper studies models for Autonomous Micromobility-on-Demand (AMoD), a paradigm in which a fleet of autonomous vehicles delivers mobility services on demand in conjunction with micromobility systems. Specifically, we introduce a network flow model to encapsulate the interaction between AMoD and micromobility under an intermodal connection scenario. The primary objective is to analyze the system's behavior, optimizing passenger travel time. Following this theoretical development, we apply these models to the transportation networks of Sioux Falls, enabling a quantifiable evaluation of the reciprocal influences between the two transportation modes. We found that increasing the number of vehicles in any of these two modes of transportation also incentivizes users to use the other. Moreover, increasing the rebalancing capacity of the micromobility system will make the AMoD system need less rebalancing.

Authors:Trevor Barron, Xiaojing Zhang
Title: Interpreting and Improving Optimal Control Problems with Directional Corrections
Abstract:
Many robotics tasks, such as path planning or trajectory optimization, are formulated as optimal control problems (OCPs). The key to obtaining high performance lies in the design of the OCP's objective function. In practice, the objective function consists of a set of individual components that must be carefully modeled and traded off such that the OCP has the desired solution. It is often challenging to balance multiple components to achieve the desired solution and to understand, when the solution is undesired, the impact of individual cost components. In this paper, we present a framework addressing these challenges based on the concept of directional corrections. Specifically, given the solution to an OCP that is deemed undesirable, and access to an expert providing the direction of change that would increase the desirability of the solution, our method analyzes the individual cost components for their "consistency" with the provided directional correction. This information can be used to improve the OCP formulation, e.g., by increasing the weight of consistent cost components, or reducing the weight of - or even redesigning - inconsistent cost components. We also show that our framework can automatically tune parameters of the OCP to achieve consistency with a set of corrections.

Authors:Yuvraj Singh, Adithya Jayakumar, Giorgio Rizzoni
Title: An Iterative Algorithm to Symbolically Derive Generalized n-Trailer Vehicle Kinematics
Abstract:
Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the kinematic behavior is investigated in order to develop control-oriented kinematic models representative of these peculiarities. Then, the structure of these constraints is exploited to develop an iterative algorithm to symbolically derive yaw-plane kinematic models of generalized $n$-trailer articulated vehicles with an arbitrary number of multi-axle vehicle units. A formal proof is provided for the maximum number of kinematic controls admissible to a large-scale generalized articulated vehicle system, which leads to a generalized Ackermann steering law for $n$-trailer systems. Moreover, kinematic data collected from a test vehicle is used to validate the kinematic models and, to understand the rearward yaw rate amplification behavior of the vehicle pulling multiple simulated trailers.

Authors:Ju Yong Lee, Seung-Won Keum, Sang Min Oh, Dang-Oh Kim, Dong-Ho Cho
Title: Performance analysis of metasurface-based spatial multimode transmission for 6G wireless communications
Abstract:
In 6th generation wireless communication technology, it is important to utilize space resources efficiently. Recently, holographic multiple-input multiple-output (HMIMO) and meta-surface technology have attracted attention as technologies that maximize space utilization for 6G mobile communications. However, studies on HMIMO communications are still in an initial stage and its fundamental limits are yet to be unveiled. It is well known that the Fourier transform relationship can be obtained using a lens in the optical field, but research to apply it to the mobile communication field is in the early stages. In this paper, we show that the Fourier transform relationship between signals can be obtained when two metasurfaces are aligned or unaligned, and analyze the transmission and reception power, and the maximum number of spatial multimodes that can be transmitted. In addition, to reduce transmission complexity, we propose a spatial multimode transmission system using three metasurfaces and analyze signal characteristics on the meta-surfaces. In numerical results, we provide the performance of spatial multimode transmission in case of using rectangular and Gaussian signals.

Authors:Mattia Scarpa, Francesco Pase, Ruggero Carli, Mattia Bruschetta, Franscesco Toso
Title: Data-driven Power Loss Identification through Physics-Based Thermal Model Backpropagation
Abstract:
Digital twins for power electronics require accurate power losses whose direct measurements are often impractical or impossible in real-world applications. This paper presents a novel hybrid framework that combines physics-based thermal modeling with data-driven techniques to identify and correct power losses accurately using only temperature measurements. Our approach leverages a cascaded architecture where a neural network learns to correct the outputs of a nominal power loss model by backpropagating through a reduced-order thermal model. We explore two neural architectures, a bootstrapped feedforward network, and a recurrent neural network, demonstrating that the bootstrapped feedforward approach achieves superior performance while maintaining computational efficiency for real-time applications. Between the interconnection, we included normalization strategies and physics-guided training loss functions to preserve stability and ensure physical consistency. Experimental results show that our hybrid model reduces both temperature estimation errors (from 7.2+-6.8°C to 0.3+-0.3°C) and power loss prediction errors (from 5.4+-6.6W to 0.2+-0.3W) compared to traditional physics-based approaches, even in the presence of thermal model uncertainties. This methodology allows us to accurately estimate power losses without direct measurements, making it particularly helpful for real-time industrial applications where sensor placement is hindered by cost and physical limitations.

Authors:Sheila Masson, Alan Potts, Allan Williams, Steve Berggreen, Kevin McLaren, Sam Martin, Eugenio Noda, Nicklas Nordfors, Nic Ruecroft, Hannah Druckenmiller, Solomon Hsiang, Andreas Madestam, Anna Tompsett
Title: A robot-assisted pipeline to rapidly scan 1.7 million historical aerial photographs
Abstract:
During the 20th Century, aerial surveys captured hundreds of millions of high-resolution photographs of the earth's surface. These images, the precursors to modern satellite imagery, represent an extraordinary visual record of the environmental and social upheavals of the 20th Century. However, most of these images currently languish in physical archives where retrieval is difficult and costly. Digitization could revolutionize access, but manual scanning is slow and expensive. Here, we describe and validate a novel robot-assisted pipeline that increases worker productivity in scanning 30-fold, applied at scale to digitize an archive of 1.7 million historical aerial photographs from 65 countries.

Authors:Maciej Niedźwiecki, Artur Gańcza, Wojciech Żuławiński, Agnieszka Wyłomańska
Title: Robust Suboptimal Local Basis Function Algorithms for Identification of Nonstationary FIR Systems in Impulsive Noise Environments
Abstract:
While local basis function (LBF) estimation algorithms, commonly used for identifying/tracking systems with time-varying parameters, demonstrate good performance under the assumption of normally distributed measurement noise, the estimation results may significantly deviate from satisfactory when the noise distribution is impulsive in nature, for example, corrupted by outliers. This paper introduces a computationally efficient method to make the LBF estimator robust, enhancing its resistance to impulsive noise. First, the choice of basis functions is optimized based on the knowledge of parameter variation statistics. Then, the parameter tracking algorithm is made robust using the sequential data trimming technique. Finally, it is demonstrated that the proposed algorithm can undergo online tuning through parallel estimation and leave-one-out cross-validation.

Authors:Yichuan Niu, Jianhui Chen
Title: Stability and Controllability of Revenue Systems via the Bode Approach
Abstract:
In online revenue systems, e.g. an advertising system, budget pacing plays a critical role in ensuring that the spend aligns with desired financial objectives. Pacing systems dynamically control the velocity of spending to balance auction intensity, traffic fluctuations, and other stochastic variables. Current industry practices rely heavily on trial-and-error approaches, often leading to inefficiencies and instability. This paper introduces a principled methodology rooted in Classical Control Theory to address these challenges. By modeling the pacing system as a linear time-invariant (LTI) proxy and leveraging compensator design techniques using Bode methodology, we derive a robust controller to minimize pacing errors and enhance stability. The proposed methodology is validated through simulation and tested by our in-house auction system, demonstrating superior performance in achieving precise budget allocation while maintaining resilience to traffic and auction dynamics. Our findings bridge the gap between traditional control theory and modern advertising systems in modeling, simulation, and validation, offering a scalable and systematic approach to budget pacing optimization.

Authors:Niall O'Sullivan, Licio Romao, Kostas Margellos
Title: Bridging conformal prediction and scenario optimization
Abstract:
Conformal prediction and scenario optimization constitute two important classes of statistical learning frameworks to certify decisions made using data. They have found numerous applications in control theory, machine learning and robotics. Despite intense research in both areas, and apparently similar results, a clear connection between these two frameworks has not been established. By focusing on the so-called vanilla conformal prediction, we show rigorously how to choose appropriate score functions and set predictor map to recover well-known bounds on the probability of constraint violation associated with scenario programs. We also show how to treat ranking of nonconformity scores as a one-dimensional scenario program with discarded constraints, and use such connection to recover vanilla conformal prediction guarantees on the validity of the set predictor. We also capitalize on the main developments of the scenario approach, and show how we could analyze calibration conditional conformal prediction under this lens. Our results establish a theoretical bridge between conformal prediction and scenario optimization.

Authors:Jianhua Zhang, Yansong He, Hao Chen
Title: Physics-Informed Adaptive Deep Koopman Operator Modeling for Autonomous Vehicle Dynamics
Abstract:
Koopman operator has been recognized as an ongoing data-driven modeling method for vehicle dynamics which lifts the original state space into a high-dimensional linear state space. The deep neural networks (DNNs) are verified to be useful for the approximation of Koopman operator. To further improve the accuracy of Koopman operator approximation, this paper introduces a physical loss function term from the concept of physics-informed neural networks (PINNs), i.e., the acceleration loss between neural network output and sensor measurements, to improve the efficiency of network learning and its interpretability. Moreover, we utilize the sliding window least squares (SWLS) to update the system matrix and input matrix online in the lifted space, therefore enabling the deep Koopman operator to adapt to the rapid dynamics of autonomous vehicles in real events. The data collection and validation are conducted on CarSim/Simlink co-simulation platform. With comparison to other physics-based and data-driven approaches on various scenarios, the results reveal that the acceleration loss-informed network refines the accuracy of Koopman operator approximation and renders it with inherent generalization, and the SWLS enforces the deep Koopman operator's capability to cope with changes in vehicle parameters, road conditions, and rapid maneuvers. This indicates the proposed physics-informed adaptive deep Koopman operator is a performant and efficient data-driven modeling tool.

Authors:Majid Aalizadeh, Shuo Yang, Suchithra Guntur, Vaishnavi Potluri, Girish Kulkarni, Xudong Fan
Title: Development of a Miniaturized, Automated, and Cost-Effective Device for Enzyme-Linked Immunosorbent Assay
Abstract:
In this work, a miniaturized, automated, and cost-effective ELISA device is designed and implemented, without the utilization of conventional techniques such as pipetting or microfluidic valve technologies. The device has dimensions of 24 cm x 19 cm x 14 cm and weighs <3 Kg. The total hardware cost of the device is estimated to be approximately $1,200, which can be further reduced through optimization during scale-up production. 3D printed disposable parts, including the reagent reservoir disk and the microfluidic connector, have also been developed. IL-6 is used as a model system to demonstrate how the device provides an ELISA measurement. The cost per test is estimated to be less than ten dollars. The compactness, automated operation, along with the cost-effectiveness of this ELISA device, makes it suitable for point-of-care applications in resource-limited regions.

Authors:Milad Bahrami-Fard, Majid Ghasemi Korrani, Babak Fahimi
Title: Sensorless Field Oriented Control of CSI-Fed PMSM Drives Used in Submersible Pumps
Abstract:
This paper proposes a practical startup strategy for current source inverter (CSI)-fed Permanent Magnet Synchronous Motor (PMSM) drives in submersible pump applications, focusing on ensuring a seamless shift to sensorless field-oriented control (FOC). The method effectively manages the transition to sensorless operation without requiring precise current or alignment error calculations, thereby simplifying implementation. By addressing speed and current oscillations directly during the startup and transition stages, the approach significantly enhances overall system stability and responsiveness. Validation through simulation and experimental testing demonstrates the strategy's success in maintaining low oscillation levels across various operating conditions, confirming its reliability for high-performance industrial applications.

Authors:Oscar F. Archila, Alain Vande Wouwer, Johannes Schiffer
Title: A Multiple Artificial Potential Functions Approach for Collision Avoidance in UAV Systems
Abstract:
Collision avoidance is a problem largely studied in robotics, particularly in unmanned aerial vehicle (UAV) applications. Among the main challenges in this area are hardware limitations, the need for rapid response, and the uncertainty associated with obstacle detection. Artificial potential functions (APOFs) are a prominent method to address these challenges. However, existing solutions lack assurances regarding closed-loop stability and may result in chattering effects. Motivated by this, we propose a control method for static obstacle avoidance based on multiple artificial potential functions (MAPOFs). We derive tuning conditions on the control parameters that ensure the stability of the final position. The stability proof is established by analyzing the closed-loop system using tools from hybrid systems theory. Furthermore, we validate the performance of the MAPOF control through simulations, showcasing its effectiveness in avoiding static obstacles.

Authors:Dhruv Suri, Mohak Mangal
Title: PowerGNN: A Topology-Aware Graph Neural Network for Electricity Grids
Abstract:
The increasing penetration of renewable energy sources introduces significant variability and uncertainty in modern power systems, making accurate state prediction critical for reliable grid operation. Conventional forecasting methods often neglect the power grid's inherent topology, limiting their ability to capture complex spatio temporal dependencies. This paper proposes a topology aware Graph Neural Network (GNN) framework for predicting power system states under high renewable integration. We construct a graph based representation of the power network, modeling buses and transmission lines as nodes and edges, and introduce a specialized GNN architecture that integrates GraphSAGE convolutions with Gated Recurrent Units (GRUs) to model both spatial and temporal correlations in system dynamics. The model is trained and evaluated on the NREL 118 test system using realistic, time synchronous renewable generation profiles. Our results show that the proposed GNN outperforms baseline approaches including fully connected neural networks, linear regression, and rolling mean models, achieving substantial improvements in predictive accuracy. The GNN achieves average RMSEs of 0.13 to 0.17 across all predicted variables and demonstrates consistent performance across spatial locations and operational conditions. These results highlight the potential of topology aware learning for scalable and robust power system forecasting in future grids with high renewable penetration.

Authors:Semaan Douglas Wehbe, Stanley Bak
Title: Finding Unknown Unknowns using Cyber-Physical System Simulators (Extended Report)
Abstract:
Simulation-based approaches are among the most practical means to search for safety violations, bugs, and other unexpected events in cyber-physical systems (CPS). Where existing approaches search for simulations violating a formal specification or maximizing a notion of coverage, in this work we propose a new goal for testing: to discover unknown rare behaviors by examining discrete mode sequences. We assume a CPS simulator outputs mode information, and strive to explore the sequences of modes produced by varying the initial state or time-varying uncertainties. We hypothesize that rare mode sequences are often the most interesting to a designer, and we develop two accelerated sampling algorithms that speed up the process of finding such sequences. We evaluate our approach on several benchmarks, ranging from synthetic examples to Simulink diagrams of a CPS, demonstrating in some cases a speedup of over 100x compared with a random sampling strategy.

Authors:Shuqing Liu, Rong Su, Karl H. Johansson
Title: A Centralized Planning and Distributed Execution Method for Shape Filling with Homogeneous Mobile Robots
Abstract:
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves. The goal is to decide whether a given shape can be filled by a given set of robots; in case the answer is yes, to complete a shape formation process as fast as possible with a minimum amount of communication. Traditional approaches either require global coordinates for each robot or are prone to failure when attempting to form complex shapes beyond the capability of given approaches - the latter calls for a decision procedure that can tell whether a target shape can be formed before the actual shape-forming process starts. In this paper, we develop a method that does not require global coordinate information during the execution process and can effectively decide whether it is feasible to form the desired shape. The latter is achieved via a planning procedure that is capable of handling a variety of complex shapes, in particular, those with holes, and assigning a simple piece of scheduling information to each robot, facilitating subsequent distributed execution, which does not rely on the coordinates of all robots but only those of neighboring ones. The effectiveness of our shape-forming approach is vividly illustrated in several simulation case studies.

Authors:Josh Schipper, Radnya Mukhedkar, Neville Watson, Veerabrahmam Bathini, Jan Meyer
Title: Generalised Harmonic Domain Analysis for Transformer Core Hysteresis Modelling
Abstract:
This work identifies the general approach for linearising any power system component in the harmonic domain, that is with respect to its Fourier series coefficients. This ability enables detailed harmonic analysis, and is key as more power electronic devices inject harmonic currents into the power system to its shared detriment. The general approach requires a time domain model of the component, and is most applicable where a conversion to the frequency domain is impractical prior to linearisation. The outcome is a Norton equivalent current source, which expresses linear coupling between harmonic frequencies with admittance matrices. These are the so-called frequency coupling matrices. The general approach is demonstrated for magnetic hysteresis, where a Preisach model has been developed for this purpose. A new data driven approach is used to fit the test results of a small physical transformer to the Preisach model. Results show an improved accuracy in the frequency coupling matrices over models that only considered magnetic saturation. Maximum improvement is observed in the odd harmonic current to odd harmonic voltage couplings.

Authors:Leonardo Bettini, Bálint Kaszás, Bernhard Zybach, Jürg Dual, George Haller
Title: Data-Driven Nonlinear Model Reduction to Spectral Submanifolds via Oblique Projection
Abstract:
The dynamics in a primary Spectral Submanifold (SSM) constructed over the slowest modes of a dynamical system provide an ideal reduced-order model for nearby trajectories. Modeling the dynamics of trajectories further away from the primary SSM, however, is difficult if the linear part of the system exhibits strong non-normal behavior. Such non-normality implies that simply projecting trajectories onto SSMs along directions normal to the slow linear modes will not pair those trajectories correctly with their reduced counterparts on the SSMs. In principle, a well-defined nonlinear projection along a stable invariant foliation exists and would exactly match the full dynamics to the SSM-reduced dynamics. This foliation, however, cannot realistically be constructed from practically feasible amounts and distributions of experimental data. Here we develop an oblique projection technique that is able to approximate this foliation efficiently, even from a single experimental trajectory of a significantly non-normal and nonlinear beam.

Authors:Abhishek Dhyani, Amirreza Haqshenas Mojaveri, Chengqian Zhang, Dhanika Mahipala, Hoang Anh Tran, Yan-Yun Zhang, Zhongbi Luo, Vasso Reppa
Title: AUTOBargeSim: MATLAB(R) toolbox for the design and analysis of the guidance and control system for autonomous inland vessels
Abstract:
This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous inland navigation, including mapping, modelling, control design, and collision avoidance, through examples and extensively documented code. Applying modular design principles in the simulator structure allows it to be easily modified according to the user's requirements. Furthermore, a GUI interface facilitates a simple and quick execution. Key performance indices for evaluating the performance of the controller and collision avoidance method in confined space are also provided. The current version of AUTOBargeSim attempts to improve reproducibility in the design and simulation of marine systems while serving as a foundation for simulating and evaluating vessel behaviour considering operational, system, and environmental constraints.

Authors:Saeid Sadeghi Vilni, Risto Wichman
Title: Real-time Tracking System with Partially Coupled Sources
Abstract:
We consider a pull-based real-time tracking system consisting of multiple partially coupled sources and a sink. The sink monitors the sources in real-time and can request one source for an update at each time instant. The sources send updates over an unreliable wireless channel. The sources are partially coupled, and updates about one source can provide partial knowledge about other sources. We study the problem of minimizing the sum of an average distortion function and a transmission cost. Since the controller is at the sink side, the controller (sink) has only partial knowledge about the source states, and thus, we model the problem as a partially observable Markov decision process (POMDP) and then cast it as a belief-MDP problem. Using the relative value iteration algorithm, we solve the problem and propose a control policy. Simulation results show the proposed policy's effectiveness and superiority compared to a baseline policy.

Authors:Abhay Kumar, Dushyant Sharma, Mayukha Pal
Title: Physics-Informed Neural Network-Based Control for Grid-Forming Converter's Stability Under Overload Conditions
Abstract:
Grid-forming converters (GFCs) are crucial for frequency and voltage stability in modern power systems. However, their performance under overload conditions remains a challenge. This paper highlights the limitations of existing approaches in managing DC source saturation and AC current limits, emphasizing the need for improved control strategies to ensure system stability. This paper proposes a control strategy based on a physics-informed neural network (PINN) to improve GFC performance under overloaded conditions, effectively preventing switch failures and mitigating DC source saturation. This approach outperforms conventional methods by maintaining stable voltage and frequency, even under significant load increase where traditional droop control alone proves inadequate. The post-disturbance operating point of GFCs remains unchanged using PINN-based control with an improvement of 0.245 Hz in frequency and 0.03 p.u. in active power when compared to an already existing current limitation strategy. Additionally, it reduces peak voltage deviations during transients by 24.14\%, lowers the rate of change of frequency (ROCOF) from 0.02 Hz/s to 0.005 Hz/s, and improves the rate of change of voltage (ROCOV), keeping both within acceptable limits. These improvements significantly enhance system resilience, especially in inertia-less power networks.

Authors:Nils Christian Aars Wilhelmsen, Ole Morten Aamo
Title: Distributed observer-based leak detection in pipe flow with nonlinear friction
Abstract:
The problem of leak detection in a pipeline with nonlinear friction is considered. A distributed observer-based method is proposed which applies a linearised, distributed adaptive observer design to the nonlinear model. The methodology is tested in simulations for two different operating points.

Authors:Tianyu Xu, Yaoyu Cheng, Pinxi Shen, Lin Zhao
Title: AcL: Action Learner for Fault-Tolerant Quadruped Locomotion Control
Abstract:
Quadrupedal robots can learn versatile locomotion skills but remain vulnerable when one or more joints lose power. In contrast, dogs and cats can adopt limping gaits when injured, demonstrating their remarkable ability to adapt to physical conditions. Inspired by such adaptability, this paper presents Action Learner (AcL), a novel teacher-student reinforcement learning framework that enables quadrupeds to autonomously adapt their gait for stable walking under multiple joint faults. Unlike conventional teacher-student approaches that enforce strict imitation, AcL leverages teacher policies to generate style rewards, guiding the student policy without requiring precise replication. We train multiple teacher policies, each corresponding to a different fault condition, and subsequently distill them into a single student policy with an encoder-decoder architecture. While prior works primarily address single-joint faults, AcL enables quadrupeds to walk with up to four faulty joints across one or two legs, autonomously switching between different limping gaits when faults occur. We validate AcL on a real Go2 quadruped robot under single- and double-joint faults, demonstrating fault-tolerant, stable walking, smooth gait transitions between normal and lamb gaits, and robustness against external disturbances.

Authors:Utsha Kumar Roy, Sejuti Rahman
Title: TAGA: A Tangent-Based Reactive Approach for Socially Compliant Robot Navigation Around Human Groups
Abstract:
Robot navigation in densely populated environments presents significant challenges, particularly regarding the interplay between individual and group dynamics. Current navigation models predominantly address interactions with individual pedestrians while failing to account for human groups that naturally form in real-world settings. Conversely, the limited models implementing group-aware navigation typically prioritize group dynamics at the expense of individual interactions, both of which are essential for socially appropriate navigation. This research extends an existing simulation framework to incorporate both individual pedestrians and human groups. We present Tangent Action for Group Avoidance (TAGA), a modular reactive mechanism that can be integrated with existing navigation frameworks to enhance their group-awareness capabilities. TAGA dynamically modifies robot trajectories using tangent action-based avoidance strategies while preserving the underlying model's capacity to navigate around individuals. Additionally, we introduce Group Collision Rate (GCR), a novel metric to quantitatively assess how effectively robots maintain group integrity during navigation. Through comprehensive simulation-based benchmarking, we demonstrate that integrating TAGA with state-of-the-art navigation models (ORCA, Social Force, DS-RNN, and AG-RL) reduces group intrusions by 45.7-78.6% while maintaining comparable success rates and navigation efficiency. Future work will focus on real-world implementation and validation of this approach.

Authors:Amir Enayati Kafshgarkolaei, Maziar S. Hemati
Title: Local Stability and Stabilization of Quadratic-Bilinear Systems using Petersen's Lemma
Abstract:
Quadratic-bilinear (QB) systems arise in many areas of science and engineering. In this paper, we present a scalable approach for designing locally stabilizing state-feedback control laws and certifying the local stability of QB systems. Sufficient conditions are established for local stability and stabilization based on quadratic Lyapunov functions, which also provide ellipsoidal inner-estimates for the region of attraction and region of stabilizability of an equilibrium point. Our formulation exploits Petersen's Lemma to convert the problem of certifying the sign-definiteness of the Lyapunov condition into a line search over a single scalar parameter. The resulting linear matrix inequality (LMI) conditions scale quadratically with the state dimension for both stability analysis and control synthesis, thus enabling analysis and control of QB systems with hundreds of state variables without resorting to specialized implementations. We demonstrate the approach on three benchmark problems from the existing literature. In all cases, we find our formulation yields comparable approximations of stability domains as determined by other established tools that are otherwise restricted to systems with up to tens of state variables.

Authors:Xu Du, Xiaohua Zhou, Shijie Zhu
Title: Convergence Theory of Flexible ALADIN for Distributed Optimization
Abstract:
The Augmented Lagrangian Alternating Direction Inexact Newton (ALADIN) method is a cutting-edge distributed optimization algorithm known for its superior numerical performance. It relies on each agent transmitting information to a central coordinator for data exchange. However, in practical network optimization and federated learning, unreliable information transmission often leads to packet loss, posing challenges for the convergence analysis of ALADIN. To address this issue, this paper proposes Flexible ALADIN, a random polling variant of ALADIN, and presents a rigorous convergence analysis, including global convergence for convex problems and local convergence for non-convex problems.

Authors:Yunxiang Ma, Tong Zhou
Title: Structure Identification of NDS with Descriptor Subsystems under Asynchronous, Non-Uniform, and Slow-Rate Sampling
Abstract:
Networked dynamic systems (NDS) exhibit collective behavior shaped by subsystem dynamics and complex interconnections, yet identifying these interconnections remains challenging due to irregularities in sampled data, including asynchronous, non-uniform, and low-rate sampling. This paper proposes a novel two-stage structure identification algorithm that leverages system zero-order moments, a concept traditionally used in model order reduction, to bridge system identification and model reduction. First, zero-order moments are estimated from steady-state time-domain outputs; second, subsystem interconnections are explicitly reconstructed from these moments. The method generalizes existing approaches by handling asynchronous, non-uniform, and slow sampling simultaneously, eliminating constraints on input signal periodicity and extending applicability to multi-input multi-output NDS with arbitrary interconnections. Unlike black-box identification techniques, our approach explicitly recovers subsystem interconnection structures. Validation on the IEEE 14-bus system demonstrates the algorithm's effectiveness in recovering subsystem interconnections from irregular sampling data.

Authors:Nesrine Cherif, Qurrat-Ul-Ain Nadeem
Title: Merits of Serving UAVs via Terrestrial Networks: A Vertical Antenna Radiation Study
Abstract:
Unmanned Aerial Vehicles (UAVs) are increasingly used in a plethora of applications such as shipping, surveillance, and search-and-rescue. For UAVs to operate safely, reliable cellular connectivity is essential. Utilizing the terrestrial networks for aerial connectivity has been proposed, but the 3D radiation pattern of base station antennas significantly affects the performance of aerial links.. To address this, we evaluate the coverage probability of cellular-connected UAVs, considering vertical antenna gain, by leveraging tools from stochastic geometry. We also analyze how the UAV hovering height, tilt angle and 3D antenna beamwidth influence the reliability of the communication link. Our results show that a down-tiled antenna does not only improve the connectivity of terrestrial users but also its cellularconnected UAVs counterpart. Moreover, the coverage probability of the UAV-UE becomes saturated at large down-tilt angles at the TBSs due to the antenna sidelobe gain at the serving and interfering TBSs. We also found that the significant increase of the vertical antenna beamwidth improves the UAV user coverage probability especially at relatively low hovering altitudes thanks to the increase of the desired signal strength compared to the interference power.

Authors:Vineela Reddy Pippera Badguna, Aliasghar Arab, Durga Avinash Kodavalla
Title: A Virtual Fencing Framework for Safe and Efficient Collaborative Robotics
Abstract:
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for real-time responses. We propose a virtual fencing approach that detects and predicts human motion, ensuring safe cobot operation. Safety and performance tradeoffs are modeled as an optimization problem and solved via sequential quadratic programming. Experimental validation shows that our method minimizes operational pauses while maintaining safety, providing a modular solution for human-robot collaboration.

Authors:Mahathi Anand, Raphaël Jungers, Majid Zamani, Frank Allgöwer
Title: On the Completeness and Ordering of Path-Complete Barrier Functions
Abstract:
This paper is concerned with path-complete barrier functions which offer a graph-based methodology for verifying safety properties in switched systems. The path-complete framework leverages algebraic (barrier functions) as well as combinatorial (graph) components to characterize a set of safety conditions for switched systems, thus offering high flexibility (two degrees of freedom) in searching for suitable safety certificates. In this paper, we do not propose any new safety criteria. Instead, we further investigate the role that the combinatorial component plays in the safety verification problem. First, we prove that path-completeness, which is a property on a graph that describes the switching sequences, is necessary to obtain a set of valid safety conditions. As a result, the path-complete framework is able to provide a complete characterization of safety conditions for switched systems. Furthermore, we provide a systematic methodology for comparing two path-complete graphs and the conservatism associated with the resulting safety conditions. Specifically, we prove that under some conditions, such as when there exists a simulation relation between two path-complete graphs, it is possible to conclude that one graph is always able to provide less conservative safety conditions than another, independent of the algebraic properties of the switched system and the template of the barrier function under consideration. Such a result paves the way for a systematic use of the path-complete framework with barrier functions, as one can then consistently choose the appropriate graph that provides less conservative safety conditions.

Authors:Mohd Shoaib, Navonil Mustafee, Varun Ramamohan
Title: A Framework for Predicting Runtime Savings from Discrete-Event Simulation Model Simplification Operations
Abstract:
Abstraction or substitution and aggregation are the most widely used simulation model simplification operations. Abstraction involves replacing subsystems within a discrete-event simulation (DES) with one or more quantities - typically random variables - representing the lengths of stay in the subsystems(s) in question to create a `simplified' system comprising only of subsystems of interest to the analysis at hand. Aggregation involves replacing more than one subsystem of the original `parent' simulation with a single subsystem. However, the model simplification process itself can be expensive, in terms of the computational runtime and effort required to collect the data required to estimate the distributions of the length of stay variables, the distribution-fitting process, and testing and validation of the simplified model. Moreover, the savings in simulation runtime that the simplification process yields is \textit{a priori} unknown to the modeller. In this context, a method that predicts the runtime savings (RS) from DES model simplification operations before their execution - at the conceptualisation stage of the simplified model development process - may help judge whether its development is indeed worth undertaking. In this paper, we present a queueing-theoretic framework for the prediction of RS from model simplification operations. Our framework is applicable for DES models comprising $M/M/, M/G/ \text{ and } G/G/$ subsystems. The performance of the RS prediction framework is demonstrated using multiple computational experiments. Our proposed framework contributes to the literature around DES model complexity and more broadly to DES runtime prediction.

Authors:Seungtaek Kim, Jonghyup Lee, Kyoungseok Han, Seibum B. Choi
Title: Bridging the Sim-to-real Gap: A Control Framework for Imitation Learning of Model Predictive Control
Abstract:
To address the computational challenges of Model Predictive Control (MPC), recent research has studied using imitation learning to approximate the MPC to a computationally efficient Deep Neural Network (DNN). However, this introduces a common issue in learning-based control, the simulation-to-reality (sim-to-real) gap, and Domain Randomization (DR) has been widely used to mitigate this gap by introducing perturbations in the source domain. However, DR inevitably leads to low data collection efficiency and an overly conservative control strategy. This study proposes a new control framework that addresses this issue from a control perspective inspired by Robust Tube MPC. The framework ensures the DNN operates in the same environment as the source domain, handling the sim-to-real gap with great data collection efficiency. Moreover, a parameter governor is introduced to address the DNN's inability to adapt to variations in model parameters, enabling the system to satisfy MPC constraints more robustly under changing conditions. The proposed framework was validated through two case studies: cart-pole control and vehicle collision avoidance control, which analyzed the principles of the proposed framework in detail and demonstrated its application to a vehicle control case.

Authors:Gautham Udayakumar Bekal, Ahmed Ghareeb, Ashish Pujari
Title: Continual Reinforcement Learning for HVAC Systems Control: Integrating Hypernetworks and Transfer Learning
Abstract:
Buildings with Heating, Ventilation, and Air Conditioning (HVAC) systems play a crucial role in ensuring indoor comfort and efficiency. While traditionally governed by physics-based models, the emergence of big data has enabled data-driven methods like Deep Reinforcement Learning (DRL). However, Reinforcement Learning (RL)-based techniques often suffer from sample inefficiency and limited generalization, especially across varying HVAC systems. We introduce a model-based reinforcement learning framework that uses a Hypernetwork to continuously learn environment dynamics across tasks with different action spaces. This enables efficient synthetic rollout generation and improved sample usage. Our approach demonstrates strong backward transfer in a continual learning setting after training on a second task, minimal fine-tuning on the first task allows rapid convergence within just 5 episodes and thus outperforming Model Free Reinforcement Learning (MFRL) and effectively mitigating catastrophic forgetting. These findings have significant implications for reducing energy consumption and operational costs in building management, thus supporting global sustainability goals. Keywords: Deep Reinforcement Learning, HVAC Systems Control, Hypernetworks, Transfer and Continual Learning, Catastrophic Forgetting

Authors:D. Nash, D. A. Gates, W. S. Walsh, M. Slepchenkov, D. Guan, A. D. Cate, B. Chen, M. Dickerson, W. Harris, U. Khera, M. Korman, S. Srinivasan, C. P. S. Swanson, A. van Riel, R. H. Wu, A. S. Basurto, B. Berzin, E. Brown, C. Chen, T. Ikuss, W. B. Kalb, C. Khurana, B. D. Koehne, T. G. Kruger, S. Noronha, J. Olatunji, R. Powser, K. Tamhankar, K. Tang, A. Tarifa, M. Savastianov, J. Wasserman, C. Yang
Title: Prototyping and Test of the "Canis" HTS Planar Coil Array for Stellarator Field Shaping
Abstract:
Thea Energy, Inc. is currently developing the "Eos" planar coil stellarator, the Company's first integrated fusion system capable of forming optimized stellarator magnetic fields without complex and costly modular coils. To demonstrate the field shaping capability required to enable Eos, Thea Energy designed, constructed, and tested the "Canis" 3x3 array of high-temperature superconductor (HTS) planar shaping coils after successfully demonstrating a single shaping coil prototype. Through the Canis 3x3 magnet array program, Thea Energy manufactured nine HTS shaping coils and developed the cryogenic test and measurement infrastructure necessary to validate the array's performance. Thea Energy operated the array at 20 K, generating several stellarator-relevant magnetic field shapes and demonstrating closed loop field control of the superconducting magnets to within 1% of predicted field, a margin of error acceptable for operation of an integrated stellarator. The Canis magnet array test campaign provides a proof of concept for HTS planar shaping coils as a viable approach to confining stellarator plasmas.

Authors:Mark Spiller, Emilia Isbono, Philipp Schitz
Title: Feasibility of multiple robust control barrier functions for bounding box constraints
Abstract:
Enforcing multiple constraints based on the concept of control barrier functions (CBFs) is a remaining challenge because each of the CBFs requires a condition on the control inputs to be satisfied which may easily lead to infeasibility problems. The problem becomes even more challenging with input constraints and disturbances. In this paper, we consider enforcement of bounding box constraints for a second order system under limited control authority and input disturbances. To solve the constrained control problem, we apply multiple robust control barrier functions (RCBFs) which, in general, do not provide a feasible solution to the problem. However, we derive conditions on how to select the RCBF parameters to guarantee that a feasible solution always exists.

Authors:Johannes Müller, Dennis Philipp, Matthias Günther
Title: Differentiable Simulator for Electrically Reconfigurable Electromagnetic Structures
Abstract:
This paper introduces a novel CUDA-enabled PyTorch-based framework designed for the gradient-based optimization of such reconfigurable electromagnetic structures with electrically tunable parameters. Traditional optimization techniques for these structures often rely on non-gradient-based methods, limiting efficiency and flexibility. Our framework leverages automatic differentiation, facilitating the application of gradient-based optimization methods. This approach is particularly advantageous for embedding within deep learning frameworks, enabling sophisticated optimization strategies. We demonstrate the framework's effectiveness through comprehensive simulations involving resonant structures with tunable parameters. Key contributions include the efficient solution of the inverse problem. The framework's performance is validated using three different resonant structures: a single-loop copper wire (Unit-Cell) as well as an 8x1 and an 8x8 array of resonant unit cells with multiple inductively coupled unit cells (1d and 2d Metasurfaces). Results show precise in-silico control over the magnetic field's component normal to the surface of each resonant structure, achieving desired field strengths with minimal error. The proposed framework is compatible with existing simulation software. This PyTorch-based framework sets the stage for advanced electromagnetic control strategies for resonant structures with application in e.g. MRI, providing a robust platform for further exploration and innovation in the design and optimization of resonant electromagnetic structures.

Authors:Hongsheng Xu, Meng Zhan
Title: Transient synchronization stability analysis and assessment of DFIG system under severe faults
Abstract:
In the transient stability analysis of renewable energy grid-tied systems, although a large amount of works have devoted to the detailed electromagnetic transient simulation and the stability analyses of during-fault stage, the whole low-voltage ride through (LVRT) process and relevant transient stability mechanism remain to be uncovered. Taking the doubly fed induction generator system as the objective, this paper divides the transient processes into four different stages, including the pre-fault, during-fault, early post-fault, and late post-fault ones, establishes the full mechanism models for each stage, and studies the switching dynamics in detail. It is found that the during-fault dynamics can be determined by the phase-lock loop second-order equation within the framework of the generalized swing equation (GSE). For the early post-fault stage, it can be treated as a series of quasi-steady states and its dominant driving system dynamics can still be described by the GSE. Based on the local dynamics of unstable equilibrium point, the system transient stability can be completely determined by whether the initial state of the early post-fault stage is within or out of its basin of attraction (BOA). Based on these observations, the BOA-based and equal area criterion (EAC)-based transient stability assessment methods are developed, which are supported by broad numerical simulations and hardware-in-the-loop experiments. This work provides a clear physical picture and perfectly solves the difficult stability analysis problem when severe faults and LVRT have to be considered in most of DFIG engineering situations.

Authors:Wouter Jongeneel, Raphaël M. Jungers
Title: Ordering and refining path-complete Lyapunov functions through composition lifts
Abstract:
A fruitful approach to study stability of switched systems is to look for multiple Lyapunov functions. However, in general, we do not yet understand the interplay between the desired stability certificate, the template of the Lyapunov functions and their mutual relationships to accommodate switching. In this work we elaborate on path-complete Lyapunov functions: a graphical framework that aims to elucidate this interplay. In particular, previously, several preorders were introduced to compare multiple Lyapunov functions. These preorders are initially algorithmically intractable due to the algebraic nature of Lyapunov inequalities, yet, lifting techniques were proposed to turn some preorders purely combinatorial and thereby eventually tractable. In this note we show that a conjecture in this area regarding the so-called composition lift, that was believed to be true, is false. This refutal, however, points us to a beneficial structural feature of the composition lift that we exploit to iteratively refine path-complete graphs, plus, it points us to a favourable adaptation of the composition lift.

Authors:Yixiang Huang, Jianhua Pei, Luocheng Chen, Zhenchang Du, Jinfu Chen, Zirui Peng
Title: Probabilistic Net Load Forecasting for High-Penetration RES Grids Utilizing Enhanced Conditional Diffusion Model
Abstract:
The proliferation of intermittent distributed renewable energy sources (RES) in modern power systems has fundamentally compromised the reliability and accuracy of deterministic net load forecasting. Generative models, particularly diffusion models, demonstrate exceptional potential in uncertainty quantification for scenario forecasting. Nevertheless, their probabilistic predictive capabilities and conditional bootstrapping mechanisms still remain underexplored. In this paper, a day-ahead probabilistic net load forecasting framework is developed by systematically quantifying epistemic uncertainty and aleatoric variability using the feature-informed enhanced conditional diffusion model (ECDM). The ECDM architecture implements the net load distribution generation process using an imputation-based conditional diffusion model, where multi-modal conditional inputs, such as weather and calendar data, are fused via cross-attention mechanisms. Specifically, historical net load profiles are utilized to guide the reverse diffusion trajectory through non-parametric imputation operators preserving spatial-temporal integrity. To capture periodic characteristics, a novel weekly arrangement method is also introduced, while an unconditional model is integrated to ensure diversity in the generated scenarios. Subsequently, the maximum probabilistic points and probability intervals of predicted net load are obtained by the adaptive kernel density estimation under RES intermittency. Moreover, ECDM is extented to multi-energy forecast framework, attempting to increase interpretability of the net load predictions. Numerical experiments on a publicly available dataset demonstrate the superior forecasting performance of the proposed method compared to existing state-of-the-art approaches.

Authors:Masoud Kishani Farahani, Morteza Kolivandi, Abbas Rajabi Ghahnavieh, Mohammad Talaei
Title: Enhancing Fault Detection in CO2 Refrigeration Systems: Optimal Sensor Selection and Robustness Analysis Using Tree-Based Machine Learning
Abstract:
This study investigates the reliability and robustness of data-driven Fault Detection and Diagnosis (FDD) models for CO2 refrigeration systems (CO2-RS) in supermarkets, focusing on optimal sensor selection and resilience against sensor noise. Using tree-based machine learning algorithms - Random Forest (RF), XGBoost, CatBoost, and LightGBM - we developed FDD models to classify six common faults in a laboratory-scale CO2-RS. The Recursive Feature Addition (RFA) approach identified optimal sensor sets, achieving a 99% F1-score with minimal sensors: four for RF, seven for XGBoost, five for CatBoost, and five for LightGBM. Condenser-side sensors consistently ranked as critical for fault detection. Robustness was assessed by injecting Additive White Gaussian Noise (AWGN) at a signal-to-noise ratio (SNR) of 3 dB into the most important sensor, with XGBoost showing superior resilience at 85.24%, followed by CatBoost (57.07%), LightGBM (49.1%), and RF (49.46%). Sensitivity analysis across high-SNR (10 dB), low-SNR (0 dB), and sensor failure scenarios revealed XGBoost's robustness peaking at 90.23% and retaining 79% under failure, contrasting with sharper declines in other models. These findings highlight a trade-off between sensor count, cost, and reliability, with larger ensembles enhancing noise resilience. This work bridges gaps in FDD literature by integrating sensor optimization with comprehensive robustness analysis, offering a practical framework for improving energy efficiency and fault management in CO2-RS. Future efforts could explore adaptive SNR thresholds and redundant sensor configurations to enhance real-world applicability.

Authors:Adrien Prévost, Vincent Léchappé, Romain Delpoux, Xavier Brun
Title: A robust mechanical sensorless control strategy for active rectification of small wind turbines
Abstract:
This article proposes a mechanical sensorless control strategy for the synchronous rectification of small wind turbines equipped with a surface-mounted Permanent Magnet Synchronous Generator (PMSG). By means of Lyapunov theory, the Global Asymptotic Stability (GAS) of the closed loop system is proven. It allows the use of a classical Sliding Mode Observer (SMO) to remove the mechanical sensor in the control loop despite uncertainties on the resistance and inductance parameters. The analysis of the equilibrium points have made it possible to propose an analytic model of the angular misalignment between the true and the observer rotating frames, responsible for current tracking errors. Experimental tests on a wind turbine emulator show that despite large errors on the the resistance and inductance parameters, the impact on the energy harvest is low, proving that the strategy's performance is robust to high uncertainties.

Authors:Xinwei Liu, Vladimir Dvorkin
Title: Optimization over Trained Neural Networks: Difference-of-Convex Algorithm and Application to Data Center Scheduling
Abstract:
When solving decision-making problems with mathematical optimization, some constraints or objectives may lack analytic expressions but can be approximated from data. When an approximation is made by neural networks, the underlying problem becomes optimization over trained neural networks. Despite recent improvements with cutting planes, relaxations, and heuristics, the problem remains difficult to solve in practice. We propose a new solution based on a bilinear problem reformulation that penalizes ReLU constraints in the objective function. This reformulation makes the problem amenable to efficient difference-of-convex algorithms (DCA), for which we propose a principled approach to penalty selection that facilitates convergence to stationary points of the original problem. We apply the DCA to the problem of the least-cost allocation of data center electricity demand in a power grid, reporting significant savings in congested cases.

Authors:Jean C. Pereira, Valter J. S. Leite, Guilherme V. Raffo
Title: Stabilizing NMPC Approaches for Underactuated Mechanical Systems on the SE(3) Manifold
Abstract:
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These systems are often classified as second-order nonholonomic due to their completely nonintegrable acceleration constraints. To tackle this complex control problem, we propose two nonlinear model predictive control (NMPC) schemes that ensure closed-loop stability and recursive feasibility without terminal conditions. The system dynamics are modeled on the SE(3) manifold for a globally and unique description of rigid body configurations. One NMPC scheme also aims to reduce mission time as an economic criterion. The controllers' effectiveness is validated through numerical experiments on a quadrotor UAV.

Authors:Tommaso Faraci, Roberto Lampariello
Title: Reachability-Guaranteed Optimal Control for the Interception of Dynamic Targets under Uncertainty
Abstract:
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and feasibility. In this work, we introduce a novel method to tackle the interception of targets whose motion is affected by known and bounded uncertainty. Our approach introduces new techniques of reachability analysis for rigid bodies, leveraged to guarantee feasibility of interception under uncertain conditions. We then propose a Reachability-Guaranteed Optimal Control Problem, ensuring robustness and guaranteed reachability to a target set of configurations. We demonstrate the methodology in the case study of an interception maneuver of a tumbling target in space.

Authors:Gosuke Kojima, Kohei Honda, Satoshi Nakano, Manabu Yamada
Title: Ground and Flight Locomotion for Two-Wheeled Drones via Model Predictive Path Integral Control
Abstract:
This paper presents a novel approach to motion planning for two-wheeled drones that can drive on the ground and fly in the air. Conventional methods for two-wheeled drone motion planning typically rely on gradient-based optimization and assume that obstacle shapes can be approximated by a differentiable form. To overcome this limitation, we propose a motion planning method based on Model Predictive Path Integral (MPPI) control, enabling navigation through arbitrarily shaped obstacles by switching between driving and flight modes. To handle the instability and rapid solution changes caused by mode switching, our proposed method switches the control space and utilizes the auxiliary controller for MPPI. Our simulation results demonstrate that the proposed method enables navigation in unstructured environments and achieves effective obstacle avoidance through mode switching.

Authors:Garrett Perkins, Benjamin Macht, Lucas Ritzdorf, Tristan Running Crane, Brock LaMeres, Clemente Izurieta, Ann Marie Reinhold
Title: SoK: Trusted Execution in SoC-FPGAs
Abstract:
Trusted Execution Environments (TEEs) have emerged at the forefront of edge computing to combat the lack of trust between system components. Field Programmable Gate Arrays (FPGAs) are commonly used as edge computers but were not created with security as a primary consideration. Thus, FPGA-based edge computers are increasingly the target of cyberattacks. We analyze the existing literature to systematize the applications and features of FPGA-based TEEs. We identified 27 primary studies related to different types of System-on-Chip FPGA-based TEEs. Across a wide range of applications and features, the availability of extensible solutions is limited. Most solutions focus on specific features and applications, whereas few solutions focus on feature-rich, comprehensive TEEs that can be utilized across computer systems. Whether TEEs are specific or extensible, the paucity of published studies provides evidence of research gaps. This SoK delineates these gaps revealing opportunities for researchers and developers.

Authors:Morgan Williamson, Aditya Rao, Evan Segura, Bryson Wylie, Matthew Hall
Title: Prospects for endurance augmentation of small unmanned systems using butane-fueled thermoelectric generation
Abstract:
We investigate the potential of enhancing small (<20 kg) drone endurance by exploiting the high energy density of hydrocarbons using a prototype generator based on commercial-off-the-shelf (COTS) thermoelectric energy conversion technology. A proof-of-concept prototype was developed to vet design and engineering challenges and to bolster validity of resultant conclusions. The combination of the prototype performance and modeling suggests that endurance augmentation remains a difficult technical challenge with no clear immediate remedy despite many expectant alternatives. Across a sample of representative drones including ground- and air-based, multicopter and fixed wing drones, we report the following: from their current maximum values of 12%, thermoelectric (TE) generator module efficiencies must increase by over two times to achieve endurance parity with lithium batteries for VTOL multicopters. On the other hand, current TE efficiencies can compete with lithium batteries for some low power fixed wing and ground-based drones. Technical contributors for these results include weight of non-energy contributing components, low specific power and the associated tradeoff between specific power and specific energy due to fuel mass fraction, and lastly, low efficiencies.

Authors:Karsten Müller, Andreas Wanke, Yves Burkhardt, Herbert De Gersem
Title: Evaluation of Torque Ripple and Tooth Forces of a Skewed PMSM by 2D and 3D FE Simulations
Abstract:
In this paper, various skewing configurations for a permanent magnet synchronous machine are evaluated by comparing torque ripple amplitudes and tooth forces. Since high-frequency pure tones emitted by an electrical machine significantly impact a vehicle's noise, vibration, and harshness (NVH) behavior, it is crucial to analyze radial forces. These forces are examined and compared across different skewing configurations and angles using the Maxwell stress tensor in 2D and 3D finite-element (FE) simulations. In addition to conventional investigations in 2D FE simulations, 3D FE simulations are executed. These 3D FE simulations show that axial forces occur at the transition points between the magnetic segments of a linear step skewed rotor.

Authors:Jeremy C. -H. Wang, Ming Hou, David Dunwoody, Marko Ilievski, Justin Tomasi, Edward Chao, Carl Pigeon
Title: Flight Testing an Optionally Piloted Aircraft: a Case Study on Trust Dynamics in Human-Autonomy Teaming
Abstract:
This paper examines how trust is formed, maintained, or diminished over time in the context of human-autonomy teaming with an optionally piloted aircraft. Whereas traditional factor-based trust models offer a static representation of human confidence in technology, here we discuss how variations in the underlying factors lead to variations in trust, trust thresholds, and human behaviours. Over 200 hours of flight test data collected over a multi-year test campaign from 2021 to 2023 were reviewed. The dispositional-situational-learned, process-performance-purpose, and IMPACTS homeostasis trust models are applied to illuminate trust trends during nominal autonomous flight operations. The results offer promising directions for future studies on trust dynamics and design-for-trust in human-autonomy teaming.

Authors:Seungwoo Jung, Yeonho Yoo, Gyeongsik Yang, Chuck Yoo
Title: Prediction of Permissioned Blockchain Performance for Resource Scaling Configurations
Abstract:
Blockchain is increasingly offered as blockchain-as-a-service (BaaS) by cloud service providers. However, configuring BaaS appropriately for optimal performance and reliability resorts to try-and-error. A key challenge is that BaaS is often perceived as a ``black-box,'' leading to uncertainties in performance and resource provisioning. Previous studies attempted to address this challenge; however, the impacts of both vertical and horizontal scaling remain elusive. To this end, we present machine learning-based models to predict network reliability and throughput based on scaling configurations. In our evaluation, the models exhibit prediction errors of ~1.9%, which is highly accurate and can be applied in the real-world.

Authors:Jeffrey D Shulkin, Abhipol Vibhatasilpin, Vedant Adhana
Title: Pervasive Sensing for Livestock Health and Activity Monitoring: Current Methods and Techniques
Abstract:
Pervasive sensing is transforming health and activity monitoring by enabling continuous and automated data collection through advanced sensing modalities. While extensive research has been conducted on human subjects, its application in livestock remains underexplored. In large-scale agriculture, real-time monitoring of biological signals and behavioral patterns can facilitate early disease detection, optimize feeding and breeding strategies, and ensure compliance with welfare standards. This survey examines key sensing technologies -- including structural vibration, radio frequency (RF), computer vision, and wearables -- highlighting their benefits and challenges in livestock monitoring. By comparing these approaches, we provide insights into their effectiveness, limitations, and potential for integration into modern smart farming systems. Finally, we discuss research gaps and future directions to advance pervasive sensing in livestock health and activity monitoring.

Authors:Shreshta Rajakumar Deshpande, Mrdjan Jankovic
Title: Energy-efficient Merging of Connected and Automated Vehicles using Control Barrier Functions
Abstract:
Highway merges present difficulties for human drivers and automated vehicles due to incomplete situational awareness and a need for a structured (precedence, order) environment, respectively. In this paper, an unstructured merge algorithm is presented for connected and automated vehicles. There is neither precedence nor established passing order through the merge point. The algorithm relies on Control Barrier Functions for safety (collision avoidance) and for coordination that arises from exponential instability of stall-equilibria in the inter-agent space. A Monte Carlo simulation comparison to a first-in-first-out approach shows improvement in traffic flow and a significant energy efficiency benefit.

Authors:Angelo Di Porzio, Marco Coraggio
Title: A Personalized Data-Driven Generative Model of Human Motion
Abstract:
The deployment of autonomous virtual avatars (in extended reality) and robots in human group activities - such as rehabilitation therapy, sports, and manufacturing - is expected to increase as these technologies become more pervasive. Designing cognitive architectures and control strategies to drive these agents requires realistic models of human motion. However, existing models only provide simplified descriptions of human motor behavior. In this work, we propose a fully data-driven approach, based on Long Short-Term Memory neural networks, to generate original motion that captures the unique characteristics of specific individuals. We validate the architecture using real data of scalar oscillatory motion. Extensive analyses show that our model effectively replicates the velocity distribution and amplitude envelopes of the individual it was trained on, remaining different from other individuals, and outperforming state-of-the-art models in terms of similarity to human data.

Authors:Shengyang Wu, Vladimir Dvorkin
Title: Synthesizing Grid Data with Cyber Resilience and Privacy Guarantees
Abstract:
Differential privacy (DP) provides a principled approach to synthesizing data (e.g., loads) from real-world power systems while limiting the exposure of sensitive information. However, adversaries may exploit synthetic data to calibrate cyberattacks on the source grids. To control these risks, we propose new DP algorithms for synthesizing data that provide the source grids with both cyber resilience and privacy guarantees. The algorithms incorporate both normal operation and attack optimization models to balance the fidelity of synthesized data and cyber resilience. The resulting post-processing optimization is reformulated as a robust optimization problem, which is compatible with the exponential mechanism of DP to moderate its computational burden.

Authors:Shunpei Fujii, Kanta Tachibana
Title: On a Dissimilarity Metric for Analyzing Body Synergistic Coordination in Non-Periodic Motion
Abstract:
This study proposes a novel metric to quantitatively evaluate body synergistic coordination, explicitly addressing dynamic interactions between pairs of body segments in baseball pitching motions. Conventional methods typically compare motion trajectories using individual joint coordinates or velocities independently, employing techniques like Dynamic Time Warping (DTW) that inherently apply temporal alignment even when such correction may distort meaningful rhythm-based differences. In contrast, our approach models the coordination dynamics as Linear Time-Invariant (LTI) systems, leveraging convolution operations between pairs of time series data to capture the gain and phase-lag inherent in genuine coordination dynamics. Empirical validation demonstrates the robustness of the proposed metric to variations in camera angles and scaling, providing superior discriminative capability compared to DTW and deep learning-based methods.

Authors:Mariam Nour, Mohamed H. Zaki, Mohamed Abdel-Aty
Title: Towards Connected Smart Work Zones: Advancing Work Zone Management through Improved Connectivity
Abstract:
Work zones play a key role in road and highway maintenance but can lead to significant risks to both drivers and workers. Smart Work Zones (SWZs) have emerged as a potential solution, offering decision-makers real-time insights into the status of the work zone. By utilizing work zone barrels equipped with sensors and communication nodes, SWZs facilitate collecting and transmitting critical data, including location, traffic density, flow patterns, and worker proximity alerts. In collaboration with the Florida Department of Transportation (FDOT), this study addresses work zone barrel connectivity requirements while considering a cost-effective, low-power, and low-maintenance solution. While the broader project aimed to create a complete SWZ system for the localization of work zone barrels, this paper proposes a novel relay node selection algorithm integrated with Bluetooth Low Energy (BLE) technology to enhance network performance. The proposed algorithm enhances the communication network performance by selecting specific nodes as relay points, avoiding message flooding in the network. It demonstrates an improvement in message delivery rates, achieving up to a 40% increase over existing methods while ensuring balanced load distribution among nodes. Moreover, it maintains an 80% message delivery rate while minimizing power consumption, outperforming other approaches. This improvement in communication efficiency is critical, as it ensures the accurate transmission and delivery of vital work zone data, allowing for faster and more informed decisions to enhance work zone safety and management.

Authors:Shiva Poudel, Poorva Sharma, Abhineet Parchure, Daniel Olsen, Sayantan Bhowmik, Tonya Martin, Dylan Locsin, Andrew P. Reiman
Title: Risk-Aware Planning of Power Distribution Systems Using Scalable Cloud Technologies
Abstract:
The uncertainty in distribution grid planning is driven by the unpredictable spatial and temporal patterns in adopting electric vehicles (EVs) and solar photovoltaic (PV) systems. This complexity, stemming from interactions among EVs, PV systems, customer behavior, and weather conditions, calls for a scalable framework to capture a full range of possible scenarios and analyze grid responses to factor in compound uncertainty. Although this process is challenging for many utilities today, the need to model numerous grid parameters as random variables and evaluate the impact on the system from many different perspectives will become increasingly essential to facilitate more strategic and well-informed planning investments. We present a scalable, stochastic-aware distribution system planning application that addresses these uncertainties by capturing spatial and temporal variability through a Markov model and conducting Monte Carlo simulations leveraging modular cloud-based architecture. The results demonstrate that 15,000 power flow scenarios generated from the Markov model are completed on the modified IEEE 123-bus test feeder, with each simulation representing an 8,760-hour time series run, all in under an hour. The grid impact extracted from this huge volume of simulated data provides insights into the spatial and temporal effects of adopted technology, highlighting that planning solely for average conditions is inadequate, while worst-case scenario planning may lead to prohibitive expenses.

Authors:Mehdi Delrobaei, Kenneth McIsaac
Title: Beacon-Based Feedback Control for Parking an Active-Joint Center-Articulated Mobile Robot
Abstract:
This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a small neighborhood of the goal. The control law, designed using Lyapunov techniques, is based on the robot's polar coordinate equations. A beacon-based guidance system provides feedback on the target's position and orientation. Simulations demonstrate the robot's ability to park successfully from arbitrary initial poses.

Authors:Taishi Kotsuka, Enoch Yeung
Title: Controlling Peak Sharpness in Multimodal Biomolecular Systems via the Chemical Fokker-Planck Equation
Abstract:
Intracellular biomolecular systems exhibit intrinsic stochasticity due to low molecular copy numbers, leading to multimodal probability distributions that play a crucial role in probabilistic differentiation and cellular decision-making. Controlling the dispersion of multimodal probability distributions in biomolecular systems is critical for regulating stochastic behavior, robustness, and adaptability. However, modifying system parameters to adjust dispersion often affects peak positions, potentially altering a desired phenotype or even fundamental behavior in a genetic pathway. In this paper, we establish a theoretical framework that enables independent control of dispersion while preserving peak positions and modality using the Chemical Fokker-Planck Equation (CFPE) and sharpness, a measure of probability concentration around individual peaks. By analyzing the steady-state solution of the CFPE, we derive explicit conditions under which peak sharpness can be tuned monotonically without changing peak positions or modality. We validate our approach through Monte Carlo simulations on a bimodal chemical system, demonstrating effective dispersion control while maintaining structural stability. This framework provides a systematic approach for designing biomolecular systems with tunable stochastic properties, contributing to advancements in synthetic biology and probabilistic cellular regulation.

Authors:Stefan Kuntz, Gerald Gerlach, Sina Fella
Title: Inductive Position Sensors based on Coupling of Coils on Printed Circuit Boards for Demanding Automotive Applications
Abstract:
Rotor position feedback is required in many industrial and automotive applications, e.g. for field-oriented control of brushless motors. Traditionally, magnetic sensors, resolvers or optical encoders are used to measure the rotor position. However, advances in inductive sensing concepts enable a low-cost, high-precision position measurement principle which is robust against magnetic stray fields exceeding 4000 A/m. The operating principle is based on the coupling of a transmitter coil with several receiver coils in the megahertz frequency range. The coils are part of a printed circuit board (PCB) which also comprises circuitry for demodulation and signal processing. The transmitter coil induces eddy currents in an electrically conductive passive coupling element, which provides position-dependent amplitude modulation. The voltage induced in the receiver coils encodes the rotor angle information, typically in quadrature signals. The coupling element requires no rare-earth materials and can be made of stainless steel, for instance. The PCB-based design of the sensor offers considerable flexibility in optimizing its performance. By tailoring the coil geometry and arrangement, accuracy, air gap and overall sensor dimensions can be adjusted to meet a broad range of application-specific requirements. A sensor design sample exhibits a mechanical angle error less than 0.02° (0.1° electrical) in both, finite-element simulation and test bench measurement, with good agreement.

Authors:Anthony D. Stephens, David R. Walwyn
Title: An Assessment of the UK Government Clean Energy Strategy for the Year 2030
Abstract:
In 2024, the UK Government made two striking announcements on its plans to decarbonise the energy system; it pledged GBP22 billion to establish carbon capture and storage hubs on Teesside and Merseyside and released the Clean Power 2030 Action Plan. This paper questions the validity of both plans, arguing that they do not take adequate account of the consequences of the highly variable nature of wind and solar generations. Using dynamic models of future UK electricity systems which are designed to take account of these variabilities, it is shown that the Clean Power 2030 Action Plan overestimates the ability of wind and solar generations to decarbonise the electricity system as they increase in size relative to the demand of the electricity system. More importantly, the dynamic models show that most of the achievable decarbonization is the result of increasing wind generation from the current level of around 10 GW to around 20 GW. Increasing wind generation to only 20 GW, rather than to 30 GW as proposed in the Action Plan, should halve the proposed cost, a saving of perhaps GBP 120 billion, with little disbenefit in terms of reduced decarbonization. Furthermore, the dynamic modelling shows that UK gas storage capacity of 7.5 winter days looks hopeless inadequate in comparison with the storage capacities deemed necessary by its continental neighbors. Concern is expressed that a consequence of the Climate Change Act of 2008 requiring the UK to meet arbitrary decarbonization targets is leading government advisors to propose several unproven and therefore highly risky technological solutions.

Authors:Guido Carnevale, Nicola Bastianello
Title: Modular Distributed Nonconvex Learning with Error Feedback
Abstract:
In this paper, we design a novel distributed learning algorithm using stochastic compressed communications. In detail, we pursue a modular approach, merging ADMM and a gradient-based approach, benefiting from the robustness of the former and the computational efficiency of the latter. Additionally, we integrate a stochastic integral action (error feedback) enabling almost sure rejection of the compression error. We analyze the resulting method in nonconvex scenarios and guarantee almost sure asymptotic convergence to the set of stationary points of the problem. This result is obtained using system-theoretic tools based on stochastic timescale separation. We corroborate our findings with numerical simulations in nonconvex classification.

Authors:Jake Rap, Amritam Das
Title: ON-Traffic: An Operator Learning Framework for Online Traffic Flow Estimation and Uncertainty Quantification from Lagrangian Sensors
Abstract:
Accurate traffic flow estimation and prediction are critical for the efficient management of transportation systems, particularly under increasing urbanization. Traditional methods relying on static sensors often suffer from limited spatial coverage, while probe vehicles provide richer, albeit sparse and irregular data. This work introduces ON-Traffic, a novel deep operator Network and a receding horizon learning-based framework tailored for online estimation of spatio-temporal traffic state along with quantified uncertainty by using measurements from moving probe vehicles and downstream boundary inputs. Our framework is evaluated in both numerical and simulation datasets, showcasing its ability to handle irregular, sparse input data, adapt to time-shifted scenarios, and provide well-calibrated uncertainty estimates. The results demonstrate that the model captures complex traffic phenomena, including shockwaves and congestion propagation, while maintaining robustness to noise and sensor dropout. These advancements present a significant step toward online, adaptive traffic management systems.

Authors:Mehrnoush Ghazanfariharandi, Robert Mieth
Title: Value-Oriented Forecast Combinations for Unit Commitment
Abstract:
Value-oriented forecasts for two-stage power system operational problems have been demonstrated to reduce cost, but prove to be computationally challenging for large-scale systems because the underlying optimization problem must be internalized into the forecast model training. Therefore, existing approaches typically scale poorly in the usable training data or require relaxations of the underlying optimization. This paper presents a method for value-oriented forecast combinations using progressive hedging, which unlocks high-fidelity, at-scale models and large-scale datasets in training. We also derive one-shot training model for reference and study how different modifications of the training model impact the solution quality.

Authors:Weihan Li, Harshvardhan Samsukha, Bruis van Vlijmen, Lisen Yan, Samuel Greenbank, Simona Onori, Venkat Viswanathan
Title: Fast data augmentation for battery degradation prediction
Abstract:
Degradation prediction for lithium-ion batteries using data-driven methods requires high-quality aging data. However, generating such data, whether in the laboratory or the field, is time- and resource-intensive. Here, we propose a method for the synthetic generation of capacity fade curves based on limited battery tests or operation data without the need for invasive battery characterization, aiming to augment the datasets used by data-driven models for degradation prediction. We validate our method by evaluating the performance of both shallow and deep learning models using diverse datasets from laboratory and field applications. These datasets encompass various chemistries and realistic conditions, including cell-to-cell variations, measurement noise, varying charge-discharge conditions, and capacity recovery. Our results show that it is possible to reduce cell-testing efforts by at least 50% by substituting synthetic data into an existing dataset. This paper highlights the effectiveness of our synthetic data augmentation method in supplementing existing methodologies in battery health prognostics while dramatically reducing the expenditure of time and resources on battery aging experiments.

Authors:Peace Obioma, Obinna Agbodike, Jenhui Chen, Lei Wang
Title: ISLS: IoT-Based Smart Lighting System for Improving Energy Conservation in Office Buildings
Abstract:
With the Internet of Things (IoT) fostering seamless device-to-human and device-to-device interactions, the domain of intelligent lighting systems have evolved beyond simple occupancy and daylight sensing towards autonomous monitoring and control of power consumption and illuminance levels. To this regard, this paper proposes a new do-it-yourself (DIY) IoT-based method of smart lighting system featuring an illuminance control algorithm. The design involves the integration of occupancy and presence sensors alongside a communication module, to enable real-time wireless interaction and remote monitoring of the system parameters from any location through an end-user application. A constrained optimization problem was formulated to determine the optimal dimming vector for achieving target illuminance at minimal power consumption. The simplex algorithm was used to solve this problem, and the system's performance was validated through both MATLAB simulations and real-world prototype testing in an indoor office environment. The obtained experimental results demonstrate substantial power savings across multiple user occupancy scenarios, achieving reductions of approx. 80%, 48%, and 26% for one, two, and four user settings, respectively, in comparison to traditional basic lighting installation systems.

Authors:Filip Elvander, Isabel Haasler
Title: Mixtures of ensembles: System separation and identification via optimal transport
Abstract:
Crowd dynamics and many large biological systems can be described as populations of agents or particles, which can only be observed on aggregate population level. Identifying the dynamics of agents is crucial for understanding these large systems. However, the population of agents is typically not homogeneous, and thus the aggregate observations consist of the superposition of multiple ensembles each governed by individual dynamics. In this work, we propose an optimal transport framework to jointly separate the population into several ensembles and identify each ensemble's dynamical system, based on aggregate observations of the population. We propose a bi-convex optimization problem, which we solve using a block coordinate descent with convergence guarantees. In numerical experiments, we demonstrate that the proposed approach exhibits close-to-oracle performance also in noisy settings, yielding accurate estimates of both the ensembles and the parameters governing their dynamics.

Authors:Akito Igarashi, Yutaka Hori
Title: Parameter Invariance Analysis of Moment Equations Using Dulmage-Mendelsohn Decomposition
Abstract:
Living organisms maintain stable functioning amid environmental fluctuations through homeostasis, a property that preserves a system's behavior despite changes in environmental conditions. To elucidate homeostasis in stochastic biochemical reactions, theoretical tools for assessing population-level invariance under parameter perturbations are crucial. In this paper, we propose a systematic method for identifying the stationary moments that remain invariant under parameter perturbations by leveraging the structural properties of the stationary moment equations. A key step in this development is addressing the underdetermined nature of moment equations, which has traditionally made it difficult to characterize how stationary moments depend on system parameters. To overcome this, we utilize the Dulmage-Mendelsohn (DM) decomposition of the coefficient matrix to extract welldetermined subequations and reveal their hierarchical structure. Leveraging this structure, we identify stationary moments whose partial derivatives with respect to parameters are structurally zero, facilitating the exploration of fundamental constraints that govern homeostatic behavior in stochastic biochemical systems.

Authors:Jeffrey Chen, Rohan Chandra
Title: LIVEPOINT: Fully Decentralized, Safe, Deadlock-Free Multi-Robot Control in Cluttered Environments with High-Dimensional Inputs
Abstract:
Fully decentralized, safe, and deadlock-free multi-robot navigation in dynamic, cluttered environments is a critical challenge in robotics. Current methods require exact state measurements in order to enforce safety and liveness e.g. via control barrier functions (CBFs), which is challenging to achieve directly from onboard sensors like lidars and cameras. This work introduces LIVEPOINT, a decentralized control framework that synthesizes universal CBFs over point clouds to enable safe, deadlock-free real-time multi-robot navigation in dynamic, cluttered environments. Further, LIVEPOINT ensures minimally invasive deadlock avoidance behavior by dynamically adjusting agents' speeds based on a novel symmetric interaction metric. We validate our approach in simulation experiments across highly constrained multi-robot scenarios like doorways and intersections. Results demonstrate that LIVEPOINT achieves zero collisions or deadlocks and a 100% success rate in challenging settings compared to optimization-based baselines such as MPC and ORCA and neural methods such as MPNet, which fail in such environments. Despite prioritizing safety and liveness, LIVEPOINT is 35% smoother than baselines in the doorway environment, and maintains agility in constrained environments while still being safe and deadlock-free.

Authors:Jun Li, Qifeng Xu, Yifan Lin, Nan Xie
Title: Suppression and Regulation of Thermal Birefringence in Optical Voltage Sensor with Isomerism Electrodes and Arbitrary Electric Field Direction Modulation
Abstract:
The insufficient stability and reliability of Optical Voltage Sensor is primarily caused by thermal stress induced birefringence. In this paper, a method based on arbitrary electric field direction modulation and isomerism electrodes is proposed to suppress or regulate it. With the aid of multi-physics Finite Element Method, Jones Matrix and the theory of photoelastic effect, it is found that metal or transparent isomerism electrodes can generate a special thermal stress distribution, which regulates the birefringence in the optical path and their induced measurement error. The experiment is conducted on a 10mm cubic bismuth germanite crystal, with cutting directions 110, -110 and 001. The experiment result shows that Cu isomerism electrodes with electric field angle of 59.9 degrees could generate 37% less birefringence error compared to parallel plate electrodes, in the temperature range from 25 degrees Celsius to 40 degrees Celsius. However, the Indium Tin Oxide electrodes with field angle of 29.6 degrees produces approximately 7 times error because of its bad ductility and thermal conduction. The proposed modeling and suppression method for birefringence is beneficial to design of high accuracy optical voltage sensor or electro-optical modulator.

Authors:Hiroshi Okajima, Risa Furukawa, Nobutomo Matsunaga
Title: System Identification Under Multi-rate Sensing Environment
Abstract:
This paper proposes a system identification algorithm for systems with multi-rate sensors in a discrete-time framework. It is challenging to obtain an accurate mathematical model when the ratios of inputs and outputs are different in the system. A cyclic reformulation-based model for multi-rate systems is formulated, and the multi-rate system can be reduced to a linear time-invariant system to derive the model under the multi-rate sensing environment. The proposed algorithm integrates a cyclic reformulation with a state coordinate transformation of the cycled system to enable precise identification of systems under the multi-rate sensing environment. The effectiveness of the proposed system identification method is demonstrated using numerical simulations.

Authors:Fengyun Zhang, Jia Li, Xiaoqing Zhang, Shukai Duan, Shuang-Hua Yang
Title: Indoor Fusion Positioning Based on "IMU-Ultrasonic-UWB" and Factor Graph Optimization Method
Abstract:
This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To overcome the shortcomings of standalone UWB systems in non-line-of-sight (NLOS) scenarios and the inherent drift associated with inertial navigation, we developed a novel hybrid fusion framework. First, a dynamic covariance estimation mechanism is incorporated, which automatically adjusts measurement weights based on real-time channel conditions. Then, a tightly-coupled sensor fusion architecture is employed, utilizing IMU pre-integration theory for temporal synchronization. Finally, a sliding-window factor graph optimization backend is utilized, incorporating NLOS mitigation constraints. Experimental results in complex indoor environments show a 38\% improvement in positioning accuracy compared to conventional Kalman filter-based approaches, achieving a 12.3 cm root mean square (RMS) error under dynamic motion conditions. The system maintains robust performance even with intermittent UWB signal availability, down to a 40\% packet reception rate, effectively suppressing IMU drift through multi-modal constraint fusion. This work offers a practical solution for applications that require reliable indoor positioning in GPS-denied environments.

Authors:Jakob Harzer, Jochem De Schutter, Moritz Diehl
Title: Integration Error Regularization in Direct Optimal Control using Embedded Runge Kutta Methods
Abstract:
In order to solve continuous-time optimal control problems, direct methods transcribe the infinite-dimensional problem to a nonlinear program (NLP) using numerical integration methods. In cases where the integration error can be manipulated by the chosen control trajectory, the transcription might produce spurious local NLP solutions as a by-product. While often this issue can be addressed by increasing the accuracy of the integration method, this is not always computationally acceptable, e.g., in the case of embedded optimization. Therefore, alternatively, we propose to estimate the integration error using established embedded Runge-Kutta methods and to regularize this estimate in the NLP cost function, using generalized norms. While this regularization is effective at eliminating spurious solutions, it inherently comes with a loss of optimality of valid solutions. The regularization can be tuned to minimize this loss, using a single parameter that can be intuitively interpreted as the maximum allowable estimated local integration error. In a numerical example based on a system with stiff dynamics, we show how this methodology enables the use of a computationally cheap explicit integration method, achieving a speedup of a factor of 3 compared to an otherwise more suitable implicit method, with a loss of optimality of only 3\%.

Authors:Saeid Haghbin, Morteza Rezaei Larijani, MohammadReza Zolghadri, Shahin Hedayati Kia
Title: Automotive Battery Pack Standards and Design Characteristics: A Review
Abstract:
The latest advancements and near-future trends in automotive battery packs, underlying regulatory compliance, and performance requirements are presented in this paper. In response to these specifications, high-level solutions that converge towards a standard architecture for passenger cars are provided. Transition to high-voltage enables ultra-fast charging above 350 kW, which reduces the charging times to less than 20 minutes. Also, advances in energy density and battery capacities make advancements in enhancing the electric vehicle's range beyond 1000 km per charge. Key factors such as electrical performance, safety, mechanical integrity, reliability, endurance, environmental conditions, and diagnostics are examined. This study explores the next generation of cost-effective and high-performance battery systems and discovers near-future battery technologies, including sodium-ion chemistry and rare-earth-free alternatives, as well as battery applications in aviation.

Authors:Jinghan Wang, Michael W. Fisher
Title: Computing Modes of Instability of Parameterized Nonlinear Systems for Vulnerability Assessment
Abstract:
Engineered systems naturally experience large disturbances that can disrupt desired operation because the system may fail to recover to a stable equilibrium point. It is valuable to determine the mechanism of instability when the system is subject to a particular finite-time disturbance, because this information can be used to improve vulnerability detection, and to design controllers to reduce vulnerability. Often there exists a particular unstable equilibrium point on the region of attraction boundary of the stable equilibrium point such that the unstable eigenvector of the Jacobian at this unstable equilibrium point represents the mode of instability for the disturbance. Unfortunately, it is challenging to find this mode of instability, especially in high dimensional systems, because it is computationally intractable to obtain this particular unstable equilibrium point. This paper develops a novel algorithm for numerically computing the mode of instability for parameterized nonlinear systems without identifying the particular unstable equilibrium point, resulting in a computationally efficient method. The key idea is to first consider the setting where the system recovers, and to average the Jacobian along the system trajectory from the post-disturbance state up until the Jacobian becomes stable. As the system approaches inability to recover, the averaged Jacobians converge to the Jacobian at the particular unstable equilibrium point, and can be used to extract the unstable eigenvector representing the mode of instability. Convergence guarantees are provided for computing the mode of instability, both for the theoretical setting in continuous time, and for the proposed algorithm which relies on numerical integration. Numerical examples illustrate the successful application of the method to identify the mechanism of instability in power systems subject to temporary short circuits.

Authors:Luoyin Zhao, Zheping Yan, Yuqing Wang, Raye Chen-Hua Yeow
Title: Formation Control of Multi-agent System with Local Interaction and Artificial Potential Field
Abstract:
A novel local interaction control method (LICM) is proposed in this paper to realize the formation control of multi-agent system (MAS). A local interaction leader follower (LILF) structure is provided by coupling the advantages of information consensus and leader follower frame, the agents can obtain the state information of the leader by interacting with their neighbours, which will reduce the communication overhead of the system and the dependence on a single node of the topology. In addition, the artificial potential field (APF) method is introduced to achieve obstacle avoidance and collision avoidance between agents. Inspired by the stress response of animals, a stress response mechanism-artificial potential field (SRM-APF) is proposed, which will be triggered when the local minimum problem of APF occurs. Ultimately, the simulation experiments of three formation shapes, including triangular formation, square formation and hexagonal formation, validate the effectiveness of the proposed method.

Authors:Daniyal Munir, Atta Ullah, Danish Mehmood Mughal, Min Young Chung, Hans D. Schotten
Title: Dynamic IRS Allocation for Spectrum-Sharing MIMO Communication and Radar Systems
Abstract:
This paper investigates the use of intelligent reflecting surfaces (IRS) to assist cellular communications and radar sensing operations in a communications and sensing setup. The IRS dynamically allocates reflecting elements to simultaneously localize a target and assist a user's communication. To achieve this, we propose a novel optimization framework that jointly addresses beamforming design and IRS element allocation. Specifically, we formulate a Weighted Minimum Mean Square Error (WMMSE)-based approach that iteratively optimizes the transmit and receive beamforming vectors, IRS phase shifts, and element allocation. The allocation mechanism adaptively balances the number of IRS elements dedicated to communication and sensing subsystems by leveraging the signal-to-noise-plus-interference-ratio (SINR) between the two. The proposed solution ensures efficient resource utilization while maintaining performance trade-offs. Numerical results demonstrate significant improvements in both communication and sensing SINRs under varying system parameters.

Authors:Elias Khalife, Pierre-Loic Garoche, Mazen Farhood
Title: Formally Proving Invariant Systemic Properties of Control Programs Using Ghost Code and Integral Quadratic Constraints
Abstract:
This paper focuses on formally verifying invariant properties of control programs both at the model and code levels. The physical process is described by an uncertain discrete-time state-space system, where the dependence of the state-space matrix-valued functions defining the system on the uncertainties can be rational. The proposed approaches make use of pointwise integral quadratic constraints (IQCs) to characterize the uncertainties affecting the behavior of the system. Various uncertainties can be characterized by pointwise IQCs, including static linear time-varying perturbations and sector-bounded nonlinearities. Using the IQC framework, a sound overapproximation of the uncertain system, which is expressible at the code level, is constructed. Tools such as Frama-C, ACSL, WP, and an Alt-Ergo plugin are employed to ensure the validity of the state and output invariant properties across both real and float models. The first proposed approach can be used to formally verify (local) invariant properties of the control code. This capability is demonstrated in a couple of examples involving gain-scheduled path-following controllers designed for an uncrewed aircraft system and an autonomous underwater vehicle. The second approach enables the verification of closed-loop invariant properties, i.e., invariant properties of the controlled system as a whole, in both real and float models, while preserving the integrity of the executable controller code. This is achieved by using ghost code attached to the control code for all elements related to the plant model with uncertainties, as the ghost code does not interfere with the executable code. The effectiveness of this approach is demonstrated in two examples on the control of a four-thruster hovercraft and the control of a two-mass rotational system.

Authors:E Harshith Kumar Yadav, Rahul Narava, Anshika, Shashi Shekher Jha
Title: Balancing SoC in Battery Cells using Safe Action Perturbations
Abstract:
Managing equal charge levels in active cell balancing while charging a Li-ion battery is challenging. An imbalance in charge levels affects the state of health of the battery, along with the concerns of thermal runaway and fire hazards. Traditional methods focus on safety assurance as a trade-off between safety and charging time. Others deal with battery-specific conditions to ensure safety, therefore losing on the generalization of the control strategies over various configurations of batteries. In this work, we propose a method to learn safe battery charging actions by using a safety-layer as an add-on over a Deep Reinforcement Learning (RL) agent. The safety layer perturbs the agent's action to prevent the battery from encountering unsafe or dangerous states. Further, our Deep RL framework focuses on learning a generalized policy that can be effectively employed with varying configurations of batteries. Our experimental results demonstrate that the safety-layer based action perturbation incurs fewer safety violations by avoiding unsafe states along with learning a robust policy for several battery configurations.

Authors:Andrés Chavarrías, David Rodriguez-Cianca, Pablo Lanillos
Title: Adaptive Torque Control of Exoskeletons under Spasticity Conditions via Reinforcement Learning
Abstract:
Spasticity is a common movement disorder symptom in individuals with cerebral palsy, hereditary spastic paraplegia, spinal cord injury and stroke, being one of the most disabling features in the progression of these diseases. Despite the potential benefit of using wearable robots to treat spasticity, their use is not currently recommended to subjects with a level of spasticity above ${1^+}$ on the Modified Ashworth Scale. The varying dynamics of this velocity-dependent tonic stretch reflex make it difficult to deploy safe personalized controllers. Here, we describe a novel adaptive torque controller via deep reinforcement learning (RL) for a knee exoskeleton under joint spasticity conditions, which accounts for task performance and interaction forces reduction. To train the RL agent, we developed a digital twin, including a musculoskeletal-exoskeleton system with joint misalignment and a differentiable spastic reflexes model for the muscles activation. Results for a simulated knee extension movement showed that the agent learns to control the exoskeleton for individuals with different levels of spasticity. The proposed controller was able to reduce maximum torques applied to the human joint under spastic conditions by an average of 10.6\% and decreases the root mean square until the settling time by 8.9\% compared to a conventional compliant controller.

Authors:Sribalaji C. Anand, Kamil Hassan, Henrik Sandberg
Title: Feasibility of Randomized Detector Tuning for Attack Impact Mitigation
Abstract:
This paper considers the problem of detector tuning against false data injection attacks. In particular, we consider an adversary injecting false sensor data to maximize the state deviation of the plant, referred to as impact, whilst being stealthy. To minimize the impact of stealthy attacks, inspired by moving target defense, the operator randomly switches the detector thresholds. In this paper, we theoretically derive the sufficient (and in some cases necessary) conditions under which the impact of stealthy attacks can be made smaller with randomized switching of detector thresholds compared to static thresholds. We establish the conditions for the stateless ($χ^2$) and the stateful (CUSUM) detectors. The results are illustrated through numerical examples.

Authors:Jone Ugarte Valdivielso, Jose I. Aizpurua, Manex Barrenetxea, Brian G. Stewart
Title: Reinforcement Learning-Based Controlled Switching Approach for Inrush Current Minimization in Power Transformers
Abstract:
Transformers are essential components for the reliable operation of power grids. The transformer core is constituted by a ferromagnetic material, and accordingly, depending on the magnetization state, the energization of the transformer can lead to high magnetizing inrush currents. Such high amplitudes shorten the life expectancy of a transformer and cause power quality issues in power grids. Various techniques have been proposed to minimize the inrush current; however, the application of Reinforcement Learning (RL) for this challenge has not been investigated. RL incorporates the ability to learn inrush minimization strategies adjusted to the dynamic transformer operation environment. This study proposes an inrush current minimization framework by combining controlled switching with RL. Depending on the opening angle of the circuit breaker and the remanent fluxes at disconnection, the proposed method learns the optimal closing instant of the circuit breaker. Two RL algorithms have been trained and tested through an equivalent duality-based model of a real 7.4 MVA power transformer. The evaluation of the RL algorithms is carried out with real measurement data and compared with real laboratory inrush currents. The results show that the inrush current is effectively minimized with the proposed framework.

Authors:Jiangwei Zhao, Zhengjia Xu, Dongsu Wu, Yingrui Cao, Jinpeng Xie
Title: Six-DoF Stewart Platform Motion Simulator Control using Switchable Model Predictive Control
Abstract:
Due to excellent mechanism characteristics of high rigidity, maneuverability and strength-to-weight ratio, 6 Degree-of-Freedom (DoF) Stewart structure is widely adopted to construct flight simulator platforms for replicating motion feelings during training pilots. Unlike conventional serial link manipulator based mechanisms, Upset Prevention and Recovery Training (UPRT) in complex flight status is often accompanied by large speed and violent rate of change in angular velocity of the simulator. However, Classical Washout Filter (CWF) based Motion Cueing Algorithm (MCA) shows limitations in providing rapid response to drive motors to satisfy high accuracy performance requirements. This paper aims at exploiting Model Predictive Control (MPC) based MCA which is proved to be efficient in Hexapod-based motion simulators through controlling over limited linear workspace. With respect to uncertainties and control solution errors from the extraction of Terminal Constraints (COTC), this paper proposes a Switchable Model Predictive Control (S-MPC) based MCA under model adaptive architecture to mitigate the solution uncertainties and inaccuracies. It is verified that high accurate tracking is achievable using the MPC-based MCA with COTC within the simulator operating envelope. The proposed method provides optimal tracking solutions by switching to MPC based MCA without COTC outside the operating envelope. By demonstrating the UPRT with horizontal stall conditions following Average Absolute Scale(AAS) evaluation criteria, the proposed S-MPC based MCA outperforms MPC based MCA and SWF based MCA by 42.34% and 65.30%, respectively.

Authors:Aatiz Ghimire, Shahnawaz Alam, Siman Giri, Madhav Prasad Ghimire
Title: Cost-effective Deep Learning Infrastructure with NVIDIA GPU
Abstract:
The growing demand for computational power is driven by advancements in deep learning, the increasing need for big data processing, and the requirements of scientific simulations for academic and research purposes. Developing countries like Nepal often struggle with the resources needed to invest in new and better hardware for these purposes. However, optimizing and building on existing technology can still meet these computing demands effectively. To address these needs, we built a cluster using four NVIDIA GeForce GTX 1650 GPUs. The cluster consists of four nodes: one master node that controls and manages the entire cluster, and three compute nodes dedicated to processing tasks. The master node is equipped with all necessary software for package management, resource scheduling, and deployment, such as Anaconda and Slurm. In addition, a Network File Storage (NFS) system was integrated to provide the additional storage required by the cluster. Given that the cluster is accessible via ssh by a public domain address, which poses significant cybersecurity risks, we implemented fail2ban to mitigate brute force attacks and enhance security. Despite the continuous challenges encountered during the design and implementation process, this project demonstrates how powerful computational clusters can be built to handle resource-intensive tasks in various demanding fields.

Authors:Erfaun Noorani, Zachary Serlin, Ben Price, Alvaro Velasquez
Title: From Abstraction to Reality: DARPA's Vision for Robust Sim-to-Real Autonomy
Abstract:
The DARPA Transfer from Imprecise and Abstract Models to Autonomous Technologies (TIAMAT) program aims to address rapid and robust transfer of autonomy technologies across dynamic and complex environments, goals, and platforms. Existing methods for simulation-to-reality (sim-to-real) transfer often rely on high-fidelity simulations and struggle with broad adaptation, particularly in time-sensitive scenarios. Although many approaches have shown incredible performance at specific tasks, most techniques fall short when posed with unforeseen, complex, and dynamic real-world scenarios due to the inherent limitations of simulation. In contrast to current research that aims to bridge the gap between simulation environments and the real world through increasingly sophisticated simulations and a combination of methods typically assuming a small sim-to-real gap -- such as domain randomization, domain adaptation, imitation learning, meta-learning, policy distillation, and dynamic optimization -- TIAMAT takes a different approach by instead emphasizing transfer and adaptation of the autonomy stack directly to real-world environments by utilizing a breadth of low(er)-fidelity simulations to create broadly effective sim-to-real transfers. By abstractly learning from multiple simulation environments in reference to their shared semantics, TIAMAT's approaches aim to achieve abstract-to-real transfer for effective and rapid real-world adaptation. Furthermore, this program endeavors to improve the overall autonomy pipeline by addressing the inherent challenges in translating simulated behaviors into effective real-world performance.

Authors:Adnan Tahirovic, Azra Redzovic
Title: Optimal Estimation for Continuous-Time Nonlinear Systems Using State-Dependent Riccati Equation (SDRE)
Abstract:
This paper introduces a unified approach for state estimation and control of nonlinear dynamic systems, employing the State-Dependent Riccati Equation (SDRE) framework. The proposed approach naturally extends classical linear quadratic Gaussian (LQG) methods into nonlinear scenarios, avoiding linearization by using state-dependent coefficient (SDC) matrices. An SDRE-based Kalman filter (SDRE-KF) is integrated within an SDRE-based control structure, providing a coherent and intuitive strategy for nonlinear system analysis and control design. To evaluate the effectiveness and robustness of the proposed methodology, comparative simulations are conducted on two benchmark nonlinear systems: a simple pendulum and a Van der Pol oscillator. Results demonstrate that the SDRE-KF achieves comparable or superior estimation accuracy compared to traditional methods, including the Extended Kalman Filter (EKF) and Particle Filter (PF). These findings underline the potential of the unified SDRE-based approach as a viable alternative for nonlinear state estimation and control, providing valuable insights for both educational purposes and practical engineering applications.

Authors:Zhenping Guo, Xiaowen Su, Kai Sun, Byungkwon Park, Srdjan Simunovic
Title: Analysis and Mitigation of Cascading Failures Using a Stochastic Interaction Graph with Eigen-analysis
Abstract:
In studies on complex network systems using graph theory, eigen-analysis is typically performed on an undirected graph model of the network. However, when analyzing cascading failures in a power system, the interactions among failures suggest the need for a directed graph beyond the topology of the power system to model directions of failure propagation. To accurately quantify failure interactions for effective mitigation strategies, this paper proposes a stochastic interaction graph model and associated eigen-analysis. Different types of modes on failure propagations are defined and characterized by the eigenvalues of a stochastic interaction matrix, whose absolute values are unity, zero, or in between. Finding and interpreting these modes helps identify the probable patterns of failure propagation, either local or widespread, and the participating components based on eigenvectors. Then, by lowering the failure probabilities of critical components highly participating in a mode of widespread failures, cascading can be mitigated. The validity of the proposed stochastic interaction graph model, eigen-analysis and the resulting mitigation strategies is demonstrated using simulated cascading failure data on an NPCC 140-bus system.

Authors:Kyle Sonandres, Thomas Palazzo, Jonathan P. How
Title: Aerocapture Guidance for Augmented Bank Angle Modulation
Abstract:
This paper presents an optimal control solution for an aerocapture vehicle with two control inputs, bank angle and angle of attack, referred to as augmented bank angle modulation (ABAM). We derive the optimal control profiles using Pontryagin's Minimum Principle, validate the result numerically using the Gauss pseudospectral method (implemented in GPOPS), and introduce a novel guidance algorithm, ABAMGuid, for in-flight decision making. High-fidelity Monte Carlo simulations of a Uranus aerocapture mission demonstrate that ABAMGuid can greatly improve capture success rates and reduce the propellant needed for orbital correction following the atmospheric pass.

Authors:Jorge Álvaro González, Ana María Saiz García, Victor Monzon Baeza
Title: Blockchain-Enabled Management Framework for Federated Coalition Networks
Abstract:
In a globalized and interconnected world, interoperability has become a key concept for advancing tactical scenarios. Federated Coalition Networks (FCN) enable cooperation between entities from multiple nations while allowing each to maintain control over their systems. However, this interoperability necessitates the sharing of increasing amounts of information between different tactical assets, raising the need for higher security measures. Emerging technologies like blockchain drive a revolution in secure communications, paving the way for new tactical scenarios. In this work, we propose a blockchain-based framework to enhance the resilience and security of the management of these networks. We offer a guide to FCN design to help a broad audience understand the military networks in international missions by a use case and key functions applied to a proposed architecture. We evaluate its effectiveness and performance in information encryption to validate this framework.

Authors:Zhiliang Liu, Xin Zhao, Peng Cai, Bing Cong
Title: Optimizing AUV speed dynamics with a data-driven Koopman operator approach
Abstract:
Autonomous Underwater Vehicles (AUVs) play an essential role in modern ocean exploration, and their speed control systems are fundamental to their efficient operation. Like many other robotic systems, AUVs exhibit multivariable nonlinear dynamics and face various constraints, including state limitations, input constraints, and constraints on the increment input, making controller design challenging and requiring significant effort and time. This paper addresses these challenges by employing a data-driven Koopman operator theory combined with Model Predictive Control (MPC), which takes into account the aforementioned constraints. The proposed approach not only ensures the performance of the AUV under state and input limitations but also considers the variation in incremental input to prevent rapid and potentially damaging changes to the vehicle's operation. Additionally, we develop a platform based on ROS2 and Gazebo to validate the effectiveness of the proposed algorithms, providing new control strategies for underwater vehicles against the complex and dynamic nature of underwater environments.

Authors:Varad Vaidya, Jishnu Keshavan
Title: Dynamics-Invariant Quadrotor Control using Scale-Aware Deep Reinforcement Learning
Abstract:
Due to dynamic variations such as changing payload, aerodynamic disturbances, and varying platforms, a robust solution for quadrotor trajectory tracking remains challenging. To address these challenges, we present a deep reinforcement learning (DRL) framework that achieves physical dynamics invariance by directly optimizing force/torque inputs, eliminating the need for traditional intermediate control layers. Our architecture integrates a temporal trajectory encoder, which processes finite-horizon reference positions/velocities, with a latent dynamics encoder trained on historical state-action pairs to model platform-specific characteristics. Additionally, we introduce scale-aware dynamics randomization parameterized by the quadrotor's arm length, enabling our approach to maintain stability across drones spanning from 30g to 2.1kg and outperform other DRL baselines by 85% in tracking accuracy. Extensive real-world validation of our approach on the Crazyflie 2.1 quadrotor, encompassing over 200 flights, demonstrates robust adaptation to wind, ground effects, and swinging payloads while achieving less than 0.05m RMSE at speeds up to 2.0 m/s. This work introduces a universal quadrotor control paradigm that compensates for dynamic discrepancies across varied conditions and scales, paving the way for more resilient aerial systems.

Authors:Viktor Nevelius Wernholm, Alfred Wärnsäter, Axel Ringh
Title: Fast computation of the TGOSPA metric for multiple target tracking via unbalanced optimal transport
Abstract:
In multiple target tracking, it is important to be able to evaluate the performance of different tracking algorithms. The trajectory generalized optimal sub-pattern assignment metric (TGOSPA) is a recently proposed metric for such evaluations. The TGOSPA metric is computed as the solution to an optimization problem, but for large tracking scenarios, solving this problem becomes computationally demanding. In this paper, we present an approximation algorithm for evaluating the TGOSPA metric, based on casting the TGOSPA problem as an unbalanced multimarginal optimal transport problem. Following recent advances in computational optimal transport, we introduce an entropy regularization and derive an iterative scheme for solving the Lagrangian dual of the regularized problem. Numerical results suggest that our proposed algorithm is more computationally efficient than the alternative of computing the exact metric using a linear programming solver, while still providing an adequate approximation of the metric.

Authors:Di Zhao, Umar Salman, Zongjie Wang
Title: Risk Assessment of Distribution Networks Considering Climate Change and Vegetation Management Impacts
Abstract:
This paper presents a comprehensive risk assessment model for power distribution networks with a focus on the influence of climate conditions and vegetation management on outage risks. Using a dataset comprising outage records, meteorological indicators, and vegetation metrics, this paper develops a logistic regression model that outperformed several alternatives, effectively identifying risk factors in highly imbalanced data. Key features impacting outages include wind speed, vegetation density, quantified as the enhanced vegetation index (EVI), and snow type, with wet snow and autumn conditions exhibiting the strongest positive effects. The analysis also shows complex interactions, such as the combined effect of wind speed and EVI, suggesting that vegetation density can moderate the impact of high winds on outages. Simulation case studies, based on a test dataset of 618 samples, demonstrated that the model achieved an 80\% match rate with real-world data within an error tolerance of \(\pm 0.05\), showcasing the effectiveness and robustness of the proposed model while highlighting its potential to inform preventive strategies for mitigating outage risks in power distribution networks under high-risk environmental conditions. Future work will integrate vegetation height data from Lidar and explore alternative modeling approaches to capture potential non-linear relationships.

Authors:Hamed Jabbari Asl, Eiji Uchibe
Title: Data-Driven Inverse Optimal Control for Continuous-Time Nonlinear Systems
Abstract:
This paper introduces a novel model-free and a partially model-free algorithm for inverse optimal control (IOC), also known as inverse reinforcement learning (IRL), aimed at estimating the cost function of continuous-time nonlinear deterministic systems. Using the input-state trajectories of an expert agent, the proposed algorithms separately utilize control policy information and the Hamilton-Jacobi-Bellman equation to estimate different sets of cost function parameters. This approach allows the algorithms to achieve broader applicability while maintaining a model-free framework. Also, the model-free algorithm reduces complexity compared to existing methods, as it requires solving a forward optimal control problem only once during initialization. Furthermore, in our partially model-free algorithm, this step can be bypassed entirely for systems with known input dynamics. Simulation results demonstrate the effectiveness and efficiency of our algorithms, highlighting their potential for real-world deployment in autonomous systems and robotics.

Authors:Shawn Azdam, Pranav Doma, Aliasghar Moj Arab
Title: ManeuverGPT Agentic Control for Safe Autonomous Stunt Maneuvers
Abstract:
The next generation of active safety features in autonomous vehicles should be capable of safely executing evasive hazard-avoidance maneuvers akin to those performed by professional stunt drivers to achieve high-agility motion at the limits of vehicle handling. This paper presents a novel framework, ManeuverGPT, for generating and executing high-dynamic stunt maneuvers in autonomous vehicles using large language model (LLM)-based agents as controllers. We target aggressive maneuvers, such as J-turns, within the CARLA simulation environment and demonstrate an iterative, prompt-based approach to refine vehicle control parameters, starting tabula rasa without retraining model weights. We propose an agentic architecture comprised of three specialized agents (1) a Query Enricher Agent for contextualizing user commands, (2) a Driver Agent for generating maneuver parameters, and (3) a Parameter Validator Agent that enforces physics-based and safety constraints. Experimental results demonstrate successful J-turn execution across multiple vehicle models through textual prompts that adapt to differing vehicle dynamics. We evaluate performance via established success criteria and discuss limitations regarding numeric precision and scenario complexity. Our findings underscore the potential of LLM-driven control for flexible, high-dynamic maneuvers, while highlighting the importance of hybrid approaches that combine language-based reasoning with algorithmic validation.

Authors:Jannis O. Luebsen, Annika Eichler
Title: An Analysis of Safety Guarantees in Multi-Task Bayesian Optimization
Abstract:
This paper addresses the integration of additional information sources into a Bayesian optimization framework while ensuring that safety constraints are satisfied. The interdependencies between these information sources are modeled using an unknown correlation matrix. We explore how uniform error bounds must be adjusted to maintain constraint satisfaction throughout the optimization process, considering both Bayesian and frequentist statistical perspectives. This is achieved by appropriately scaling the error bounds based on a confidence interval that can be estimated from the data. Furthermore, the efficacy of the proposed approach is demonstrated through experiments on two benchmark functions and a controller parameter optimization problem. Our results highlight a significant improvement in sample efficiency, demonstrating the methods suitability for optimizing expensive-to-evaluate functions.

Authors:Seppo Borenius, Pekka Kekolahti, Petri Mähönen, Matti Lehtonen
Title: Generation and Balancing Capacity in Future Electric Power Systems -- Scenario Analysis Using Bayesian Networks
Abstract:
This paper examines the evolution of the Finnish electric energy system up to 2035, focusing on the likelihood of different development paths. The primary contribution of this paper is the development of an extensive Bayesian Network, designed to model and analyse the evolution of power generation capacity mix, assess the likelihood of different grid management scenarios, and understand the causal relationships underlying these scenarios. A target optimisation was carried out using the constructed Bayesian Network to explore possibilities to minimise grid management complexity. The results of the optimisation reveal that the authorities and stakeholders should prioritise increasing demand response, gas power, and battery storage capacities. These mature technologies are well-suited to guarantee energy adequacy during peak consumption periods, which in Finland typically occur during consecutive cold, dark and windless winter weeks. Although this study focuses on the evolution of the Finnish power grid, the constructed Bayesian Network approach is broadly applicable and can be utilised to explore causal relationships in other countries by employing the designed questionnaire and engaging a panel of experts specific to the country's energy infrastructure.

Authors:Yifei She, Shen Wang, Ahmad Taha, Xiaofeng Tao
Title: Enhancing Vehicle Platooning Safety via Control Node Placement and Sizing under State and Input Bounds
Abstract:
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address these risks, this paper investigates control node placement and input bound optimization to balance safety and defense efficiency under various conditions. We propose a two-stage actuator placement and actuator saturation approach, which focuses on identifying key actuators that maximize the system's controllability while operating under state and input constraints. By strategically placing and limiting the input bounds of critical actuators, we ensure that vehicles maintain safe distances even under attack. Simulation results show that our method effectively mitigates the impact of attacks while preserving defense efficiency, offering a robust solution to vehicle platooning safety challenges.

Authors:Ying-Chun Chen, Craig Woolsey
Title: Adaptive Control with Rate-Limited Integral Action for Systems with Matched, Time-Varying Uncertainties
Abstract:
This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying unstructured portion. The former is addressed using conventional model reference adaptive control. The latter is handled using disturbance observer-based control. The objective is to ensure good performance through observer-based disturbance rejection when possible, while preserving the robustness guarantees of adaptive control. A key feature of the observer-based disturbance compensation is a magnitude and rate limit on the integral action that prevents fast fluctuations in the control command due to the observer dynamics.

Authors:Sakirat Wolly, Xiaozhe Wang
Title: Real-Time Line Parameter Estimation Method for Multi-Phase Unbalanced Distribution Networks
Abstract:
An accurate distribution network model is crucial for monitoring, state estimation and energy management. However, existing data-driven methods often struggle with scalability or impose a heavy computational burden on large distribution networks. In this paper, leveraging natural load dynamics, we propose a two-stage line estimation method for multiphase unbalanced distribution networks. Simulation results using real-life load and PV data show that the proposed method reduces computational time by one to two orders of magnitude compared to existing methods.

Authors:Ryan Poon, Ian Hunter
Title: Advances in Hybrid Modular Climbing Robots: Design Principles and Refinement Strategies
Abstract:
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular, tendon-driven grasping arms and a wheeled drive system mounted on a turret was developed to climb columns of varying diameters. Here, the key innovation is the underactuated arms that can be adjusted to different column sizes by adding or removing modular linkages, though the robot also features capabilities like self-locking (the ability of the robot to stay on the column by friction without power), autonomous grasping, and rotation around the column axis. Mathematical models describe conditions for self-locking and vertical climbing. Experimental results demonstrate the robot's efficacy in climbing and self-locking, validating the proposed models and highlighting the potential for fully automated solutions in industrial applications. This work provides a comprehensive framework for evaluating and designing hybrid climbing robots, contributing to advancements in autonomous robotics for environments where climbing tall structures is critical.

Authors:Dong LT Tran, Thanh C Vo, Hoang T Tran, Minh T Nguyen, Hai T. Do
Title: Design Optimal Backstepping Controller for Quadrotor Based on Lyapunov Theory for Disturbances Environments
Abstract:
Various control methods have been studied to control the position and attitude of quadrotors. There are some differences in the mathematical equations between the two types of quadrotor configurations that lead to different control efficiency in disturbance environments. This paper described the nonlinear back stepping approach based on the Lyapunov function theory and LaSalle Principle for the quadrotor control system, which can provide the stability of all system states during the tracking of the desired trajectory. Accordingly, a mathematical model of the cross quadrotor configuration together with the controller has been built to stabilize the altitude and position of the quadrotor. To clarify the effectiveness of this method with the selected quadrotor configuration, we compare it with a traditional PID controller in an environment affected by disturbances. The simulation results in MATLAB show satisfactory stability of the quadrotor flight and following certain trajectories, confirming the accuracy and validity of the control method.

Authors:Omar Mameche, Abdelhadi Abedou, Taqwa Mezaache, Mohamed Tadjine
Title: Precise Insulin Delivery for Artificial Pancreas: A Reinforcement Learning Optimized Adaptive Fuzzy Control Approach
Abstract:
This paper explores the application of reinforcement learning to optimize the parameters of a Type-1 Takagi-Sugeno fuzzy controller, designed to operate as an artificial pancreas for Type 1 diabetes. The primary challenge in diabetes management is the dynamic nature of blood glucose levels, which are influenced by several factors such as meal intake and timing. Traditional controllers often struggle to adapt to these changes, leading to suboptimal insulin administration. To address this issue, we employ a reinforcement learning agent tasked with adjusting 27 parameters of the Takagi-Sugeno fuzzy controller at each time step, ensuring real-time adaptability. The study's findings demonstrate that this approach significantly enhances the robustness of the controller against variations in meal size and timing, while also stabilizing glucose levels with minimal exogenous insulin. This adaptive method holds promise for improving the quality of life and health outcomes for individuals with Type 1 diabetes by providing a more responsive and precise management tool. Simulation results are given to highlight the effectiveness of the proposed approach.

Authors:Alexandra E. Ballentine, Raghvendra V. Cowlagi
Title: Inverse Reinforcement Learning for Minimum-Exposure Paths in Spatiotemporally Varying Scalar Fields
Abstract:
Performance and reliability analyses of autonomous vehicles (AVs) can benefit from tools that ``amplify'' small datasets to synthesize larger volumes of plausible samples of the AV's behavior. We consider a specific instance of this data synthesis problem that addresses minimizing the AV's exposure to adverse environmental conditions during travel to a fixed goal location. The environment is characterized by a threat field, which is a strictly positive scalar field with higher intensities corresponding to hazardous and unfavorable conditions for the AV. We address the problem of synthesizing datasets of minimum exposure paths that resemble a training dataset of such paths. The main contribution of this paper is an inverse reinforcement learning (IRL) model to solve this problem. We consider time-invariant (static) as well as time-varying (dynamic) threat fields. We find that the proposed IRL model provides excellent performance in synthesizing paths from initial conditions not seen in the training dataset, when the threat field is the same as that used for training. Furthermore, we evaluate model performance on unseen threat fields and find low error in that case as well. Finally, we demonstrate the model's ability to synthesize distinct datasets when trained on different datasets with distinct characteristics.

Authors:Yudong Mao, Dandan Zhang
Title: Deep Reinforcement Learning-Based Semi-Autonomous Control for Magnetic Micro-robot Navigation with Immersive Manipulation
Abstract:
Magnetic micro-robots have demonstrated immense potential in biomedical applications, such as in vivo drug delivery, non-invasive diagnostics, and cell-based therapies, owing to their precise maneuverability and small size. However, current micromanipulation techniques often rely solely on a two-dimensional (2D) microscopic view as sensory feedback, while traditional control interfaces do not provide an intuitive manner for operators to manipulate micro-robots. These limitations increase the cognitive load on operators, who must interpret limited feedback and translate it into effective control actions. To address these challenges, we propose a Deep Reinforcement Learning-Based Semi-Autonomous Control (DRL-SC) framework for magnetic micro-robot navigation in a simulated microvascular system. Our framework integrates Mixed Reality (MR) to facilitate immersive manipulation of micro-robots, thereby enhancing situational awareness and control precision. Simulation and experimental results demonstrate that our approach significantly improves navigation efficiency, reduces control errors, and enhances the overall robustness of the system in simulated microvascular environments.

Authors:William Webb, Arturas Medeisis, Leo Fulvio Minervini
Title: The Perfect Way to Manage Spectrum
Abstract:
This article discusses the key principles of radio spectrum management with a focus on spectrum allocation and access. We show the current regime's inherent rigidity and constrained possibilities for introducing new radiocommunication services and applications. The article proposes how governments and spectrum users could cooperate in taking spectrum management to a qualitatively new level, characterized by light touch regulation and flexible use. This could be achieved through the broader introduction of emerging practices such as Spectrum Usage Rights, liberalized spectrum trading, and full shared spectrum access. We conclude by presenting a vision for a 'perfect' spectrum management arrangement and future research directions.

Authors:X. Wang, D. Stroobandt
Title: Dense or Sparse? Post-Packing Interconnection Analysis in FPGAs
Abstract:
Packing is a crucial step of FPGA design, directly impacting interconnect complexity, routing congestion, and overall performance. This paper presents a post-packing interconnect-aware analysis, illustrating how dense (sparse) packing changes the interconnection structure. We introduce a new metric, RDensity, to define post-packing density and investigate its influence on routability. Through a comparative study of two packing tools, we demonstrate that density directly impacts routability. Our findings provide valuable insights into how packing decisions affect FPGA efficiency and offer guidance for improving FPGA packing tools and architecture design by integrating interconnect-aware methods. The goal is to achieve efficient routing while maintaining an optimal balance between cluster density, CLB pin counts, and logical block sizes.

Authors:Jinshui Zhang, Angel Peterchev, Stefan Goetz
Title: Asymmetric Modular Pulse Synthesizer: A High-Power High-Granularity Electronics Solution for Transcranial Magnetic Stimulation with Practically Any Pulse Shape for Neural Activation Selectivity
Abstract:
Noninvasive brain stimulation can activate neurons in the brain but requires power electronics with exceptionally high power in the mega-volt-ampere and high frequencies in the kilohertz range. Whereas oscillator circuits offered only one or very few pulse shapes, modular power electronics solved a long-standing problem for the first time and enabled arbitrary software-based design of the temporal shape of stimuli. However, synthesizing arbitrary stimuli with a high output quality requires a large number of modules. Systems with few modules and pulse-width modulation may generate apparently smooth current shapes in the highly inductive coil, but the stimulation effect of the neurons depends on the electric field and the electric field becomes a burst of ultra-brief rectangular pulses. We propose an alternative solution that achieves high-resolution pulse shaping with fewer modules by implementing high-power wide-bandwidth voltage asymmetry. Rather than equal voltage steps, our system strategically assigns different voltages to each module to achieve a near-exponential improvement in resolution. Compared to prior designs, our experimental prototype achieved better output quality, although it uses only half the number of modules.

Authors:Alin Thomas Tharakan, Prince Philip, Gokulan T., Sumit Kumar, Gaurab Banerjee
Title: A 2-6 GHz Ultra-Wideband CMOS Transceiver for Radar Applications
Abstract:
This paper presents a low power, low cost transceiver architecture to implement radar-on-a-chip. The transceiver comprises of a full ultra-wideband (UWB) transmitter and a full UWB band receiver. A design methodology to maximize the tuning range of the voltage-controlled oscillator (VCO) is presented. At the transmitter side, a sub-harmonic mixer is used for signal up-conversion. The receiver low noise amplifier (LNA) has a 2 to 6 GHz input matching bandwidth with a power gain of 9 dB and a noise figure of 2.5 dB. The transceiver is implemented in Cadence EDA tools using 65nm CMOS technology. The system achieves a total dc power consumption of 50 mW. Good noise figure performance; good wide-band matching; gain; high level of integration; low power; low cost of the proposed UWB radar transceiver front-end make it a highly competitive SoC solution for low power UWB transceivers.

Authors:Yangjun Sun, Zhiliang Liu
Title: Enhanced Koopman Operator Approximation for Nonlinear Systems Using Broading Learning System
Abstract:
Traditional control methods often show limitations in dealing with complex nonlinear systems, especially when it is difficult to accurately obtain the exact system model, and the control accuracy and stability are difficult to guarantee. To solve this problem, the Koopman operator theory provides an effective method to linearise nonlinear systems, which simplifies the analysis and control of the system by mapping the nonlinear dynamics into a high-dimensional space. However, the existing extended dynamical mode decomposition (EDMD) methods suffer from randomness in the selection of basis functions, which leads to bias in the finite-dimensional approximation to the Koopman operator, thus affecting the accuracy of model prediction. To solve this problem, this paper proposes a BLS-EDMD method based on the Broad learning system (BLS) network. The method achieves a high-precision approximation to the Koopman operator by learning more accurate basis functions, which significantly improves the prediction ability of the model. Building on this, we further develop a model predictive controller (MPC) called BE-MPC. This controller directly utilises the high-dimensional and high-precision predictors generated by BLS-EDMD to predict the system state more accurately, thus achieving precise control of the underwater unmanned vehicle (UUV), and its effectiveness is verified by simulation.

Authors:Ziyang Liu, Yurui Hu, Yihan Deng
Title: Establishment and Solution of a Multi-Stage Decision Model Based on Hypothesis Testing and Dynamic Programming Algorithm
Abstract:
This paper introduces a novel multi-stage decision-making model that integrates hypothesis testing and dynamic programming algorithms to address complex decision-making scenarios.Initially,we develop a sampling inspection scheme that controls for both Type I and Type II errors using a simple random sampling method without replacement,ensuring the randomness and representativeness of the sample while minimizing selection bias.Through the application of hypothesis testing theory,a hypothesis testing model concerning the defect rate is established,and formulas for the approximate distribution of the sample defect rate and the minimum sample size required under two different scenarios are derived. Subsequently,a multi-stage dynamic programming decision model is constructed.This involves defining the state transition functions and stage-specific objective functions,followed by obtaining six optimal decision strategies under various conditions through backward recursion.The results demonstrate the model's potent capability for multi-stage decision-making and its high interpretability,offering significant advantages in practical applications.

Authors:Mostafa A. Mostafa, Mohamed Khaled, Abdelrahman Ali, Amr Mostafa, Mariam Mohamed, Omar Ahmed, Osama Khalil
Title: Automating Hot-Rolling: Designing an Integrated Mechatronics System for Enhanced Efficiency in Sheet Metal Production
Abstract:
The hot-rolling process is a critical stage in sheet metal production within the heavy steel industry. Traditionally, parameter adjustments such as sheet metal velocity and roll gap are performed manually, leading to inefficiencies and limited precision. This project introduces an integrated mechatronics system designed to automate the control of rolling speed and sheet metal thickness, enhancing efficiency, consistency, and quality. The proposed system consists of a pair of rolls applying compression loads, with a mechanism for gap control, suitable motors and sensors, and dynamic modeling to optimize performance. Through simulation and practical implementation strategies, we demonstrate the feasibility of automating the hot-rolling process. By integrating mechatronics, this solution aims to modernize sheet metal production, improve productivity, and enhance product quality in the steel industry.

Authors:Phat Khau Tan, Danh Nguyen Thanh
Title: Research the influence of road surface conditions on vibration and safety of Semi Trailer vehicle dynamics
Abstract:
Purpose: Depending on the road surface profile, moving speed, transport weight, etc., the vehicle's body acceleration and dynamic load coefficient change as it moves. This study's goal is to ascertain the result of the road surface's influence on the vehicle, calculate the average vehicle body displacement acceleration and dynamic load coefficient, and validate your findings through testing. To confirm the simulation model's accuracy, experimental and theoretical simulation results are compared.. Methods: The Neuton-Euler approach and the multi-body system structure separation method are used in the paper to create dynamic equations using theoretical research methods [1]. Simulations are carried out using Matlab Simulink software to examine and assess the dynamics. Results: According to ISO 8608:2016 standard [2], theoretical research results have determined the average acceleration of the vehicle body, dynamic load coefficient, horizontal sway angle, and longitudinal sway angle when the vehicle moves on profiles C, D , E, F. Experiments show that there is an error of 7.4% and 8.1% when measuring the average acceleration and dynamic load coefficient kđmax when the vehicle moves at a speed of 50 km/h on the road surface C compared to theory.

Authors:Penghong Lu, Gang Chen, Rong Su
Title: Collaborative design of fault diagnosis and fault tolerance control under nested signal temporal logic specifications
Abstract:
Signal Temporal Logic (STL) specifications play a crucial role in defining complex temporal properties and behaviors in safety-critical cyber-physical systems (CPS). However, fault diagnosis (FD) and fault-tolerant control (FTC) for CPS with nonlinear dynamics remain significant challenges, particularly when dealing with nested signal temporal logic (NSTL) specifications. This paper introduces a novel framework for the collaborative design of FD and FTC, aimed at optimizing fault diagnostic performance while ensuring fault tolerance under NSTL specifications. The proposed framework consists of four key steps: (1) construction of the Signal Temporal Logic Tree (STLT), (2) fault detection via the construction of fault-tolerant feasible sets, (3) evaluation of fault detection performance, and (4) synthesis of fault-tolerant control. Initially, a controller for nonlinear systems is designed to satisfy NSTL specifications, and a fault detection observer is developed alongside fault-tolerant feasible sets. To address the challenge of maintaining solution feasibility in dynamic optimization control problems, the concept of fault-tolerant control recursive feasibility is introduced. Subsequently, suboptimal controller gains are derived through a quadratic programming approach to ensure fault tolerance. The collaborative design framework enables more rapid and accurate fault detection while preserving FTC performance. A simulation study is presented to demonstrate the effectiveness of the proposed framework.

Authors:Yulun Zhuang, Yichen Wang, Yanran Ding
Title: Kinodynamic Model Predictive Control for Energy Efficient Locomotion of Legged Robots with Parallel Elasticity
Abstract:
In this paper, we introduce a kinodynamic model predictive control (MPC) framework that exploits unidirectional parallel springs (UPS) to improve the energy efficiency of dynamic legged robots. The proposed method employs a hierarchical control structure, where the solution of MPC with simplified dynamic models is used to warm-start the kinodynamic MPC, which accounts for nonlinear centroidal dynamics and kinematic constraints. The proposed approach enables energy efficient dynamic hopping on legged robots by using UPS to reduce peak motor torques and energy consumption during stance phases. Simulation results demonstrated a 38.8% reduction in the cost of transport (CoT) for a monoped robot equipped with UPS during high-speed hopping. Additionally, preliminary hardware experiments show a 14.8% reduction in energy consumption. Video: https://youtu.be/AF11qMXJD48

Authors:Simon Malacek, José Portela, Yannick Marcus Werner, Sonja Wogrin
Title: Generating Building-Level Heat Demand Time Series by Combining Occupancy Simulations and Thermal Modeling
Abstract:
Despite various efforts, decarbonizing the heating sector remains a significant challenge. To tackle it by smart planning, the availability of highly resolved heating demand data is key. Several existing models provide heating demand only for specific applications. Typically, they either offer time series for a larger area or annual demand data on a building level, but not both simultaneously. Additionally, the diversity in heating demand across different buildings is often not considered. To address these limitations, this paper presents a novel method for generating temporally resolved heat demand time series at the building level using publicly available data. The approach integrates a thermal building model with stochastic occupancy simulations that account for variability in user behavior. As a result, the tool serves as a cost-effective resource for cross-sectoral energy system planning and policy development, particularly with a focus on the heating sector. The obtained data can be used to assess the impact of renovation and retrofitting strategies, or to analyze district heating expansion. To illustrate the potential applications of this approach, we conducted a case study in Puertollano (Spain), where we prepared a dataset of heating demand with hourly resolution for each of 9,298 residential buildings. This data was then used to compare two different pathways for the thermal renovation of these buildings. By relying on publicly available data, this method can be adapted and applied to various European regions, offering broad usability in energy system optimization and analysis of decarbonization strategies.

Authors:Jaehyun Yoo, Jip Kim
Title: A Risk-aware Bi-level Bidding Strategy for Virtual Power Plant with Power-to-Hydrogen System
Abstract:
This paper presents a risk-aware bi-level bidding strategy for Virtual Power Plant (VPP) that integrates Power-to-Hydrogen (P2H) system, addressing the challenges posed by renewable energy variability and market volatility. By incorporating Conditional Value at Risk (CVaR) within the bi-level optimization framework, the proposed strategy enables VPPs to mitigate financial risks associated with uncertain market conditions. The upper-level problem seeks to maximize revenue through optimal bidding, while the lower-level problem ensures market-clearing compliance. The integration of the P2H system allows surplus renewable energy to be stored as hydrogen, which is utilized as an energy carrier, thereby increasing market profitability and enhancing resilience against financial risks. The effectiveness of the proposed strategy is validated through a modified IEEE 14 bus system, demonstrating that the inclusion of the P2H system and CVaR-based risk aversion enhances both revenue and financial hedging capability under volatile market conditions.This paper underscores the strategic role of hydrogen storage in VPP operations, contributing to supporting improved profitability and the efficacy of a risk-aware bidding strategy.

Authors:Joonsung Jung, Hyunjoong Kim, Hyunghwan Shin, Jip Kim
Title: Community Energy Management System for Fast Frequency Response: A Hierarchical Control Approach
Abstract:
The increase in renewable energy sources (RES) has reduced power system inertia, making frequency stabilization more challenging and highlighting the need for fast frequency response (FFR) resources. While building energy management systems (BEMS) equipped with distributed energy resources (DERs) can provide FFR, individual BEMS alone cannot fully meet demand. To address this, we propose a community energy management system (CEMS) operational model that minimizes energy costs and generates additional revenue, which is provided FFR through coordinated DERs and building loads under photovoltaic (PV) generation uncertainty. The model incorporates a hierarchical control framework with three levels: Level 1 allocates maximum FFR capacity, Level 2 employs scenario-based stochastic model predictive control (SMPC) to adjust DER operations and ensure FFR provision despite PV uncertainties, and Level 3 performs rapid load adjustments in response to frequency fluctuations detected by a frequency meter. Simulation results on a campus building cluster demonstrate the effectiveness of the proposed model, achieving a 10\% reduction in energy costs and a 24\% increase in FFR capacity, all while maintaining occupant comfort and enhancing frequency stabilization.

Authors:Martina Vinetti, Martin Fabian
Title: Identification of Minimally Restrictive Assembly Sequences using Supervisory Control Theory
Abstract:
Modern assembly processes require flexibility and adaptability to handle increasing product variety and customization. Traditional assembly planning methods often prioritize finding an optimal assembly sequence, overlooking the requirements of contemporary manufacturing. This work uses Supervisory Control Theory to systematically generate all feasible assembly sequences while ensuring compliance with precedence and process constraints. By synthesizing a controllable, non-blocking, and minimally restrictive supervisor, the proposed method guarantees that only valid sequences are allowed, balancing flexibility and constraint enforcement. The obtained sequences can serve as a basis for further optimization or exception management, improving responsiveness to disruptions.

Authors:Sakshi S. Naik, Lavinia M. Ghilardi, Robert B. Parker, Lorenz T. Biegler
Title: Multistage Economic MPC for Systems with a Cyclic Steady State: A Gas Network Case Study
Abstract:
Multistage model predictive control (MPC) provides a robust control strategy for dynamic systems with uncertainties and a setpoint tracking objective. Moreover, extending MPC to minimize an economic cost instead of tracking a pre-calculated optimal setpoint improves controller performance. In this paper, we develop a formulation for multistage economic MPC which directly minimizes an economic objective function. The multistage economic MPC framework is extended for systems with a cyclic steady state (CSS) and stability is guaranteed by employing a Lyapunov-based stability constraint. The multistage economic MPC framework is validated on two natural gas network case studies to minimize the net energy consumption during gas transmission. In both instances, the multistage economic MPC effectively manages uncertain demands by preventing constraint violations and guides the network to its optimal cyclic operating conditions. The Lyapunov function remains bounded in both instances, validating the robust stability of the controller.

Authors:Halima Ibrahim Kure, Jishna Retnakumari, Lucian Nita, Saeed Sharif, Hamed Balogun, Augustine O. Nwajana
Title: Energy Consumption of Robotic Arm with the Local Reduction Method
Abstract:
Energy consumption in robotic arms is a significant concern in industrial automation due to rising operational costs and environmental impact. This study investigates the use of a local reduction method to optimize energy efficiency in robotic systems without compromising performance. The approach refines movement parameters, minimizing energy use while maintaining precision and operational reliability. A three-joint robotic arm model was tested using simulation over a 30-second period for various tasks, including pick-and-place and trajectory-following operations. The results revealed that the local reduction method reduced energy consumption by up to 25% compared to traditional techniques such as Model Predictive Control (MPC) and Genetic Algorithms (GA). Unlike MPC, which requires significant computational resources, and GA, which has slow convergence rates, the local reduction method demonstrated superior adaptability and computational efficiency in real-time applications. The study highlights the scalability and simplicity of the local reduction approach, making it an attractive option for industries seeking sustainable and cost-effective solutions. Additionally, this method can integrate seamlessly with emerging technologies like Artificial Intelligence (AI), further enhancing its application in dynamic and complex environments. This research underscores the potential of the local reduction method as a practical tool for optimizing robotic arm operations, reducing energy demands, and contributing to sustainability in industrial automation. Future work will focus on extending the approach to real-world scenarios and incorporating AI-driven adjustments for more dynamic adaptability.

Authors:Muhammad Waseem, Kshitij Bhatta, Chen Li, Qing Chang
Title: Pretrained LLMs as Real-Time Controllers for Robot Operated Serial Production Line
Abstract:
The manufacturing industry is undergoing a transformative shift, driven by cutting-edge technologies like 5G, AI, and cloud computing. Despite these advancements, effective system control, which is crucial for optimizing production efficiency, remains a complex challenge due to the intricate, knowledge-dependent nature of manufacturing processes and the reliance on domain-specific expertise. Conventional control methods often demand heavy customization, considerable computational resources, and lack transparency in decision-making. In this work, we investigate the feasibility of using Large Language Models (LLMs), particularly GPT-4, as a straightforward, adaptable solution for controlling manufacturing systems, specifically, mobile robot scheduling. We introduce an LLM-based control framework to assign mobile robots to different machines in robot assisted serial production lines, evaluating its performance in terms of system throughput. Our proposed framework outperforms traditional scheduling approaches such as First-Come-First-Served (FCFS), Shortest Processing Time (SPT), and Longest Processing Time (LPT). While it achieves performance that is on par with state-of-the-art methods like Multi-Agent Reinforcement Learning (MARL), it offers a distinct advantage by delivering comparable throughput without the need for extensive retraining. These results suggest that the proposed LLM-based solution is well-suited for scenarios where technical expertise, computational resources, and financial investment are limited, while decision transparency and system scalability are critical concerns.

Authors:Ethan Abele, Karl Strecker, John F. OHara
Title: Comparison of Experimental and Theoretical Mechanical Jitter in a THz Communication Link
Abstract:
The effect of mechanical vibration (jitter) is an increasingly important parameter for next-generation, long-distance wireless communication links and the channel models used for their engineering. Existing investigations of jitter effects on the terahertz (THz) backhaul channel are theoretical and derived primarily from free space optical models. These lack an empirical and validated treatment of the true statistical nature of antenna motion. We present novel experimental data which reveals that the statistical nature of mechanical jitter in 6G links is more complex than previously assumed. An unexpected multimodal distribution is discovered, which cannot be fit with the commonly cited model. These results compel the refinement of THz channel models under jitter and the resulting system performance metrics.

Authors:Sándor Rácz, Norbert Reider
Title: Potential gains of communication-compute-control co-design based performance optimization methods in cyber-physical systems
Abstract:
In this paper we propose and quantitatively evaluate three performance optimization methods that exploit the concept of communication-compute-control co-design by introducing awareness of communication and compute characteristics into the application logic in different ways to improve overall system performance. We have implemented a closed-loop control of a robotic arm over a wireless network where the controller is deployed into an edge cloud environment. When implementing an industrial system that leverages network and cloud technologies, the level of determinism of the control application can be decreased by nature. This means that some imperfections may be introduced into the control system, and the closed-loop control in substance changes to open-loop during disturbances. We aim to improve the performance of these open-loop control periods by applying methods that can compensate for the imperfections statistically or in a guaranteed way. We demonstrate that co-design-based application improvements with minimal dependencies on the underlying technologies can already yield an order of magnitude gain when it comes to the accurate execution of the robot trajectories during the openloop control periods. Furthermore, by combining the proposed methods, the performance improvements add up and can produce up to 45% shorter trajectory executions compared to individual evaluations.

Authors:Pedram Asef, Mouloud Denai, Johannes J. H. Paulides, Bruno Ricardo Marques, Andrew Lapthorn
Title: A Novel Multi-Criteria Local Latin Hypercube Refinement System for Commutation Angle Improvement in IPMSMs
Abstract:
The commutation angle is defined as the angle between the fundamental of the motor phase current and the fundamental of the back-EMF. It can be utilised to provide a compensating effect in IPMSMs. This is due to the reluctance torque component being dependent on the commutation angle of the phase current even before entering the extended speed range. A real-time maximum torque per current and voltage strategy is demonstrated to find the trajectory and optimum commutation angles, gamma, where the level of accuracy depends on the application and available computational speed. A magnet volume reduction using a novel multi-criteria local Latin hypercube refinement (MLHR) sampling system is also presented to improve the optimisation process. The proposed new technique minimises the magnet mass to motor torque density whilst maintaining a similar phase current level. A mapping of gamma allows the determination of the optimum angles, as shown in this paper. The 3rd generation Toyota Prius IPMSM is considered as the reference motor, where the rotor configuration is altered to allow for an individual assessment.

Authors:Yash Gupta, William Vreeland, Andrew Peterman, Coley Girouard, Brian Wang
Title: The Untapped Potential of Smart Charging: How EV Owners Can Save Money and Reduce Emissions Without Behavioral Change
Abstract:
The transportation sector is the single largest contributor to US emissions and the second largest globally. Electric vehicles (EVs) are expected to represent half of global car sales by 2035, emerging as a pivotal solution to reduce emissions and enhance grid flexibility. The electrification of buildings, manufacturing, and transportation is expected to grow electricity demand substantially over the next decade. Without effectively managed EV charging, EVs could strain energy grid infrastructure and increase electricity costs. Drawing on de-identified 2023 EV telematics data from Rivian Automotive, this study found that 72% of home charging commenced after the customer plugged in their vehicle regardless of utility time of use (TOU) tariffs or managed charging programs. In fewer than 26% of charging sessions in the sample, EV owners actively scheduled charging times to align or participate in utility tariffs or programs. With a majority of drivers concurrently plugged in during optimal charging periods yet not actively charging, the study identified an opportunity to reduce individual EV owner costs and carbon emissions through smarter charging habits without significant behavioral modifications or sacrifice in user preferences. By optimizing home charging schedules within existing plug-in and plug-out windows, the study suggests that EV owners can save an average of $140 annually and reduce the associated carbon emissions of charging their EV by as much as 28%.

Authors:M. van der Hulst, R. A. González, K. Classens, P. Tacx, N. Dirkx, J. van de Wijdeven, T. Oomen
Title: Frequency domain identification for multivariable motion control systems: Applied to a prototype wafer stage
Abstract:
Multivariable parametric models are essential for optimizing the performance of high-tech systems. The main objective of this paper is to develop an identification strategy that provides accurate parametric models for complex multivariable systems. To achieve this, an additive model structure is adopted, offering advantages over traditional black-box model structures when considering physical systems. The introduced method minimizes a weighted least-squares criterion and uses an iterative linear regression algorithm to solve the estimation problem, achieving local optimality upon convergence. Experimental validation is conducted on a prototype wafer-stage system, featuring a large number of spatially distributed actuators and sensors and exhibiting complex flexible dynamic behavior, to evaluate performance and demonstrate the effectiveness of the proposed method.

Authors:Jiehao Chen, Kaidong Zhao, Zihan Liu, YanJie Li, Yunjiang Lou
Title: Learning-Based Passive Fault-Tolerant Control of a Quadrotor with Rotor Failure
Abstract:
This paper proposes a learning-based passive fault-tolerant control (PFTC) method for quadrotor capable of handling arbitrary single-rotor failures, including conditions ranging from fault-free to complete rotor failure, without requiring any rotor fault information or controller switching. Unlike existing methods that treat rotor faults as disturbances and rely on a single controller for multiple fault scenarios, our approach introduces a novel Selector-Controller network structure. This architecture integrates fault detection module and the controller into a unified policy network, effectively combining the adaptability to multiple fault scenarios of PFTC with the superior control performance of active fault-tolerant control (AFTC). To optimize performance, the policy network is trained using a hybrid framework that synergizes reinforcement learning (RL), behavior cloning (BC), and supervised learning with fault information. Extensive simulations and real-world experiments validate the proposed method, demonstrating significant improvements in fault response speed and position tracking performance compared to state-of-the-art PFTC and AFTC approaches.

Authors:Haiwen Wu, Bayu Jayawardhana, Dabo Xu
Title: Velocity-free task-space regulator for robot manipulators with external disturbances
Abstract:
This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based output-feedback control approach. The resulting controller not only ensures asymptotic convergence of the regulation error but also rejects unwanted external sinusoidal disturbances. The potential of the proposed method lies in its simplicity, intuitiveness, and straightforward gain selection criteria for the synthesis of multi-joint robot manipulator control systems.

Authors:Kürşad Metehan Gül, Selahattin Burak Sarsılmaz
Title: Multi-Partite Output Regulation of Multi-Agent Systems
Abstract:
This article proposes a simple, graph-independent perspective on partitioning the node set of a graph and provides multi-agent systems (MASs) with objectives beyond cooperation and bipartition. Specifically, we first introduce the notion of $k$-partition transformation to achieve any desired partition of the nodes. Then, we use this notion to formulate the multi-partite output regulation problem (MORP) of heterogeneous linear MASs, which comprises the existing cooperative output regulation problem (CORP) and bipartite output regulation problem (BORP) as subcases. The goal of the MORP is to design a distributed control law such that each follower that belongs to the same set in the partition asymptotically tracks a scalar multiple of the reference while ensuring the internal stability of the closed-loop system. It is shown that the necessary and sufficient conditions for the solvability of the MORP with a feedforward-based distributed control law follow from the CORP and lead to the first design strategy for the control parameters. However, it has a drawback in terms of scalability due to a partition-dependent condition. We prove that this condition is implied by its partition-independent version under a mild structural condition. This implication yields the second design strategy that is much more scalable than the first one. Finally, an experiment is conducted to demonstrate the MORP's flexibility, and two numerical examples are provided to illustrate its generality and compare both design strategies regarding scalability.

Authors:Junseon Park, Junhyun Lee, Hyeongon Park
Title: Rethinking Static Line Rating for Economic and Efficient Power Operation in South Korea
Abstract:
In South Korea, power grid is currently operated based on the static line rating (SLR) method, where the transmission line capacity is determined based on extreme weather conditions. However, with global warming, there is a concern that the temperatures during summer may exceed the SLR criteria, posing safety risks. On the other hand, the conservative estimates used for winter conditions limit the utilization of renewable energy. Proposals to install new lines face significant financial and environmental hurdles, complicating efforts to adapt to these changing conditions. Dynamic Line Rating (DLR) offers a real-time solution but requires extensive weather monitoring and complex integration. This paper proposes a novel method that improves on SLR by analyzing historical data to refine line rating criteria on a monthly, seasonal, and semi-annual basis. Through simulations, we show our approach significantly enhances cost effectiveness and reliability of the power system, achieving efficiencies close to DLR with existing infrastructure. This method offers a practical alternative to overcome the limitations of SLR and the implementation challenges of DLR.

Authors:Chavalchart Herabut, Bryan Rangel Valle, Vikram D. Kodibagkar, Sung-Min Sohn
Title: Pneumatically controlled non-magnetic, high-power, and low insertion loss RF switch
Abstract:
While positive-intrinsic-negative (PIN) diodes are commonly used in radio frequency (RF) circuits, their use often degrades the signal-to-noise ratio (SNR) due to high insertion loss and interference from additional biasing circuit components, which is critical for SNR-prioritized applications. This work presents the design of a novel pneumatically controlled switch, called AeroSwitch, which serves as an RF switch alternative to PIN diodes by significantly reducing lossy elements and additional biasing circuitry, with a focus on the applicability of AeroSwitch for magnetic resonance imaging (MRI) RF switch implantation. AeroSwitch was assessed against the PIN diode using bench testing, revealing a slightly reduced average insertion loss of 0.1 dB and an enhancement in average isolation by 15 dB. The switches are incorporated into a capacitor switch array within an L-matching network. This matching network connects to a loop RF coil, serving as a high-impedance load. The quality (Q)-factors were evaluated compared to a PIN diode capacitor switch array matching network configured identically. Overall, the AeroSwitch demonstrated an average 62% improved Q-factor compared to the PIN diode. These findings indicate that AeroSwitch offers significant advantages over the PIN diode due to its lower loss and higher isolation, potentially improving SNR. Additionally, the temperature of the AeroSwitch, while operating at 100 watts, remained consistently below 30°C, suggesting its potential as a self-temperature-regulated high-power switch. Since the AeroSwitch is non-magnetic, has high-power capability, low insertion loss, requires no electric biasing, and uses no conductive wires, this switching technique is significantly beneficial for MRI applications and medical related other RF applications.

Authors:Shing I Chang, Parviz Ghafariasl
Title: A Review of Artificial Intelligence Impacting Statistical Process Monitoring and Future Directions
Abstract:
It has been 100 years since statistical process control (SPC) or statistical process monitoring (SPM) was first introduced for production processes and later applied to service, healthcare, and other industries. The techniques applied to SPM applications are mostly statistically oriented. Recent advances in Artificial Intelligence (AI) have reinvigorated the imagination of adopting AI for SPM applications. This manuscript begins with a concise review of the historical development of the statistically based SPM methods. Next, this manuscript explores AI and Machine Learning (ML) algorithms and methods applied in various SPM applications, addressing quality characteristics of univariate, multivariate, profile, and image. These AI methods can be classified into the following categories: classification, pattern recognition, time series applications, and generative AI. Specifically, different kinds of neural networks, such as artificial neural networks (ANN), convolutional neural networks (CNN), recurrent neural networks (RNN), and generative adversarial networks (GAN), are among the most implemented AI methods impacting SPM. Finally, this manuscript outlines a couple of future directions that harness the potential of the Large Multimodal Model (LMM) for advancing SPM research and applications in complex systems. The ultimate objective is to transform statistical process monitoring (SPM) into smart process control (SMPC), where corrective actions are autonomously implemented to either prevent quality issues or restore process performance.

Authors:Balint Varga, Thomas Brand, Marcus Schmitz, Ehsan Hashemi
Title: Interaction-Aware Model Predictive Decision-Making for Socially-Compliant Autonomous Driving in Mixed Urban Traffic Scenarios
Abstract:
This paper presents the experimental validation of an interaction-aware model predictive decision-making (IAMPDM) approach in the course of a simulator study. The proposed IAMPDM uses a model of the pedestrian, which simultaneously predicts their future trajectories and characterizes the interaction between the pedestrian and the automated vehicle. The main benefit of the proposed concept and the experiment is that the interaction between the pedestrian and the socially compliant autonomous vehicle leads to smoother traffic. Furthermore, the experiment features a novel human-in-the-decision-loop aspect, meaning that the test subjects have no expected behavior or defined sequence of their actions, better imitating real traffic scenarios. Results show that intention-aware decision-making algorithms are more effective in realistic conditions and contribute to smoother traffic flow than state-of-the-art solutions. Furthermore, the findings emphasize the crucial impact of intention-aware decision-making on autonomous vehicle performance in urban areas and the need for further research.

Authors:Lapo Frascati, Alberto Bemporad
Title: Online Learning of Nonlinear Parametric Models under Non-smooth Regularization using EKF and ADMM
Abstract:
This paper proposes a novel combination of extended Kalman filtering (EKF) with the alternating direction method of multipliers (ADMM) for learning parametric nonlinear models online under non-smooth regularization terms, including l1 and l0 penalties and bound constraints on model parameters. For the case of linear time-varying models and non-smoothconvex regularization terms, we provide a sublinear regret bound that ensures the proper behavior of the online learning strategy. The approach is computationally efficient for a wide range of regularization terms, which makes it appealing for its use in embedded control applications for online model adaptation. We show the performance of the proposed method in three simulation examples, highlighting its effectiveness compared to other batch and online algorithms.

Authors:Jonathan Lane, Nak-seung Patrick Hyun
Title: Graph-Based Dynamics and Network Control of a Single Articulated Robotic System
Abstract:
Extensive research on graph-based dynamics and control of multi-agent systems has successfully demonstrated control of robotic swarms, where each robot is perceived as an independent agent virtually connected by a network topology. The strong advantage of the network control structure lies in the decentralized nature of the control action, which only requires the knowledge of virtually connected agents. In this paper, we seek to expand the ideas of virtual network constraints to physical constraints on a class of tree-structured robots which we denote as single articulated robotic (SAR) systems. In our proposed framework, each link can be viewed as an agent, and each holonomic constraint connecting links serves as an edge. By following the first principles of Lagrangian dynamics, we derive a consensus-like matrix-differential equation with weighted graph and edge Laplacians for the dynamics of a SAR system. The sufficient condition for the holonomic constraint forces becoming independent to the control inputs is derived. This condition leads to a decentralized leader-follower network control framework for regulating the relative configuration of the robot. Simulation results demonstrate the effectiveness of the proposed control method.

Authors:Xiaohan Li, Sebastian Pattinson
Title: An Efficient and Uncertainty-aware Reinforcement Learning Framework for Quality Assurance in Extrusion Additive Manufacturing
Abstract:
Defects in extrusion additive manufacturing remain common despite its prevalent use. While numerous AI-driven approaches have been proposed to improve quality assurance, the inherently dynamic nature of the printing process poses persistent challenges. Regardless of how comprehensive the training dataset is, out-of-distribution data remains inevitable. Consequently, deterministic models often struggle to maintain robustness and, in some cases, fail entirely when deployed in new or slightly altered printing environments. This work introduces an agent that dynamically adjusts flow rate and temperature setpoints in real time, optimizing process control while addressing bottlenecks in training efficiency and uncertainty management. It integrates a vision-based uncertainty quantification module with a reinforcement learning controller, using probabilistic distributions to describe printing segments. While the underlying networks are deterministic, these evolving distributions introduce adaptability into the decision-making process. The vision system classifies material extrusion with a certain level of precision, generating corresponding distributions. A deep Q-learning controller interacts with a simulated environment calibrated to the vision system precision, allowing the agent to learn optimal actions while demonstrating appropriate hesitation when necessary. By executing asynchronous actions and applying progressively tightened elliptical reward shaping, the controller develops robust, adaptive control strategies that account for the coupling effects between process parameters. When deployed with zero-shot learning, the agent effectively bridges the sim-to-real gap, correcting mild and severe under- and over-extrusion reliably. Beyond extrusion additive manufacturing, this scalable framework enables practical AI-driven quality assurance across various additive manufacturing processes.

Authors:Zexiong Wei, Yao Sun, Xiaochao Hou, Mei Su
Title: A Fully Self-Synchronized Control for Hybrid Series-Parallel Electronized Power Networks
Abstract:
The hybrid series-parallel system is the final form of the power electronics-enabled power system, which combines the advantages of both series and parallel connections. Although self-synchronization of parallel-type and series-type systems is well known, self-synchronization of hybrid systems remains unrevealed. To fill in this gap, a fully self-synchronized control for hybrid series-parallel system is proposed in this paper. Based on the self-synchronization mechanism of power angle in parallel-type system and power factor angle in series-type system, a decentralized control strategy by integration of power droop and power factor angle droop can realize self-synchronization and power balancing of each module in the hybrid system.

Authors:Hongxu Huang, Ruike Lyu, Cheng Feng, Haiwang Zhong, H. B. Gooi, Bo Li, Rui Liang
Title: Learning for Feasible Region on Coal Mine Virtual Power Plants with Imperfect Information
Abstract:
The feasible region assessment (FRA) in industrial virtual power plants (VPPs) is driven by the need to activate large-scale latent industrial loads for demand response, making it essential to aggregate these flexible resources for peak regulation. However, the large number of devices and the need for privacy preservation in coal mines pose challenges to accurately aggregating these resources into a cohesive coal mine VPP. In this paper, we propose an efficient and reliable data-driven approach for FRA in the coal mine VPP that can manage incomplete information. Our data-driven FRA algorithm approximates equipment and FRA parameters based on historical energy dispatch data, effectively addressing the challenges of imperfect information. Simulation results illustrate that our method approximates the accurate feasible operational boundaries under dynamic and imperfect information conditions.

Authors:Iyas AlTalafha, Yaprak Yalcin, Gulcihan Ozdemir
Title: Learning Automata of PLCs in Production Lines Using LSTM
Abstract:
Production Lines and Conveying Systems are the staple of modern manufacturing processes. Manufacturing efficiency is directly related to the efficiency of the means of production and conveying. Modelling in the industrial context has always been a challenge due to the complexity that comes along with modern manufacturing standards. Long Short-Term Memory is a pattern recognition Recurrent Neural Network, that is utilised on a simple pneumatic conveying system which transports a wooden block around the system. Recurrent Neural Networks (RNNs) capture temporal dependencies through feedback loops, while Long Short-Term Memory (LSTM) networks enhance this capability by using gated mechanisms to effectively learn long-term dependencies. Conveying systems, representing a major component of production lines, are chosen as the target to model to present an approach applicable in large scale production lines in a simpler format. In this paper data from sensors are used to train the LSTM in order to output an Automaton that models the conveying system. The automaton obtained from the proposed LSTM approach is compared with the automaton obtained from OTALA. The resultant LSTM automaton proves to be a more accurate representation of the conveying system, unlike the one obtained from OTALA.

Authors:Yu Zhang, Xiaoyu Shi, Tongyang Xu
Title: Zero-Power Backscatter Sensing and Communication Proof-of-Concept
Abstract:
In this paper, we present an experimental setup to evaluate the performance of a radio frequency identification (RFID)-based integrated sensing and communication (ISAC) system. We focus on both the communication and sensing capabilities of the system. Our experiments evaluate the system's performance in various channel fading scenarios and with different substrate materials, including wood, plastic, wall, and glass. Additionally, we utilize radio tomographic imaging (RTI) to detect human motion by analyzing received signal strength indicator (RSSI) data. Our results demonstrate the impact of different materials and environments on RSSI and highlight the potential of RFID-based systems for effective sensing and communication in diverse applications.

Authors:Pedram Asef, Christopher Vagg
Title: A physics-informed Bayesian optimization method for rapid development of electrical machines
Abstract:
Advanced slot and winding designs are imperative to create future high performance electrical machines (EM). As a result, the development of methods to design and improve slot filling factor (SFF) has attracted considerable research. Recent developments in manufacturing processes, such as additive manufacturing and alternative materials, has also highlighted a need for novel high-fidelity design techniques to develop high performance complex geometries and topologies. This study therefore introduces a novel physics-informed machine learning (PIML) design optimization process for improving SFF in traction electrical machines used in electric vehicles. A maximum entropy sampling algorithm (MESA) is used to seed a physics-informed Bayesian optimization (PIBO) algorithm, where the target function and its approximations are produced by Gaussian processes (GP)s. The proposed PIBO-MESA is coupled with a 2D finite element model (FEM) to perform a GP-based surrogate and provide the first demonstration of the optimal combination of complex design variables for an electrical machine. Significant computational gains were achieved using the new PIBO-MESA approach, which is 45% faster than existing stochastic methods, such as the non-dominated sorting genetic algorithm II (NSGA-II). The FEM results confirm that the new design optimization process and keystone shaped wires lead to a higher SFF (i.e. by 20%) and electromagnetic improvements (e.g. maximum torque by 12%) with similar resistivity. The newly developed PIBO-MESA design optimization process therefore presents significant benefits in the design of high-performance electric machines, with reduced development time and costs.

Authors:Anne-Men Huijzer, Thomas Chaffey, Bart Besselink, Henk J. van Waarde
Title: Convergence of energy-based learning in linear resistive networks
Abstract:
Energy-based learning algorithms are alternatives to backpropagation and are well-suited to distributed implementations in analog electronic devices. However, a rigorous theory of convergence is lacking. We make a first step in this direction by analysing a particular energy-based learning algorithm, Contrastive Learning, applied to a network of linear adjustable resistors. It is shown that, in this setup, Contrastive Learning is equivalent to projected gradient descent on a convex function, for any step size, giving a guarantee of convergence for the algorithm.

Authors:Eva Brucherseifer, Marco Marquard, Martin Hellmann, Andrea Tundis
Title: Data Taxonomy Towards the Applicability of the Digital Twin Conceptual Framework in Disaster Management
Abstract:
The Digital Twin (DT) offers a novel approach to the management of critical infrastructures, including energy, water, traffic, public health, and communication systems, which are indispensable for the functioning of modern societies. The increasing complexity and interconnectedness of these infrastructures necessitate the development of robust disaster response and management strategies. During crises and disasters, data source availability for critical infrastructure may be severely constrained due to physical damage to communication networks, power outages, overwhelmed systems, sensor failure or intentional disruptions, hampering the ability to effectively monitor, manage, and respond to emergencies. This research introduces a taxonomy and similarity function for comparing data sources based on their features and vulnerability to crisis events. This assessment enables the identification of similar, complementary, and alternative data sources and rapid adaptation when primary sources fail. The paper outlines a data source manager as an additional component for existing DT frameworks, specifically the data ingress and scenario mangement. A case study for traffic data sources in an urban scenario demonstrates the proposed methodology and its effectiveness. This approach enhances the robustness and adaptability of DTs in disaster management applications, contributing to improved decision-making and response capabilities in critical situations.

Authors:Oliver Krumpek, Ole Kroeger, Sebastian Mohr
Title: Reproducible Optical Tracking Precision: Evaluating a Static, Near-Parallel Support Structure for OptiTrack PrimeX22 Cameras
Abstract:
This paper presents the design and evaluation of a physical support structure for the OptiTrack X22 tracking systems, constructed from carbon fiber-reinforced polymer (CFRP) and Invar steel. These materials were chosen for their low thermal expansion, ensuring geometric stability and rigidity necessary for accurate spatial measurements. The support system is scalable and adaptable for various applications and setups. The study further investigates the effects of camera placement and separation in near-parallel configurations on measurement accuracy and precision. Experimental results show a significant correlation between camera distance and measurement precision - closer camera setups yield higher precision. The optimized camera arrangement allowed the prototype to achieve accuracies of +/-0.74 mm along the camera's line of sight and +/-0.12 mm in orthogonal directions. The experiments show that the standard deviation of the noise on a single measurement plane orthogonal to the camera's line of sight vary between 0.02 and 0.07, indicating that the measurement noise is not constant for every point on that specific plane in the meanurement space. Details of the system's design and validation are provided to enhance reproducibility and encourage further development in areas like industrial automation and medical device tracking. By delivering a modular solution with validated accuracy, this work aims to promote innovation and practical application in precision tracking technology, facilitating broader adoption and iterative improvements. This approach enhances the accessibility and versatility of high-precision tracking technology, supporting future progress in the field.

Authors:João-Vitor Zacchi, Edoardo Clementi, Núria Mata
Title: APIKS: A Modular ROS2 Framework for Rapid Prototyping and Validation of Automated Driving Systems
Abstract:
Automated driving technologies promise substantial improvements in transportation safety, efficiency, and accessibility. However, ensuring the reliability and safety of Autonomous Vehicles in complex, real-world environments remains a significant challenge, particularly during the early stages of software development. Existing software development environments and simulation platforms often either focus narrowly on specific functions or are too complex, hindering the rapid prototyping of small proofs of concept. To address this challenge, we have developed the APIKS automotive platform, a modular framework based on ROS2. APIKS is designed for the efficient testing and validation of autonomous vehicle software within software-defined vehicles. It offers a simplified, standards-based architecture designed specifically for small-scale proofs of concept. This enables rapid prototyping without the overhead associated with comprehensive platforms. We demonstrate the capabilities of APIKS through an exemplary use case involving a Construction Zone Assist system, illustrating its effectiveness in facilitating the development and testing of autonomous vehicle functionalities.

Authors:Efthymios Karangelos, Louis Wehenkel
Title: Electric power system security: the case for an integrated cyber-physical risk management framework
Abstract:
This paper concerns the security of the electric power transmission grid facing the threat of malicious cyber-physical attackers. We posit that there is no such thing as perfectly effective cyber-security. Rather, any cyber-security measure comes with the possibility that a highly skilled attacker could (eventually find a way to) bypass it. On these grounds, we formulate a tri-level decision making problem seeking to co-optimize preventive physical and cyber-security measures under uncertainty on the ability of an exogenous cyber-physical attacker to overcome the latter. Preventive physical security measures refer to the \emph{ex-ante} procurement of reserve capacity, which translates into ramping restrictions in real-time. Cyber-security measures refer to updating the firewall rules so as to impede an intruder from taking over the cyber infrastructure of the grid and disconnecting power generators and transmission branches. We adopt standard assumptions to formalize the inner optimization problems corresponding to the cyber-physical attacker and power grid operator and focus on uncertainty management at the uppermost level of the problem. Our findings establish that physical- and cyber-security measures are non-exchangeable complements in keeping the power grid operation secure.

Authors:Suryanarayana Sankagiri, Bruce Hajek
Title: Pricing for Routing and Flow-Control in Payment Channel Networks
Abstract:
A payment channel network is a blockchain-based overlay mechanism that allows parties to transact more efficiently than directly using the blockchain. These networks are composed of payment channels that carry transactions between pairs of users. Due to its design, a payment channel cannot sustain a net flow of money in either direction indefinitely. Therefore, a payment channel network cannot serve transaction requests arbitrarily over a long period of time. We introduce \emph{DEBT control}, a joint routing and flow-control protocol that guides a payment channel network towards an optimal operating state for any steady-state demand. In this protocol, each channel sets a price for routing transactions through it. Transacting users make flow-control and routing decisions by responding to these prices. A channel updates its price based on the net flow of money through it. The protocol is developed by formulating a network utility maximization problem and solving its dual through gradient descent. We provide convergence guarantees for the protocol and also illustrate its behavior through simulations.

Authors:Emma Vancayseele, Philip Desenfans, Zifeng Gong, Dries Vanoost, Herbert De Gersem, Davy Pissoort
Title: Data-Driven Model Identification of Unbalanced Induction Motor Dynamics and Forces using SINDYc
Abstract:
This paper identifies the stator currents, torque and unbalanced magnetic pull (UMP) of an unbalanced induction motor by the System Identification of Nonlinear Dynamics with Control (SINDYc) method from time-series data of measurable quantities. The SINDYc model has been trained on data coming from a nonlinear magnetic equivalent circuit model for three rotor eccentricity configurations. When evaluating the SINDYc model for static eccentricity, torques and UMPs with excellent accuracies, i.e., 8.8 mNm and 4.87 N of mean absolute error, respectively, are found. When compared with a reference torque equation, this amounts to a 65% error reduction. For dynamic eccentricity, the estimation is more difficult. The SINDYc model is fast enough to be embedded in a control procedure.

Authors:Jiayue Lyu, Tianzhi Fang, Zhiheng Lin, Jingxue Han, Yantao Zhu
Title: Transient Stability Analysis and Fault Clearing Angle Estimation of VSG Based on Domain of Attraction Estimated by Trajectory Reversing Method
Abstract:
The virtual synchronous generator (VSG), with the analogous nonlinear power-angle relationship to the synchronous generator (SG), has attracted much attention as a promising solution for converter-based power systems. In this paper, a large signal model of the grid-connected VSG is first established. The trajectory reversing method (TRM) is then introduced to estimate the domain of attraction (DOA) of VSG. Subsequently, the transient instability mechanism is revealed in detail based on the estimated DOA boundary. The impacts of system parameters on the DOA range are further investigated. It is found that loss of synchronization (LOS) occurs if the system trajectory lies outside the post-fault DOA range. In scenarios where no equilibrium points exist after a grid fault, system stability can be reestablished only when the fault clearing angle (FCA) does not exceed the critical clearing angle (CCA). Finally, the CCA derived from the DOA and that from the conventional equal area criteria (EAC) are compared. The results show that CCA obtained by our solution has a higher accuracy. Time-domain simulations are performed to verify the effectiveness of the proposed transient stability analysis method of grid-connected VSG.

Authors:T. Forrest Kieffer, Michael Wall
Title: Dynamics on Lie groups with applications to attitude estimation
Abstract:
The problem of filtering - propagation of states through stochastic differential equations (SDEs) and association of measurement data using Bayesian inference - in a state space which forms a Lie group is considered. Particular emphasis is given to concentrated Gaussians (CGs) as a parametric family of probability distributions to capture the uncertainty associated with an estimated state. The so-called group-affine property of the state evolution is shown to be necessary and sufficient for linearity of the dynamics on the associated Lie algebra, in turn implying CGs are invariant under such evolution. A putative SDE on the group is then reformulated as an SDE on the associated Lie algebra. The vector space structure of the Lie algebra together with the notion of a CG enables the leveraging of techniques from conventional Gaussian-based Kalman filtering in an approach called the tangent space filter (TSF). We provide example calculations for several Lie groups that arise in the problem of estimating position, velocity, and orientation of a rigid body from a noisy, potentially biased inertial measurement unit (IMU). For the specific problem of attitude estimation, numerical experiments demonstrate that TSF-based approaches are more accurate and robust than another widely used attitude filtering technique.

Authors:Ashkan Jasour, Guglielmo Daddi, Masafumi Endo, Tiago S. Vaquero, Michael Paton, Marlin P. Strub, Sabrina Corpino, Michel Ingham, Masahiro Ono, Rohan Thakker
Title: Risk-aware Integrated Task and Motion Planning for Versatile Snake Robots under Localization Failures
Abstract:
Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor payload to the ground coupled with a limited field of view. To address this issue, we propose Blind-motion with Intermittently Scheduled Scans (BLISS) which combines proprioception-only mobility with intermittent scans to be resilient against both localization failures and collision risks. BLISS is formulated as an integrated Task and Motion Planning (TAMP) problem that leads to a Chance-Constrained Hybrid Partially Observable Markov Decision Process (CC-HPOMDP), known to be computationally intractable due to the curse of history. Our novelty lies in reformulating CC-HPOMDP as a tractable, convex Mixed Integer Linear Program. This allows us to solve BLISS-TAMP significantly faster and jointly derive optimal task-motion plans. Simulations and hardware experiments on the EELS snake robot show our method achieves over an order of magnitude computational improvement compared to state-of-the-art POMDP planners and $>$ 50\% better navigation time optimality versus classical two-stage planners.

Authors:Chandrashekhar Savant, Thai-Son Nguyen, Kazuki Nomoto, Saurabh Vishwakarma, Siyuan Ma, Akshey Dhar, Yu-Hsin Chen, Joseph Casamento, David J. Smith, Huili Grace Xing, Debdeep Jena
Title: Epitaxial high-K AlBN barrier GaN HEMTs
Abstract:
We report a polarization-induced 2D electron gas (2DEG) at an epitaxial AlBN/GaN heterojunction grown on a SiC substrate. Using this 2DEG in a long conducting channel, we realize ultra-thin barrier AlBN/GaN high electron mobility transistors that exhibit current densities of more than 0.25 A/mm, clean current saturation, a low pinch-off voltage of -0.43 V, and a peak transconductance of 0.14 S/mm. Transistor performance in this preliminary realization is limited by the contact resistance. Capacitance-voltage measurements reveal that introducing 7 % B in the epitaxial AlBN barrier on GaN boosts the relative dielectric constant of AlBN to 16, higher than the AlN dielectric constant of 9. Epitaxial high-K barrier AlBN/GaN HEMTs can thus extend performance beyond the capabilities of current GaN transistors.

Authors:Hussah Alghanem, Alastair Buckley
Title: Modelling Regional Solar Photovoltaic Capacity in Great Britain
Abstract:
Great Britain aims to meet growing electricity demand and achieve a fully decarbonised grid by 2035, targeting 70 GW of solar photovoltaic (PV) capacity. However, grid constraints and connection delays hinder solar integration. To address these integration challenges, various connection reform processes and policies are being developed [1]. This study supports the connection reforms with a model that estimates regional PV capacity at the NUTS 3 level, explaining 89% of the variation in capacity, with a mean absolute error of 20 MW and a national mean absolute percentage error of 5.4%. Artificial surfaces and agricultural areas are identified as key factors in deployment. The model has three primary applications: disaggregating national PV capacity into regional capacity, benchmarking regional PV deployment between different regions, and forecasting future PV capacity distribution. These applications support grid operators in generation monitoring and strategic grid planning by identifying regions where capacity is likely to be concentrated. This can address grid connection delays, plan network expansions, and resolve land-use conflicts.

Authors:Ziyang Liu, Zekai Chen, Changxiong Zheng, Phil Surman, Xiao Wei Sun
Title: Naked Eye Three-dimensional Display System Based on Time-multiplexed Technology
Abstract:
Our group is developing a multi-user eye-tracked 3D display, an evolution of the single-user eye-tracked 3D display that we have already successfully developed. This display utilizes a slanted lenticular setup, where multiple perspective views are shown across the viewing field. Due to the constraints of the lenticular lens parameters, identical views are repeated across the field, limiting eye tracking to a single user. However, this limitation can be addressed using spatio-temporal multiplexing, where view zone groups are presented sequentially with a high frame rate liquid crystal display (LCD) and driver, in combination with a synchronized directional light emitting diode (LED) array. In this paper, we describe the operation and results of the backlight drive electronics, where a prototype using a white LED illumination matrix, a simplified LCD panel, and a linear Fresnel lens array serves as a test bed.

Authors:Heyao Wang, Ziran Zhao, Lingbo Qiao, Dalu Guo
Title: Polarization Angle Scanning for Wide-band Millimeter-wave Direct Detection
Abstract:
Millimeter-wave (MMW) technology has been widely utilized in human security screening applications due to its superior penetration capabilities through clothing and safety for human exposure. However, existing methods largely rely on fixed polarization modes, neglecting the potential insights from variations in target echoes with respect to incident polarization. This study provides a theoretical analysis of the cross-polarization echo power as a function of the incident polarization angle under linear polarization conditions. Additionally, based on the transmission characteristics of multi-layer medium, we extended the depth spectrum model employed in direct detection to accommodate scenarios involving multi-layered structures. Building on this foundation, by obtaining multiple depth spectrums through polarization angle scanning, we propose the Polarization Angle-Depth Matrix to characterize target across both the polarization angle and depth dimensions in direct detection. Simulations and experimental validations confirm its accuracy and practical value in detecting concealed weapons in human security screening scenarios.

Authors:Chengrui Wang, Haohao Qiu, Sibo Yao, James Lam
Title: Sparse Spectrahedral Shadows for State Estimation and Reachability Analysis: Set Operations, Validations and Order Reductions
Abstract:
Set representations are the foundation of various set-based approaches in state estimation, reachability analysis and fault diagnosis. In this paper, we investigate spectrahedral shadows, a class of nonlinear geometric objects previously studied in semidefinite programming and real algebraic geometry. We demonstrate spectrahedral shadows generalize traditional and emerging set representations like ellipsoids, zonotopes, constrained zonotopes and ellipsotopes. Analytical forms of set operations are provided including linear map, linear inverse map, Minkowski sum, intersection, Cartesian product, Minkowski-Firey Lp sum, convex hull, conic hull and polytopic map, all of which are implemented without approximation in polynomial time. In addition, we develop set validation and order reduction techniques for spectrahedral shadows, thereby establishing spectrahedral shadows as a set representation applicable to a range of set-based tasks.

Authors:Jing Xu, Mark Hansen, Megan Ryerson
Title: Identification and Characterization for Disruptions in the U.S. National Airspace System (NAS)
Abstract:
Disruptions in the National Airspace System (NAS) lead to significant losses to air traffic system participants and raise public concerns. We apply two methods, cluster analysis and anomaly detection models, to identify operational disruptions with geographical patterns in the NAS since 2010. We identify four types and twelve categories of days of operations, distinguished according to air traffic system operational performance and geographical patterns of disruptions. Two clusters--NAS Disruption and East Super Disruption, accounting for 0.8% and 1.2% of the days respectively, represent the most disrupted days of operations in U.S. air traffic system. Another 16.5% of days feature less severe but still significant disruptions focused on certain regions of the NAS, while on the remaining 81.5% of days the NAS operates relatively smoothly. Anomaly detection results show good agreement with cluster results and further distinguish days in the same cluster by severity of disruptions. Results show an increasing trend in frequency of disruptions especially post-COVID. Additionally, disruptions happen most frequently in the summer and winter.

Authors:Michael Ruderman, Gianluca Giostra, Matteo Sette
Title: Inversion-free feed-forward and feedback control of MSM based actuator with large non-smooth input hysteresis
Abstract:
Dynamic systems with a large and non-smooth hysteresis in the feedforward channel challenge the design of feedback control since the instantaneous input gain is varying during the operation, in the worst case between zero and infinity. Magnetic shape memory (MSM) actuators with multi-stable transitions represent such untypical system plant with only the output displacement being measured. This paper provides a case study of designing the feedforward and feedback control system for an MSM-based actuator setup with a fairly high level of the output sensing noise. First, the recently introduced inversion-free feedforward hysteresis compensator is adapted for the Krasnoselskii-Pokrovskii operator model. Then, a robust feedback proportional-integral (PI) loop shaping is performed, while taking into account the lagging behavior of the low-pass filtering and system uncertainties. Experimental results show that the parallel action of feedforward and feedback parts improves the overall performance of position control.

Authors:Taha Ahmadi Pargo, Mohsen Akbarpour Shirazi, Dawud Fadai
Title: Smart and Efficient IoT-Based Irrigation System Design: Utilizing a Hybrid Agent-Based and System Dynamics Approach
Abstract:
Regarding problems like reduced precipitation and an increase in population, water resource scarcity has become one of the most critical problems in modern-day societies, as a consequence, there is a shortage of available water resources for irrigation in arid and semi-arid countries. On the other hand, it is possible to utilize modern technologies to control irrigation and reduce water loss. One of these technologies is the Internet of Things (IoT). Despite the possibility of using the IoT in irrigation control systems, there are complexities in designing such systems. Considering this issue, it is possible to use agent-oriented software engineering (AOSE) methodologies to design complex cyber-physical systems such as IoT-based systems. In this research, a smart irrigation system is designed based on Prometheus AOSE methodology, to reduce water loss by maintaining soil moisture in a suitable interval. The designed system comprises sensors, a central agent, and irrigation nodes. These agents follow defined rules to maintain soil moisture at a desired level cooperatively. For system simulation, a hybrid agent-based and system dynamics model was designed. In this hybrid model, soil moisture dynamics were modeled based on the system dynamics approach. The proposed model, was implemented in AnyLogic computer simulation software. Utilizing the simulation model, irrigation rules were examined. The system's functionality in automatic irrigation mode was tested based on a 256-run, fractional factorial design, and the effects of important factors such as soil properties on total irrigated water and total operation time were analyzed. Based on the tests, the system consistently irrigated nearly optimal water amounts in all tests. Moreover, the results were also used to minimize the system's energy consumption by reducing the system's operational time.

Authors:Xiao Liu, Sudan Han, Jinlin Peng
Title: Complex Electromagnetic Space Combat System-of-systems Modeling and Key Node Identification Method
Abstract:
With the application of advanced science and technology in the military field, modern warfare has developed into a confrontation between systems. The combat system-of-systems (CSoS) has numerous nodes, multiple attributes and complex interactions, and its research and analysis are facing great difficulties. Electromagnetic space is an important dimension of modern warfare. Modeling and analyzing the CSoS from this perspective is of great significance to studying modern warfare and can provide a reference for the research of electromagnetic warfare. In this study, the types of nodes and relationships in the complex electromagnetic space of CSoS are first divided, the important attributes of the combat nodes are extracted, and the relationship weights are normalized to establish a networked model. On this basis, the calculation method of CSoS combat effectiveness based on the combat cycle is proposed, and then the identification and sorting of key nodes can be realized by the node deletion method. Finally, by constructing an instance of aircraft carrier fleet confrontation, the feasibility of this method has been verified, and the experimental results have been compared with classical algorithms to demonstrate the advanced nature of this method.

Authors:Saikat Dey, Ayan Mallik
Title: Physics Informed Neural Network Estimated Circuit Parameter Adaptive Modulation of DAB
Abstract:
This article presents the development, implementation, and validation of a loss-optimized and circuit parameter-sensitive TPS modulation scheme for a dual-active-bridge DC-DC converter. The proposed approach dynamically adjusts control parameters based on circuit parameters estimated using a physics-informed neural network.

Authors:Bo Wang, Hashem Ashrafiuon, Sergey G. Nersesov
Title: Extremum Seeking Control for Antenna Pointing via Symmetric Product Approximation
Abstract:
This paper investigates extremum seeking control for a torque-controlled antenna pointing system without direct angular measurements. We consider a two-degree-of-freedom (2-DOF) antenna system that receives an unknown signal from its environment, where the signal strength varies with the antenna orientation. It is assumed that only real-time measurements of the signal are available. We develop an extremum seeking control strategy that enables the antenna to autonomously adjust its direction to maximize the received signal strength based on the symmetric product approximation. Under suitable assumptions on the signal function, we prove local practical uniform asymptotic stability for the closed-loop system.

Authors:Parastou Fahim, Samuel Oliveira, Rômulo Meira-Góes
Title: Enhancing sensor attack detection in supervisory control systems modeled by probabilistic automata
Abstract:
Sensor attacks compromise the reliability of cyber-physical systems (CPSs) by altering sensor outputs with the objective of leading the system to unsafe system states. This paper studies a probabilistic intrusion detection framework based on $λ$-sensor-attack detectability ($λ$-sa), a formal measure that evaluates the likelihood of a system being under attack based on observed behaviors. Our framework enhances detection by extending its capabilities to identify multiple sensor attack strategies using probabilistic information, which enables the detection of sensor attacks that were undetected by current detection methodologies. We develop a polynomial-time algorithm that verifies $λ$-sa detectability by constructing a weighted verifier automaton and solving the shortest path problem. Additionally, we propose a method to determine the maximum detection confidence level ($λ$*) achievable by the system, ensuring the highest probability of identifying attack-induced behaviors.

Authors:Cheng Zhu, Xiaotao Zhou, Bing Huang
Title: Equilibrium Unit Based Localized Affine Formation Maneuver for Multi-agent Systems
Abstract:
Current affine formation maneuver of multi-agent systems (MASs) relys on the affine localizability determined by generic assumption for nominal configuration and global construction manner. This does not live up to practical constraints of robot swarms. In this paper, an equilibrium unit based structure is proposed to achieve affine localizability. In an equilibrium unit, existence of non-zero weights between nodes is guaranteed and their summation is proved to be non-zero. To remove the generic assumption, a notion of layerable directed graph is introduced, based on which a sufficient condition associated equilibrium unit is presented to establish affine localizability condition. Within this framework, distributed local construction manner is performed by a designed equilibrium unit construction (EUC) method. With the help of localized communication criterion (LCC) and localized sensing based affine formation maneuver control (LSAFMC) protocol, self-reconstruction capability is possessed by MASs when nodes are added to or removed from the swarms.

Authors:Tao Xu, Kaiqi Wang, Jiadong Zhang, Ji Qiao, Zixuan Zhao, Hong Zhu, Kai Sun
Title: Pseudo-Measurement Enhancement in Power Distribution Systems
Abstract:
With the rapid development of smart distribution networks (DNs), the integrity and accuracy of grid measurement data are crucial to the safety and stability of the entire system. However, the quality of the user power consumption data cannot be guaranteed during the collection and transmission process. To this end, this paper proposes a low-rank tensor completion model based on CANDECOMP/PARAFAC decomposition (CPD-LRTC) to enhance the quality of the measurement data of the DNs. Firstly, the causes and the associated characteristics of the missing data are analyzed, and a third-order standard tensor is constructed as a mathematical model of the measurement data of the DN. Then, a completion model is established based on the characteristics of measurement data and the low rank of the completion tensor, and the alternating direction method of multipliers (ADMM) is used to solve it iteratively. Finally, the proposed model is verified through two case studies, the completion accuracy, the computational efficiency, and the memory usage are compared to traditional methods.

Authors:Amit Acharya, Janusz Ginster
Title: A convex variational principle for the necessary conditions of classical optimal control
Abstract:
A scheme for generating a family of convex variational principles is developed, the Euler- Lagrange equations of each member of the family formally corresponding to the necessary conditions of optimal control of a given system of ordinary differential equations (ODE) in a well-defined sense. The scheme is applied to the Quadratic-Quadratic Regulator problem for which an explicit form of the functional is derived, and existence of minimizers of the variational principle is rigorously shown. It is shown that the Linear-Quadratic Regulator problem with time-dependent forcing can be solved within the formalism without requiring any nonlinear considerations, in contrast to the use of a Riccati system in the classical methodology. Our work demonstrates a pathway for solving nonlinear control problems via convex optimization.

Authors:Aleksandra Rybalko, Alexander Fradkov
Title: Parameter Estimation of the Network of FitzHugh-Nagumo Neurons Based on the Speed-Gradient and Filtering
Abstract:
The paper addresses the problem of parameter estimation (or identification) in dynamical networks composed of an arbitrary number of FitzHugh-Nagumo neuron models with diffusive couplings between each other. It is assumed that only the membrane potential of each model is measured, while the other state variable and all derivatives remain unmeasured. Additionally, potential measurement errors in the membrane potential due to sensor imprecision are considered. To solve this problem, firstly, the original FitzHugh-Nagumo network is transformed into a linear regression model, where the regressors are obtained by applying a filter-differentiator to specific combinations of the measured variables. Secondly, the speed-gradient method is applied to this linear model, leading to the design of an identification algorithm for the FitzHugh-Nagumo neural network. Sufficient conditions for the asymptotic convergence of the parameter estimates to their true values are derived for the proposed algorithm. Parameter estimation for a network of five interconnected neurons is demonstrated through computer simulation. The results confirm that the sufficient conditions are satisfied in the numerical experiments conducted. Furthermore, the algorithm's capabilities for adjusting the identification accuracy and time are investigated. The proposed approach has potential applications in nervous system modeling, particularly in the context of human brain modeling. For instance, EEG signals could serve as the measured variables of the network, enabling the integration of mathematical neural models with empirical data collected by neurophysiologists.

Authors:Zhan Wang, Chen Weidong, Huang Zhifeng, Md Raisul Islam, Chua Kian Jon
Title: Feature Engineering Approach to Building Load Prediction: A Case Study for Commercial Building Chiller Plant Optimization in Tropical Weather
Abstract:
In tropical countries with high humidity, air conditioning can account for up to 60% of a building's energy use. For commercial buildings with centralized systems, the efficiency of the chiller plant is vital, and model predictive control provides an effective strategy for optimizing operations through dynamic adjustments based on accurate load predictions. Artificial neural networks are effective for modelling nonlinear systems but are prone to overfitting due to their complexity. Effective feature engineering can mitigate this issue. While weather data are crucial for load prediction, they are often used as raw numerical inputs without advanced processing. Clustering features is a technique that can reduce model complexity and enhance prediction accuracy. Although previous studies have explored clustering algorithms for load prediction, none have applied them to multidimensional weather data, revealing a research gap. This study presents a cooling load prediction model that combines a neural network with Kalman filtering and K-means clustering. Applied to real world data from a commercial skyscraper in Singapore's central business district, the model achieved a 46.5% improvement in prediction accuracy. An optimal chiller sequencing strategy was also developed through genetic algorithm optimization of the predictive load, potentially saving 13.8% in energy. Finally, the study evaluated the integration of thermal energy storage into the chiller plant design, demonstrating potential reductions in capital and operational costs of 26% and 13%, respectively.

Authors:Diyou Liu, Mohammad Khosravi
Title: Probabilistic Formulations for System Identification of Linear Dynamics with Bilinear Observation Models
Abstract:
In this paper, we address the identification problem for the systems characterized by linear time-invariant dynamics with bilinear observation models. More precisely, we consider a suitable parametric description of the system and formulate the identification problem as the estimation of the parameters defining the mathematical model of the system using the observed input-output data. To this end, we propose two probabilistic frameworks. The first framework employs the Maximum Likelihood (ML) approach, which accurately finds the optimal parameter estimates by maximizing a likelihood function. Subsequently, we develop a tractable first-order method to solve the optimization problem corresponding to the proposed ML approach. Additionally, to further improve tractability and computational efficiency of the estimation of the parameters, we introduce an alternative framework based on the Expectation--Maximization (EM) approach, which estimates the parameters using an appropriately designed cost function. We show that the EM cost function is invex, which ensures the existence and uniqueness of the optimal solution. Furthermore, we derive the closed-form solution for the optimal parameters and also prove the recursive feasibility of the EM procedure. Through extensive numerical experiments, the practical implementation of the proposed approaches is demonstrated, and their estimation efficacy is verified and compared, highlighting the effectiveness of the methods to accurately estimate the system parameters and their potential for real-world applications in scenarios involving bilinear observation structures.

Authors:S. Doodeman, Z. Tang, M. Jacinto, R. Cunha, C. Silvestre
Title: Leader-Follower Formation Tracking Control of Quadrotor UAVs Using Bearing Measurements
Abstract:
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global position. Other vehicles in the formation are assumed to only have access to inter-agent bearing (direction) measurements and relative velocities with respect to their neighbor agents. A hierarchical control architecture is adopted for each quadrotor, combining a high-gain attitude inner-loop and an outer-loop bearing-based formation controller with collision avoidance augmentation. The proposed method enables a group of quadrotors to track arbitrary bearing persistently exciting desired formations, including time-varying shapes and rotational maneuvers, such that each quadrotor only requires relative measurements to at least one neighboring quadrotor. The effective performance of the control strategy is validated by numerical simulations in MATLAB and real-world experiments with three quadrotors.

Authors:Luis Ovalle, Andrés González, Leonid Fridman, Hernan Haimovich
Title: Discrete implementations of sliding-mode controllers with barrier-function adaptations require a revised framework
Abstract:
Challenges in the discrete implementation of sliding-mode controllers (SMC) with barrier-function-based adaptations are analyzed, revealing fundamental limitations in conventional design frameworks. It is shown that under uniform sampling, the original continuous-time problem motivating these controllers becomes theoretically unsolvable under standard assumptions. To address this incompatibility, a revised control framework is proposed, explicitly incorporating actuator capacity constraints and sampled-data dynamics. Within this structure, the behavior of barrier function-based adaptive controllers (BFASMC) is rigorously examined, explaining their empirical success in digital implementations. A key theoretical result establishes an explicit relation between the actuator capacity, the sampling rate, and the width of the barrier function, providing a principled means to tune these controllers for different application requirements. This relation enables the resolution of various design problems with direct practical implications. A modified BFASMC is then introduced, systematically leveraging sampling effects to ensure finite-time convergence to a positively invariant predefined set, a key advancement for guaranteeing predictable safety margins.

Authors:Atakan Süslü, Betül Rana Kuran, Halil Ersin Söken
Title: Design of a Visual Pose Estimation Algorithm for Moon Landing
Abstract:
In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to use absolute navigation solutions. In this study, a terrain absolute navigation method to estimate the spacecraft's position and attitude is proposed. This algorithm uses the position of the craters below the spacecraft for estimation. Craters seen by the camera onboard the spacecraft are detected and identified using a crater database known beforehand. In order to focus on estimation algorithms, image processing and crater matching steps are skipped. The accuracy of the algorithm and the effect of the crater number used for estimation are inspected by performing simulations.

Authors:Wanting Gao, Xudong Chen
Title: On the $H$-property for Step-graphons: Residual Case
Abstract:
We investigate the $H$-property for step-graphons. Specifically, we sample graphs $G_n$ on $n$ nodes from a step-graphon and evaluate the probability that $G_n$ has a Hamiltonian decomposition in the asymptotic regime as $n\to\infty$. It has been shown that for almost all step-graphons, this probability converges to either zero or one. We focus in this paper on the residual case where the zero-one law does not apply. We show that the limit of the probability still exists and provide an explicit expression of it. We present a complete proof of the result and validate it through numerical studies.

Authors:Florian Krause, Felix Schweizer, Alexandra Burger, Franziska Ludewig, Marcus Knips, Katharina Quade, Andreas Wuersig, Dirk Uwe Sauer
Title: Advancing Measurement Capabilities in Lithium-Ion Batteries: Exploring the Potential of Fiber Optic Sensors for Thermal Monitoring of Battery Cells
Abstract:
This work demonstrates the potential of fiber optic sensors for measuring thermal effects in lithium-ion batteries, using a fiber optic measurement method of Optical Frequency Domain Reflectometry (OFDR). The innovative application of fiber sensors allows for spatially resolved temperature measurement, particularly emphasizing the importance of monitoring not just the exterior but also the internal conditions within battery cells. Utilizing inert glass fibers as sensors, which exhibit minimal sensitivity to electric fields, opens up new pathways for their implementation in a wide range of applications, such as battery monitoring. The sensors used in this work provide real-time information along the entire length of the fiber, unlike commonly used Fiber Bragg Grating (FBG) sensors. It is shown that using the herein presented novel sensors in a temperature range of 0 to 80 degree celsius reveals a linear thermal dependency with high sensitivity and a local resolution of a few centimeters. Furthermore, this study presents preliminary findings on the potential application of fiber optic sensors in lithium-ion battery (LIB) cells, demonstrating that the steps required for battery integration do not impose any restrictive effects on thermal measurements.

Authors:Yuan Liao, Kan Cheng, Fan Lu, Hao Jin, Zhaohui Yang
Title: Towards Routing and Edge Computing in Satellite-Terrestrial Networks: A Column Generation Approach
Abstract:
Edge computing that enables satellites to process raw data locally is expected to bring further timeliness and flexibility to satellite-terrestrial networks (STNs). In this letter, we propose a three-layer edge computing protocol, where raw data collected by the satellites can be processed locally, or transmitted to other satellites or the ground station via multi-hop routing for further processing. The overall computing capacity of the proposed framework is maximized by determining the offloading strategy and routing formation, subject to channel capacity and hop constraints. Given that the problem scale grows exponentially with the number of satellites and maximum-allowed hops, the column generation approach is employed to obtain the global optimal solution by activating only a subset of variables. Numerical results reveal that the proposed three-layer computing protocol, when tolerating a 5-hop routing latency, achieves a 60% improvement in computation capacity compared to the single-layer local computing configuration.

Authors:Gustavo L. Aschidamini, Mina Pavlovic, Bradley A. Reinholz, Malcolm S. Metcalfe, Taco Niet, Mariana Resener
Title: Comprehensive Review on the Control of Heat Pumps for Energy Flexibility in Distribution Networks
Abstract:
Decarbonization plans promote the transition to heat pumps (HPs), creating new opportunities for their energy flexibility in demand response programs, solar photovoltaic integration and optimization of distribution networks. This paper reviews scheduling-based and real-time optimization methods for controlling HPs with a focus on energy flexibility in distribution networks. Scheduling-based methods fall into two categories: rule-based controllers (RBCs), which rely on predefined control rules without explicitly seeking optimal solutions, and optimization models, which are designed to determine the optimal scheduling of operations. Real-time optimization is achieved through model predictive control (MPC), which relies on a predictive model to optimize decisions over a time horizon, and reinforcement learning (RL), which takes a model-free approach by learning optimal strategies through direct interaction with the environment. The paper also examines studies on the impact of HPs on distribution networks, particularly those leveraging energy flexibility strategies. Key takeaways suggest the need to validate control strategies for extreme cold-weather regions that require backup heaters, as well as develop approaches designed for demand charge schemes that integrate HPs with other controllable loads. From a grid impact assessment perspective, studies have focused primarily on RBCs for providing energy flexibility through HP operation, without addressing more advanced methods such as real-time optimization using MPC or RL-based algorithms. Incorporating these advanced control strategies could help identify key limitations, including the impact of varying user participation levels and the cost-benefit trade-offs associated with their implementation.

Authors:Charly Pecqueux-Guézénec, Stéphane Doncieux, Nicolas Perrin-Gilbert
Title: Learning to explore when mistakes are not allowed
Abstract:
Goal-Conditioned Reinforcement Learning (GCRL) provides a versatile framework for developing unified controllers capable of handling wide ranges of tasks, exploring environments, and adapting behaviors. However, its reliance on trial-and-error poses challenges for real-world applications, as errors can result in costly and potentially damaging consequences. To address the need for safer learning, we propose a method that enables agents to learn goal-conditioned behaviors that explore without the risk of making harmful mistakes. Exploration without risks can seem paradoxical, but environment dynamics are often uniform in space, therefore a policy trained for safety without exploration purposes can still be exploited globally. Our proposed approach involves two distinct phases. First, during a pretraining phase, we employ safe reinforcement learning and distributional techniques to train a safety policy that actively tries to avoid failures in various situations. In the subsequent safe exploration phase, a goal-conditioned (GC) policy is learned while ensuring safety. To achieve this, we implement an action-selection mechanism leveraging the previously learned distributional safety critics to arbitrate between the safety policy and the GC policy, ensuring safe exploration by switching to the safety policy when needed. We evaluate our method in simulated environments and demonstrate that it not only provides substantial coverage of the goal space but also reduces the occurrence of mistakes to a minimum, in stark contrast to traditional GCRL approaches. Additionally, we conduct an ablation study and analyze failure modes, offering insights for future research directions.

Authors:Domenico D'Auria, Arianna Rigo, Luca Niero, Andrei-Toma Stoica, Vito Costantini, Pasquale Castellano, Zsofia Zita Szilagyi, Nishani Vijayakumaran, Ella Toppari, Stefano Schiano, Marco Adorno, Matteo Matrone, Chiara Tulli, Jan Kurowski, Leo Bougault, Argenziano Francesco, Antignano Claudia, Theodoros Roumanis, Victoria Kossack, Spyridon Giuvalas
Title: PEDRO-V: From a concurrent engineering case study to a promising phase zero mission definition
Abstract:
Each year, the European Space Agency (ESA) organizes challenges for university students, from BSc to PhD levels. The ESA Concurrent Engineering Challange 2024 was hosted by four Concurrent Design Facilites (CDF) across Europe: ESEC Galazia, ISAE SUPAERO, the University of Athens, and the University of Portsmouth. A total of 102 students participated in the event. Over five days, students worked on a feasibility study for a space mission, simulating ESA's design session at ESTEC, the ESA headquarters. Students were divided into specializes groups based on their backgrounds, reflecting ESA's concurrent engineering teams. This paper discusses the design of subsystems by students, their trade-off results, and the outcomes of the CDF study. It highlights the effectiveness of concurrent engineering, which enabled rapid and efficient results even from non-esxpert teams. The future development roadmap and lessons learned are also presented. The students used CDP4-Comet software within the replicated ESA CDF, resulting in the PEDRO-V mission proposal: Planetary Exploration Deployment and Research Operation - Venus. The teams collaboratively defined the Concept of Operations, identified actors, worst-case scenarios, use cases, and activities. Their output included a list of requirements, a draft product breakdown structure, and key subsystems information. The concurrent engineering process led to continuous improvement and convergence of key parameters. This approach proved to be effective by aligning different teams' solutions and comparing them to similar missions. The PEDRO-V mission feasibility was confirmed, demonstrating the potential of concurrent engineering in accademic settings for space missions. (summarized with AI)

Authors:Manavendra Desai, Himanshu Sharma, Sayak Mukherjee, Sonja Glavaski
Title: An Uncertainty-Aware Data-Driven Predictive Controller for Hybrid Power Plants
Abstract:
Given the advancements in data-driven modeling for complex engineering and scientific applications, this work utilizes a data-driven predictive control method, namely subspace predictive control, to coordinate hybrid power plant components and meet a desired power demand despite the presence of weather uncertainties. An uncertainty-aware data-driven predictive controller is proposed, and its potential is analyzed using real-world electricity demand profiles. For the analysis, a hybrid power plant with wind, solar, and co-located energy storage capacity of 4 MW each is considered. The analysis shows that the predictive controller can track a real-world-inspired electricity demand profile despite the presence of weather-induced uncertainties and be an intelligent forecaster for HPP performance.

Authors:Joseph D. Tran, Abdullah Al Maruf
Title: Observability-Blocking Controls for Double-Integrator and Higher Order Integrator Networks
Abstract:
The design of state-feedback controls to block observability at remote nodes is studied for double integrator network (DIN) and higher order integrator network models. A preliminary design algorithm is presented first for DIN that requires $m+2$ actuation nodes to block observability for the measurement obtained from a set of $m$ nodes. The algorithm is based on eigenstructure assignment technique and leverages the properties of the eigenvectors in DIN. Next, the topological structure of the network is exploited to reduce the number of controllers required for blocking observability. The number of actuation nodes in sparser design depends on the cardinality of a cutset separating the actuation and measurement locations. Later, the design principles are generalized for blocking observability in $N$-th order integrator network models.

Authors:Ignacio E. López-Delgado, Víctor Navarro-López, Francisco Grandas-Pérez, Juan I. Godino-Llorente, Jesús Grajal
Title: Radar Network for Gait Monitoring: Technology and Validation
Abstract:
In recent years, radar-based devices have emerged as an alternative approach for gait monitoring. However, the radar configuration and the algorithms used to extract the gait parameters often differ between contributions, lacking a systematic evaluation of the most appropriate setup. Additionally, radar-based studies often exclude motorically impaired subjects, leaving it unclear whether the existing algorithms are applicable to such populations. In this paper, a radar network is developed and validated by monitoring the gait of five healthy individuals and three patients with Parkinson's disease. Six configurations and four algorithms were compared using Vicon as ground-truth to determine the most appropriate solution for gait monitoring. The best results were obtained using only three nodes: two oriented towards the feet and one towards the torso. The most accurate stride velocity and distance in the state of the art were obtained with this configuration. Moreover, we show that analyzing the feet velocity increases the reliability of the temporal parameters, especially with aged or motorically impaired subjects. The contribution is significant for the implementation of radar networks in clinical and domestic environments, as it addresses critical aspects concerning the radar network configuration and algorithms.

Authors:Sreekanth Prabhakar, Gaurav Raina
Title: Design Considerations Based on Stability for a Class of TCP Algorithms
Abstract:
Transmission Control Protocol (TCP) continues to be the dominant transport protocol on the Internet. The stability of fluid models has been a key consideration in the design of TCP and the performance evaluation of TCP algorithms. Based on local stability analysis, we formulate some design considerations for a class of TCP algorithms. We begin with deriving sufficient conditions for the local stability of a generalized TCP algorithm in the presence of heterogeneous round-trip delays. Within this generalized model, we consider three specific variants of TCP: TCP Reno, Compound TCP, and Scalable TCP. The sufficient conditions we derive are scalable across network topologies with one, two, and many bottleneck links. We are interested in networks with intermediate and small drop-tail buffers as they offer smaller queuing delays. The small buffer regime is more attractive as the conditions for stability are decentralized. TCP algorithms that follow our design considerations can provide stable operation on any network topology, irrespective of the number of bottleneck links or delays in the network.

Authors:Halim Lee, Jiwon Seo
Title: Reducing Computational Complexity of Rigidity-Based UAV Trajectory Optimization for Real-Time Cooperative Target Localization
Abstract:
Accurate and swift localization of the target is crucial in emergencies. However, accurate position data of a target mobile device, typically obtained from global navigation satellite systems (GNSS), cellular networks, or WiFi, may not always be accessible to first responders. For instance, 1) accuracy and availability can be limited in challenging signal reception environments, and 2) in regions where emergency location services are not mandatory, certain mobile devices may not transmit their location during emergencies. As an alternative localization method, a network of unmanned aerial vehicles (UAVs) can be employed to passively locate targets by collecting radio frequency (RF) signal measurements, such as received signal strength (RSS). In these situations, UAV trajectories play a critical role in localization performance, influencing both accuracy and search time. Previous studies optimized UAV trajectories using the determinant of the Fisher information matrix (FIM), but its performance declines under unfavorable geometric conditions, such as when UAVs start from a single base, leading to position ambiguity. To address this, our prior work introduced a rigidity-based approach, which improved the search time compared to FIM-based methods in our simulation case. However, the high computational cost of rigidity-based optimization, primarily due to singular value decomposition (SVD), limits its practicality. In this paper, we applied techniques to reduce computational complexity, including randomized SVD, smooth SVD, and vertex pruning.

Authors:Ali Dehghanian, Mohsen Haghighat, Thomas Darcie, Levi Smith
Title: Demonstration of a planar multimodal periodic filter at THz frequencies
Abstract:
This paper presents a planar multimodal periodic filter that is constructed from alternating sections of coplanar stripline and the odd-mode of a finite-ground plane coplanar waveguide constructed on a 1 um silicon nitride substrate to facilitate operation at THz frequencies. The multimode configuration differs from standard single-mode periodic filters and enables flexible designs and the possibility for active control of the filter characteristics. For this proof-of-concept, we present the relevant theory and design procedures required to develop a band-stop filter that has a center frequency of fc = 0.8 THz and a bandwidth of df = 0.07 THz. We find good agreement between theory, simulation, and experiment.

Authors:Tomasz Burzyński, Piotr Brzeski, Przemysław Perlikowski
Title: Performance of energy harvesters with parameter mismatch
Abstract:
This study explores the impact of parameter mismatch on the stability of cross-well motion in energy harvesters, using a basin stability metric. Energy harvesters, essential for converting ambient energy into electricity, increasingly incorporate multi-well systems to enhance efficiency. However, these systems are sensitive to initial conditions and parameter variations, which can affect their ability to sustain optimal cross-well motion -- a state associated with maximum power output. Our analysis compared four harvester types under varying levels of parameter mismatch, assessing resilience of the devices to parameter variations. By identifying safe operating ranges within the excitation parameter space, this study provides practical guidance for designing robust, stable harvesters capable of maintaining cross-well motion despite parameter uncertainties. These insights contribute to advancing the reliability of energy harvesting devices in real-world applications where parameter mismatches are inevitable.

Authors:Guo Gan, Li Junhui, Mu Gang, Yan Gangui
Title: Optimized Strategies for Peak Shaving and BESS Efficiency Enhancement through Cycle-Based Control and Cluster-Level Power Allocation
Abstract:
Battery Energy Storage Systems (BESS) are essential for peak shaving, balancing power supply and demand while enhancing grid efficiency. This study proposes a cycle-based control strategy for charging and discharging, which optimizes capture rate (CR), release rate (RR), and capacity utilization rate (CUR), improving BESS performance. Compared to traditional day-ahead methods, the cycle-based approach enhances operational accuracy and reduces capacity waste, achieving a CUR increase from 75.1% to 79.9%. An innovative cluster-level power allocation method, leveraging an improved Particle Swarm Optimization (PSO) algorithm, is introduced. This strategy reduces daily energy loss by 174.21 kWh (3.7%) and increases BESS efficiency by 0.4%. Transient and steady-state energy loss components are analyzed, revealing that transient loss proportion decreases significantly as power depth increases, from 27.2% at 1 MW to 1.3% at 10 MW. Simulations based on a detailed Simulink/Simscape model validate these methods, demonstrating enhanced peak shaving effectiveness and prolonged BESS lifespan by reducing equivalent cycles. The study provides a robust framework for optimizing BESS performance and efficiency in real-world applications.

Authors:Hugo Rodrigues de Brito, Daniel Simon Baltensperger, Kjetil Obstfelder Uhlen
Title: Optimal and Coordinated Voltage Control: Case Study on a 132 kV Norwegian Grid Subsystem
Abstract:
This work presents a framework for dynamic performance assessment of the higher layers in the hierarchical voltage regulation scheme, with case studies applied to specific areas of the Norwegian grid. Unlike the primary (PVR) level, the secondary (SVR) and tertiary (TVR) levels are not tuned to a single device at a time, handling instead several reactive power resources available within a control zone including generator units, static VAr compensators and others. Proper SVR-TVR coordination for realistic transmission systems is a challenging topic at the core of many ongoing discussions in voltage control literature. Special focus is placed on practical considerations from the system operator perspective, since this research is also aimed at simplifying daily control centre routines. Dynamic simulation results concern a 21-bus equivalent of a 132 kV network model that accurately represents a Norwegian grid subsystem. Case studies address daily grid operation with real-life load demand and wind power generation profiles, showing that the proposed strategy is effective not only to minimize total active power losses as much as possible within system-wide limitations, but also to maintain adequate voltage profiles and reactive power flows. Findings pertaining to this work showcase the benefits of applying hierarchical voltage regulation layers as an asset to day-to-day control center management of a realistic transmission network.

Authors:Heramb Podar, Alycia Colijn
Title: Technical Risks of (Lethal) Autonomous Weapons Systems
Abstract:
The autonomy and adaptability of (Lethal) Autonomous Weapons Systems, (L)AWS in short, promise unprecedented operational capabilities, but they also introduce profound risks that challenge the principles of control, accountability, and stability in international security. This report outlines the key technological risks associated with (L)AWS deployment, emphasizing their unpredictability, lack of transparency, and operational unreliability, which can lead to severe unintended consequences. Key Takeaways: 1. Proposed advantages of (L)AWS can only be achieved through objectification and classification, but a range of systematic risks limit the reliability and predictability of classifying algorithms. 2. These systematic risks include the black-box nature of AI decision-making, susceptibility to reward hacking, goal misgeneralization and potential for emergent behaviors that escape human control. 3. (L)AWS could act in ways that are not just unexpected but also uncontrollable, undermining mission objectives and potentially escalating conflicts. 4. Even rigorously tested systems may behave unpredictably and harmfully in real-world conditions, jeopardizing both strategic stability and humanitarian principles.

Authors:Mahya Ghorab, Ayush K. Ranga, Patrice Donfack, Arnulf Materny, Veit Wagner, Mojtaba Joodaki
Title: Strain-Induced Optical and Molecular Transformations in PET Films for Organic Electronic Applications
Abstract:
Poly(ethylene terephthalate) (PET) films are widely used in flexible electronics and optoelectronics, where their mechanical durability and optical performance under strain are essential for device reliability. This study investigates the impact of applied mechanical strain on the optical and molecular properties of PET at room temperature,using UV-Vis absorption and Raman spectroscopy. The work explores how varying strain levels, from 0% (unstretched) to 30%, affect the transparency, vibrational modes, and molecular reorganization within PET films. UV-Vis absorbance measurements reveal that strain induces significant changes in the light transmission properties of PET, particularly in the visible range, and increases absorption in the UVA and visible region by up to 100%. Raman spectra indicate that strain levels higher than 5% lead to irreversible shifts of vibrational lines, accompanied by an increase of their full width at half maximum (FWHM), suggesting molecular reorientation and crystallinity changes. The phonon mode coupled with C-O stretching [O-CH2] shows the strongest response to applied mechanical stress. This study provides a comprehensive understanding of strain-induced optical and structural alterations in PET, with implications for improving the mechanical and optical performance of PET-based devices in strainsensitive applications, such as organic solar cells (OSCs), organic light-emitting diodes (OLEDs), and flexible sensors.

Authors:Manuel Gantiva Osorioa, Carmelina Ierardia, Isabel Jurado Floresa, Mario Pereira Martína, Pablo Millán Gata
Title: Coordinated control of multiple autonomous surface vehicles: challenges and advances -- a systematic review
Abstract:
The increasing use and implementation of Autonomous Surface Vessels (ASVs) for various activities in maritime environments is expected to drive a rise in developments and research on their control. Particularly, the coordination of multiple ASVs presents novel challenges and opportunities, requiring interdisciplinary research efforts at the intersection of robotics, control theory, communication systems, and marine sciences. The wide variety of missions or objectives for which these vessels can be collectively used allows for the application and combination of different control techniques. This includes the exploration of machine learning to consider aspects previously deemed infeasible. This review provides a comprehensive exploration of coordinated ASV control while addressing critical gaps left by previous reviews. Unlike previous works, we adopt a systematic approach to ensure integrity and minimize bias in article selection. We delve into the complex world of sub-actuated ASVs with a focus on customized control strategies and the integration of machine learning techniques for increased autonomy. By synthesizing recent advances and identifying emerging trends, we offer insights that drive this field forward, providing both a comprehensive overview of state-of-the-art techniques and guidance for future research efforts.

Authors:Chanakya Rao, Vaibhav Chopra, Moksh Soni, Prashant Mishra
Title: LifeSaver: Predictive Load Limit Estimation for Transport Vehicles in Hilly Areas
Abstract:
The transportation of essential goods in mountainous regions faces severe logistical challenges and frequent disruptions. To mitigate these difficulties, transport companies often overload trucks, which, though cost-saving, significantly heightens the risk of accidents and mechanical failures. This paper presents the development of a device that detects overloaded and insecurely fastened loads on trucks and commercial vehicles. Using advanced load sensors, the device offers real-time monitoring of cargo weight distribution, alerting drivers and authorities to unsafe conditions. The initial prototype utilised two basic load cells and an Arduino microcontroller. The second version was enhanced with four load cells and extended sensors. This version was tested by placing an electric golf cart onto the prototype. Various loads were then added to the cart in different orientations to assess whether the system could accurately detect improper or excessive load conditions.

Authors:Kimia Forghani, Suraj Raval, Lamar Mair, Axel Krieger, Yancy Diaz-Mercado
Title: Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery
Abstract:
Automating surgical systems enhances precision and safety while reducing human involvement in high-risk environments. A major challenge in automating surgical procedures like suturing is accurately modeling the suture thread, a highly flexible and compliant component. Existing models either lack the accuracy needed for safety critical procedures or are too computationally intensive for real time execution. In this work, we introduce a novel approach for modeling suture thread dynamics using control barrier functions (CBFs), achieving both realism and computational efficiency. Thread like behavior, collision avoidance, stiffness, and damping are all modeled within a unified CBF and control Lyapunov function (CLF) framework. Our approach eliminates the need to calculate complex forces or solve differential equations, significantly reducing computational overhead while maintaining a realistic model suitable for both automation and virtual reality surgical training systems. The framework also allows visual cues to be provided based on the thread's interaction with the environment, enhancing user experience when performing suture or ligation tasks. The proposed model is tested on the MagnetoSuture system, a minimally invasive robotic surgical platform that uses magnetic fields to manipulate suture needles, offering a less invasive solution for surgical procedures.

Authors:C. Ruiz, J. Á. Acosta
Title: Perch like a bird: bio-inspired optimal maneuvers and nonlinear control for Flapping-Wing Unmanned Aerial Vehicles
Abstract:
This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, and the environmental constraints, we aim to advance our understanding of the perching maneuver, drawing parallels to biological systems. Inspired by the elegant control strategies observed in avian flight, we develop an optimal maneuver and a corresponding controller to achieve stable perching. The maneuver consists of a deceleration and a rapid pitch-up (vertical turn), which arises from analytically solving the optimization problem of minimal velocity at perch, subject to kinematic and dynamic constraints. The controller for the flapping frequency and tail symmetric deflection is nonlinear and adaptive, ensuring robustly stable perching. Indeed, such adaptive behavior in a sense incorporates homeostatic principles of cybernetics into the control system, enhancing the robot's ability to adapt to unexpected disturbances and maintain a stable posture during the perching maneuver. The resulting autonomous perching maneuvers -- closed-loop descent and turn -- , have been verified and validated, demonstrating excellent agreement with real bird perching trajectories reported in the literature. These findings lay the theoretical groundwork for the development of future prototypes that better imitate the skillful perching maneuvers of birds.

Authors:Yunpeng Zhu, Liangliang Cheng, Anping Jing, Hanyu Huo, Ziqiang Lang, Bo Zhang, J. Nathan Kutz
Title: Inverse Design with Dynamic Mode Decomposition
Abstract:
We introduce a computationally efficient method for the automation of inverse design in science and engineering. Based on simple least-square regression, the underlying dynamic mode decomposition algorithm can be used to construct a low-rank subspace spanning multiple experiments in parameter space. The proposed inverse design dynamic mode composition (ID-DMD) algorithm leverages the computed low-dimensional subspace to enable fast digital design and optimization on laptop-level computing, including the potential to prescribe the dynamics themselves. Moreover, the method is robust to noise, physically interpretable, and can provide uncertainty quantification metrics. The architecture can also efficiently scale to large-scale design problems using randomized algorithms in the ID-DMD. The simplicity of the method and its implementation are highly attractive in practice, and the ID-DMD has been demonstrated to be an order of magnitude more accurate than competing methods while simultaneously being 3-5 orders faster on challenging engineering design problems ranging from structural vibrations to fluid dynamics. Due to its speed, robustness, interpretability, and ease-of-use, ID-DMD in comparison with other leading machine learning methods represents a significant advancement in data-driven methods for inverse design and optimization, promising a paradigm shift in how to approach inverse design in practice.

Authors:Shujie Zhou, Zihao Wang, Xinye Dai, Weiwei Song, Shengfeng Gu
Title: LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features
Abstract:
In this paper, we propose LIR-LIVO, a lightweight and robust LiDAR-inertial-visual odometry system designed for challenging illumination and degraded environments. The proposed method leverages deep learning-based illumination-resilient features and LiDAR-Inertial-Visual Odometry (LIVO). By incorporating advanced techniques such as uniform depth distribution of features enabled by depth association with LiDAR point clouds and adaptive feature matching utilizing Superpoint and LightGlue, LIR-LIVO achieves state-of-the-art (SOTA) accuracy and robustness with low computational cost. Experiments are conducted on benchmark datasets, including NTU-VIRAL, Hilti'22, and R3LIVE-Dataset. The corresponding results demonstrate that our proposed method outperforms other SOTA methods on both standard and challenging datasets. Particularly, the proposed method demonstrates robust pose estimation under poor ambient lighting conditions in the Hilti'22 dataset. The code of this work is publicly accessible on GitHub to facilitate advancements in the robotics community.

Authors:Azizjon Kobilov, Jianglin Lan
Title: Automatic Robot Task Planning by Integrating Large Language Model with Genetic Programming
Abstract:
Accurate task planning is critical for controlling autonomous systems, such as robots, drones, and self-driving vehicles. Behavior Trees (BTs) are considered one of the most prominent control-policy-defining frameworks in task planning, due to their modularity, flexibility, and reusability. Generating reliable and accurate BT-based control policies for robotic systems remains challenging and often requires domain expertise. In this paper, we present the LLM-GP-BT technique that leverages the Large Language Model (LLM) and Genetic Programming (GP) to automate the generation and configuration of BTs. The LLM-GP-BT technique processes robot task commands expressed in human natural language and converts them into accurate and reliable BT-based task plans in a computationally efficient and user-friendly manner. The proposed technique is systematically developed and validated through simulation experiments, demonstrating its potential to streamline task planning for autonomous systems.

Authors:Thomas Johnson, Kieran Woodward
Title: Enviro-IoT: Calibrating Low-Cost Environmental Sensors in Urban Settings
Abstract:
Low-cost miniaturised sensors offer significant advantage to monitor the environment in real-time and accurately. The area of air quality monitoring has attracted much attention in recent years because of the increasing impacts on the environment and more personally to human health and mental wellbeing. Rapid growth in sensors and Internet of Things (IoT) technologies is paving the way for low-cost systems to transform global monitoring of air quality. Drawing on 4 years of development work, in this paper we outline the design, implementation and analysis of \textit{Enviro-IoT} as a step forward to monitoring air quality levels within urban environments by means of a low-cost sensing system. An in-the-wild study for 9-months was performed to evaluate the Enviro-IoT system against industry standard equipment is performed with accuracy for measuring Particulate Matter 2.5, 10 and Nitrogen Dioxide achieving 98\%, 97\% and 97\% respectively. The results in this case study are made up Of 57, 120 which highlight that it is possible to take advantage of low-cost sensors coupled with IoT technologies to validate the Enviro-IoT device against research-grade industrial instruments.

Authors:Siyuan Wang, Cheng Feng, Fengqi You
Title: Non-Iterative Coordination of Interconnected Power Grids via Dimension-Decomposition-Based Flexibility Aggregation
Abstract:
The bulk power grid is divided into regional grids interconnected with multiple tie-lines for efficient operation. Since interconnected power grids are operated by different control centers, it is a challenging task to realize coordinated dispatch of multiple regional grids. A viable solution is to compute a flexibility aggregation model for each regional power grid, then optimize the tie-line schedule using the aggregated models to implement non-iterative coordinated dispatch. However, challenges such as intricate interdependencies and curse of dimensionality persist in computing the aggregated models in high-dimensional space. Existing methods like Fourier-Motzkin elimination, vertex search, and multi-parameter programming are limited by dimensionality and conservatism, hindering practical application. This paper presents a novel dimension-decomposition-based flexibility aggregation algorithm for calculating the aggregated models of multiple regional power grids, enabling non-iterative coordination in large-scale interconnected systems. Compared to existing methods, the proposed approach yields a significantly less conservative flexibility region. The derived flexibility aggregation model for each regional power grid has a well-defined physical counterpart, which facilitates intuitive analysis of multi-port regional power grids and provides valuable insights into their internal resource endowments. Numerical tests validate the feasibility of the aggregated model and demonstrate its accuracy in coordinating interconnected power grids.

Authors:Chengyue Dong, Mansur M. Arief
Title: Morphing Wing Designs in Commercial Aviation
Abstract:
With increasing demands for fuel efficiency and operational adaptability in commercial aviation}, this paper provides a systematic review and classification of morphing wing technologies, analyzing their aerodynamic performance characteristics and atmospheric condition adaptability. We first develop a comprehensive classification framework for morphing wing designs based on their scale of morphing, actuation mechanisms, and intended purposes. Through analysis of historical developments and current implementations, we evaluate two significant case studies: the Mission Adaptive Compliant Wing (MACW) and Adaptive Aspect Ratio (AdAR) morphing wing, demonstrating performance improvements of up to 25% in drag reduction and 40% in control authority. Our investigation reveals critical trade-offs between full-span and partial morphing approaches, particularly regarding implementation complexity, certification requirements, and operational reliability. The study concludes with an assessment of technical barriers and opportunities, providing specific recommendations for advancing morphing wing technology in commercial aviation applications. Key findings indicate that while material science and control system advances enable practical implementation, certification pathways and maintenance considerations remain critical challenges for widespread adoption.

Authors:Xuguang Zhang, Hexiang Zhang, Amjad Almansour, Mrityunjay Singh, Hengling Zhu, Michael C. Halbig, Yi Zheng
Title: Comprehensive Analysis of Thermal Dissipation in Lithium-Ion Battery Packs
Abstract:
Effective thermal management is critical for lithium-ion battery packs' safe and efficient operations, particularly in applications such as drones, where compact designs and varying airflow conditions present unique challenges. This study investigates the thermal performance of a 16-cell lithium-ion battery pack by optimizing cooling airflow configurations and integrating phase change materials (PCMs) for enhanced heat dissipation. Seven geometric configurations were evaluated under airflow speeds ranging from 0 to 15 m/s, reflecting the operational conditions of civilian drones. A comprehensive 3D simulation approach was used to analyze the effects of inlet and outlet configurations, airflow dynamics, and PCM phase transition behavior. Results indicate that the trapezoidal (wide-base) configuration, paired with a 5-inlet and 1-outlet setup, achieves the most balanced performance, effectively maintaining optimal operating temperatures across low and high-speed airflow conditions. PCM integration further stabilized thermal behavior, with phase change durations extending to 12.5 min under tested conditions. These findings highlight the importance of geometric optimization and material integration in advancing compact and reliable thermal management systems for energy-dense battery packs. This study provides a foundation for designing efficient cooling strategies tailored to lightweight applications such as drones and portable energy storage systems.

Authors:Vassilis Kekatos, Ridley Annin, Manish K. Singh, Junjie Qin
Title: Solving Optimal Power Flow on a Data-Budget: Feature Selection on Smart Meter Data
Abstract:
How much data is needed to optimally schedule distributed energy resources (DERs)? Does the distribution system operator (DSO) have to know load demands at each bus of the feeder to solve an optimal power flow (OPF)? This work exploits redundancies in OPF's structure and data to minimize the communication of such a data deluge, and explores the trade-off between data compression and the grid's performance. We propose an OPF data distillation framework involving two steps: The DSO first collects OPF data from only a subset of nodes. It subsequently reconstructs the complete OPF data from the partial ones, and feeds them into the OPF solver. Selecting and reconstructing OPF data may be performed to maximize the fidelity of the reconstructed data or the associated OPF solutions. Under the first objective, OPF data distillation is posed as a sparsity-regularized convex problem. Under the second objective, it is posed as a sparsity-regularized bilevel program. Both problems are solved using proximal gradient algorithms. The second objective is superior in approximating OPF solutions at the expense of increased complexity. Numerical tests show that it enhances the fidelity and feasibility of the reconstructed OPF solutions, which can be approximated reasonably well even from partial data.

Authors:Hannes Marklund, Martin Servin, Mats G Larson
Title: Joint parameter and state estimation for regularized time-discrete multibody dynamics
Abstract:
We develop a method for offline parameter estimation of discrete multibody dynamics with regularized and frictional kinematic constraints. This setting leads to unobserved degrees of freedom, which we handle using joint state and parameter estimation. Our method finds the states and parameters as the solution to a nonlinear least squares optimization problem based on the inverse dynamics and the observation error. The solution is found using a Levenberg-Marquardt algorithm with derivatives from automatic differentiation and custom differentiation rules for the complementary conditions that appear due to dry frictional constraints. We reduce the number of method parameters to the choice of the time-step, regularization coefficients, and a parameter that controls the relative weighting of inverse dynamics and observation errors. We evaluate the method using synthetic and real measured data, focusing on performance and sensitivity to method parameters. In particular, we optimize over a 13-dimensional parameter space, including inertial, frictional, tilt, and motor parameters, using data from a real Furuta pendulum. Results show fast convergence, in the order of seconds, and good agreement for different time-series of recorded data over multiple method parameter choices. However, very stiff constraints may cause difficulties in solving the optimization problem. We conclude that our method can be very fast and has method parameters that are robust and easy to set in the tested scenarios.

Authors:Xiao Li, Xinyi Wen, Benjamin Schäfer
Title: Learning the Frequency Dynamics of the Power System Using Higher-order Dynamic Mode Decomposition
Abstract:
The increasing penetration of renewable energy sources, characterised by low inertia and intermittent disturbances, presents substantial challenges to power system stability. As critical indicators of system stability, frequency dynamics and associated oscillatory phenomena have attracted significant research attention. While existing studies predominantly employ linearized models, our findings demonstrate that linear approximations exhibit considerable errors when predicting frequency oscillation dynamics across multiple time scales, thus necessitating the incorporation of nonlinear characteristics. This paper proposes a data-driven approach based on higher-order dynamical mode decomposition (HODMD) for learning frequency dynamics. The proposed method offers distinct advantages over alternative nonlinear methods, including no prior knowledge required, adaptability to high-dimensional systems, and robust performance. Furthermore, HODMD demonstrates superior capability in capturing system-wide spatio-temporal modes, successfully identifying modal behaviour that remains undetectable through standard Dynamic Mode Decomposition techniques. The efficacy of the proposed methodology is validated through comprehensive case studies on both IEEE 14-bus and WECC systems.

Authors:Orkun İrsoy, Osman Yağan
Title: Analysis and Optimization of Robustness in Multiplex Flow Networks Against Cascading Failures
Abstract:
Networked systems are susceptible to cascading failures, where the failure of an initial set of nodes propagates through the network, often leading to system-wide failures. In this work, we propose a multiplex flow network model to study robustness against cascading failures triggered by random failures. The model is inspired by systems where nodes carry or support multiple types of flows, and failures result in the redistribution of flows within the same layer rather than between layers. To represent different types of interdependencies between the layers of the multiplex network, we define two cases of failure conditions: layer-independent overload and layer-influenced overload. We provide recursive equations and their solutions to calculate the steady-state fraction of surviving nodes, validate them through a set of simulation experiments, and discuss optimal load-capacity allocation strategies. Our results demonstrate that allocating the total excess capacity to each layer proportional to the mean effective load in the layer and distributing that excess capacity equally among the nodes within the layer ensures maximum robustness. The proposed framework for different failure conditions allows us to analyze the two overload conditions presented and can be extended to explore more complex interdependent relationships.

Authors:Orkash Amat, Nurimangul Nurmamat, Yong-Feng Huang, Cheng-Ming Li, Jin-Jun Geng, Chen-Ran Hu, Ze-Cheng Zou, Xiao-Fei Dong, Chen Deng, Fan Xu, Xiao-li Zhang, Chen Du
Title: Axial current as the origin of quantum intrinsic orbital angular momentum
Abstract:
We show that it is impossible to experimentally observe the quantum intrinsic orbital angular momentum (IOAM) effect without its axial current. Broadly speaking, we argue that the spiral or interference characteristics of the axial current density determine the occurrence of nonlinear or tunneling effects in any spacetimedependent quantum systems. Our findings offer a comprehensive theoretical framework that addresses the limitations of Keldysh theory and provides new insights into the angular momentum properties of quantum systems, particularly in tunneling-dominated regimes. Using Wigner function methods, fermionic generalized two-level model, and Berry phase simulations, we predict that IOAM effect can persist even in pure quantum tunneling processes. These results open the door for experimental verification of IOAM effects in future high-intensity QED experiments, such as those using X-ray free electron lasers.

Authors:S. Saba Rafiei, Mahdi S. Naderi, Mehrdad Abedi
Title: A Comprehensive Energy Management Application Method considering Smart Home Occupant Behavior using IoT and Real Big Data
Abstract:
One of the most far-reaching use cases of the internet of things is in smart grid and smart home operation. The smart home concept allows residents to control, monitor, and manage their energy consumption with minimum loss and self-involvement. Since each household's lifestyle and energy consumption is unique, the management system needs background knowledge about residents' energy consumption behavioral patterns for more accurate planning. To obtain this information, data related to residents' consumption records must be processed. This research has attempted to provide an optimal decentralized management system consisting of interoperable sections to forecast, optimize, schedule, and implement load management in a smart home. Comparing different prediction models using 4 years of 1-min interval real data of a smart home with photovoltaic generation (PV) and electric vehicle (EV), forecasting non-controllable loads and taking a deterministic approach in different scenarios, the system uses mixed integer linear programming (MILP) to provide load scheduling with the objective of an optimal total energy cost reduction with minimum changes in the household's desired consumption compared to the initial state. The results have shown that the proposed system has reliable performance due to the high precision of the forecast and has led to increased energy efficiency, reduced energy cost (up to 62. 05\%), reduced peak-to-average ratio (PAR) (up to 44. 19\%) and reduced standard deviation (SD) (up to 19. 70\%) in net consumption.

Authors:L. Colombo, J. Giribet, D. Martín de Diego
Title: Variational integrators for optimal control of foldable drones
Abstract:
Numerical methods that preserves geometric invariants of the system such as energy, momentum and symplectic form, are called geometric integrators. These include variational integrators as an important subclass of geometric integrators. The general idea for those variational integrators is to discretize Hamilton's principle rather than the equations of motion and as a consequence these methods preserves some of the invariants of the original system (symplecticity, symmetry, good behavior of energy,...). In this paper, we construct variational integrators for control-dependent Lagrangian systems on Lie groups. These integrators are derived via a discrete-time variational principle for discrete-time control-dependent reduced Lagrangians. We employ the variational integrator into optimal control problems for path planning of foldable unmanned aerial vehicles (UAVs). Simulation are shown to validate the performance of the geometric integrator.

Authors:Yuheng Fan, Wang Lin
Title: Online Controller Synthesis for Robot Collision Avoidance: A Case Study
Abstract:
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots equipped with deep learning-based perception components, with a focus on addressing distribution shifts. Our approach integrates periodic monitoring and repair mechanisms for the deep neural network perception component, followed by uncertainty reassessment. These uncertainty evaluations are injected into a parametric discrete-time markov chain, enabling the synthesis of robust controllers via probabilistic model checking. To ensure high system availability during the repair process, we propose a dual-component configuration that seamlessly transitions between operational states. Through a case study on robot collision avoidance, we demonstrate the efficacy of our method, showcasing substantial performance improvements over baseline approaches. This work provides a comprehensive and scalable solution for enhancing the safety and reliability of autonomous systems operating in uncertain environments.

Authors:Ahmed S. AbdElrazek, Mohamed Soliman, Muhammad Khalid
Title: Evaluating the Techno-Economic Viability of a Solar PV-Wind Turbine Hybrid System with Battery Storage for an Electric Vehicle Charging Station in Khobar, Saudi Arabia
Abstract:
The main aim of this investigation is to replicate and enhance a sustainable hybrid energy structure that combines solar photovoltaic, wind turbines, battery storage. The study employs the Homer simulation model to evaluate the scaling, cost, and control strategy of this hybrid power system. This work primarily focuses on determining the most efficient design for a renewable energy generation system architecture for a significant electric vehicle charging station. The hybrid power system is designed to meet an AC base load of 2424.25 kWh/day with peak consumption of 444 kW. The simulation results indicate that the optimized components and the cost of energy are at an optimal level and the optimal design in terms of renewable energy penetration.

Authors:Mohammed Soliman, Abdul-Wahid A. Saif
Title: Design of optimal repetitive control based on EID estimator with adaptive periodic event-triggered mechanism for linear systems subjected to exogenous disturbances
Abstract:
The periodic signal tracking and the unknown disturbance rejection under limited communication resources are main important issues in many physical systems and practical applications. The control of such systems has some challenges such as time-varying delay, unknown external disturbances, structure uncertainty, and the heavy communication burden on the sensors and controller. These challenges affect the system performance and may destabilize the system. Hence, in this article, an improved scheme has been designed to overcome these challenges to achieve a good control performance based on optimization technique, and to guarantee the closed-loop system stability. The proposed scheme can be described as: modified repetitive control (MRC) with equivalent-input-disturbance (EID) estimator based on adaptive periodic event-triggered mechanism (APETM). The scheme that has been created is intended for linear systems that experience external disturbances which are not known, and must operate within constraints on communication resources. MRC based on EID has been developed with the goal of achieving periodic reference tracking and enhancing the ability to effectively reject both periodic and aperiodic unknown disturbances. In addition, utilizing APETM to reduce data transmission, computational burden and to save communication resources. Additionally, an optimization method is employed to fine-tune the parameters of the controller, enabling adjustments to the control and learning actions. Overall architecture of the system, incorporating the APETM-MRC with the utilization of an EID estimator and optimal techniques, can be described as a time-varying delay system. Proposed schemes were demonstrated to be effective, feasible, and robust through simulated application.

Authors:Ali Baheri, Marzieh Amiri Shahbazi
Title: Multi-Scale Conformal Prediction: A Theoretical Framework with Coverage Guarantees
Abstract:
We propose a multi-scale extension of conformal prediction, an approach that constructs prediction sets with finite-sample coverage guarantees under minimal statistical assumptions. Classic conformal prediction relies on a single notion of conformity, overlooking the multi-level structures that arise in applications such as image analysis, hierarchical data exploration, and multi-resolution time series modeling. In contrast, the proposed framework defines a distinct conformity function at each relevant scale or resolution, producing multiple conformal predictors whose prediction sets are then intersected to form the final multi-scale output. We establish theoretical results confirming that the multi-scale prediction set retains the marginal coverage guarantees of the original conformal framework and can, in fact, yield smaller or more precise sets in practice. By distributing the total miscoverage probability across scales in proportion to their informative power, the method further refines the set sizes. We also show that dependence between scales can lead to conservative coverage, ensuring that the actual coverage exceeds the nominal level. Numerical experiments in a synthetic classification setting demonstrate that multi-scale conformal prediction achieves or surpasses the nominal coverage level while generating smaller prediction sets compared to single-scale conformal methods.

Authors:Xun Feng, Chao Zhai
Title: Multi-Agent Coverage Control in Non-Convex Annulus Region with Conformal Mapping
Abstract:
Efficiently fulfilling coverage tasks in non-convex regions has long been a significant challenge for multi-agent systems (MASs). By leveraging conformal mapping, this paper introduces a novel sectorial coverage formulation to transform a non-convex annulus region into a topologically equivalent one. This approach enables the deployment of MASs in a non-star-shaped region while optimizing coverage performance and achieving load balance among sub-regions. It provides a unique perspective on the partitioned sub-regions to highlight the geodesic convex property of the non-star-shaped region. By utilizing the sectorial partition mechanism and the diffeomorphism property of conformal mapping, a decentralized control law is designed to drive MASs towards a desired configuration, which not only optimizes the global coverage cost but also ensures exponential convergence of equitable workload. Moreover, an iterative search algorithm is developed to identify the optimal approximation of multi-agent deployment in the non-star-shaped region. Theoretical analysis is conducted to confirm the asymptotic stability and global convergence with arbitrary small tolerance of the closed-loop system. Finally, numerical simulations demonstrate the practicality of the proposed coverage formulation with conformal mapping.

Authors:Tassanai Parittotokkaporn, Matthew Oldfield, Luca Frasson, Ferdinando Rodriguez y Baena
Title: Force interaction, modeling and soft tissue deformation during reciprocating insertion of multi-part probe
Abstract:
The bio-inspired engineering of ovipositing wasps, which employ a reciprocating motion for soft tissue insertion, offers potential advantages in reducing insertion force and minimizing tissue damage. However, the underlying mechanisms of tissue interaction and sparing are not fully understood. In this study, we aim to investigate a multi-part probe designed to mimic the reciprocating motion of ovipositors. A reciprocal insertion model was developed to study the interaction between the probe and soft tissue, and experimental testing was conducted using a force sensor and laser optical technique to gain insights into interacting forces and tissue deformation. The results reveal that during the cutting phase of reciprocal motion, the peak force and average displacement of the soft substrate were approximately 19% and 20% lower, respectively, compared to direct insertion at an overall probe velocity of 1 mm/s. This study presents a novel approach combining mechanical modeling and experimental analysis to explore the force mechanics of the reciprocating insertion method, providing a better understanding of the interaction between the probe and soft tissue.

Authors:Dorukhan Astekin, Fatih Adıgüzel
Title: A Fractional-Order Nonlinear Backstepping Controller Design for Current-Controlled Maglev System
Abstract:
The magnetic levitation system (Maglev) is a nonlinear system by which an object is suspended with no support other than magnetic fields. The main control perspective of the Maglev system is to levitate a steel ball in air by the electromagnetic force. However, the Maglev system has highly nonlinear dynamics which is inconvenient in the sense of sensitive control/regulation of its nonlinear dynamics. In this paper, the nonlinear backstepping controller based on the fractional-order derivative is proposed for the control of the nonlinear current-controlled Maglev system. After, the system dynamics and fractional-order backstepping controller design are given, the asymptotic stability of the closed-loop system is proved by employing the Lyapunov theory. Some computer-based numerical experiments are carried out to show the effectiveness of the proposed controller for the control of Maglev system.

Authors:Bo Wen, Xin Zhang
Title: Enhancing Reasoning to Adapt Large Language Models for Domain-Specific Applications
Abstract:
This paper presents SOLOMON, a novel Neuro-inspired Large Language Model (LLM) Reasoning Network architecture that enhances the adaptability of foundation models for domain-specific applications. Through a case study in semiconductor layout design, we demonstrate how SOLOMON enables swift adaptation of general-purpose LLMs to specialized tasks by leveraging Prompt Engineering and In-Context Learning techniques. Our experiments reveal the challenges LLMs face in spatial reasoning and applying domain knowledge to practical problems. Results show that SOLOMON instances significantly outperform their baseline LLM counterparts and achieve performance comparable to state-of-the-art reasoning model, o1-preview. We discuss future research directions for developing more adaptive AI systems that can continually learn, adapt, and evolve in response to new information and changing requirements.

Authors:Oz Levy, Ilya Dikman, Natan Levy, Michael Winokur
Title: Work in Progress: AI-Powered Engineering-Bridging Theory and Practice
Abstract:
This paper explores how generative AI can help automate and improve key steps in systems engineering. It examines AI's ability to analyze system requirements based on INCOSE's "good requirement" criteria, identifying well-formed and poorly written requirements. The AI does not just classify requirements but also explains why some do not meet the standards. By comparing AI assessments with those of experienced engineers, the study evaluates the accuracy and reliability of AI in identifying quality issues. Additionally, it explores AI's ability to classify functional and non-functional requirements and generate test specifications based on these classifications. Through both quantitative and qualitative analysis, the research aims to assess AI's potential to streamline engineering processes and improve learning outcomes. It also highlights the challenges and limitations of AI, ensuring its safe and ethical use in professional and academic settings.

Authors:Kaouther Moussa, Mirko Fiacchini
Title: Exact Covariance Characterization for Controlled Linear Systems subject to Stochastic Parametric and Additive Uncertainties
Abstract:
This work addresses the exact characterization of the covariance dynamics related to linear discrete-time systems subject to both additive and parametric stochastic uncertainties that are potentially unbounded. The derived exact representation allows to understand how the covariance of the multiplicative parametric uncertainties affects the stability of the state covariance dynamics through a transformation of the parameters covariance matrix, allowing therefore to address the problem of control design for state covariance dynamics in this context. Numerical results assess this new characterization by comparing it to the empirical covariance and illustrating the control design problem.

Authors:Michael Di Loreto, Damien Eberard
Title: On the existence of strong functional observer
Abstract:
For arbitrary linear time-invariant systems, the existence of a strong functional observer is investigated. Such observer determines, from the available measurement on the plant, an estimate of a function of the state and the input. This estimate converges irrespective to initial state and input. This formulation encompass the cases of observer existence for known or unknown inputs and generalizes state-of-art. Necessary and sufficient conditions for such an existence are proposed, in the framework of state-space representation. These conditions are based on functional detectability property and its generalizations for arbitrary input, which include considerations on convergence of the estimation, irrespective to the initial state and the input. Known results on state detectability, input reconstruction or functional detectability are retrieved by particularizing the proposed conditions.

Authors:Wenjie Lai, Huu Duoc Nguyen, Jiajun Liu, Xingyu Chen, Soo Jay Phee
Title: A Flexible FBG-Based Contact Force Sensor for Robotic Gripping Systems
Abstract:
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such as slippage and excessive force exertion. To address this challenge, we present a small and highly sensitive Fiber Bragg Grating-based force sensor designed for accurate contact force measurement. The flexible force sensor comprises a 3D-printed TPU casing with a small bump and uvula structure, a dual FBG array, and a protective tube. A series of tests have been conducted to evaluate the effectiveness of the proposed force sensor, including force calibration, repeatability test, hysteresis study, force measurement comparison, and temperature calibration and compensation tests. The results demonstrated good repeatability, with a force measurement range of 4.69 N, a high sensitivity of approximately 1169.04 pm/N, a root mean square error (RMSE) of 0.12 N, and a maximum hysteresis of 4.83%. When compared to a commercial load cell, the sensor showed a percentage error of 2.56% and an RMSE of 0.14 N. Besides, the proposed sensor validated its temperature compensation effectiveness, with a force RMSE of 0.01 N over a temperature change of 11 Celsius degree. The sensor was integrated with a soft grow-and-twine gripper to monitor interaction forces between different objects and the robotic gripper. Closed-loop force control was applied during automated pick-and-place tasks and significantly improved gripping stability, as demonstrated in tests. This force sensor can be used across manufacturing, agriculture, healthcare (like prosthetic hands), logistics, and packaging, to provide situation awareness and higher operational efficiency.

Authors:Jacob Thrän, Tim C. Green, Robert Shorten
Title: Levelised Cost of Demand Response: Estimating the Cost-Competitiveness of Flexible Demand
Abstract:
To make well-informed investment decisions, energy system stakeholders require reliable cost frameworks for demand response (DR) and storage technologies. While the levelised cost of storage (LCOS) permits comprehensive cost comparisons between different storage technologies, no generic cost measure for the comparison of different DR schemes exists. This paper introduces the levelised cost of demand response (LCODR) which is an analogous measure to the LCOS but crucially differs from it by considering consumer reward payments. Additionally, the value factor from cost estimations of variable renewable energy is adapted to account for the variable availability of DR. The LCODRs for four direct load control (DLC) schemes and twelve storage applications are estimated and contrasted against LCOS literature values for the most competitive storage technologies. The DLC schemes are vehicle-to-grid, smart charging, smart heat pumps, and heat pumps with thermal storage. The results show that only heat pumps with thermal storage consistently outcompete storage technologies with EV-based DR schemes being competitive for some applications. The results and the underlying methodology offer a tool for energy system stakeholders to assess the competitiveness of DR schemes even with limited user data.

Authors:Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue, Gentiane Venture
Title: Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications
Abstract:
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper introduces a versatile control framework designed to bridge this gap by incorporating the torque-based control modes: compliance control, null-space compliance, and dual compliance, all in static and dynamic scenarios. Thanks to our second-order Quadratic Programming (QP) formulation, strict kinematic and collision constraints are integrated into the system as safety features, and a weighted hierarchy guarantees singularity-robust task tracking performance. The framework is implemented on a Kinova Gen3 collaborative robot (cobot) equipped with a Bota force/torque sensor. A DualShock 4 game controller is attached to the robot's end-effector to demonstrate the framework's capabilities. This setup enables seamless dynamic switching between the modes, and real-time adjustments of parameters, such as transitioning between position and torque control or selecting a more robust custom-developed low-level torque controller over the default one. Built on the open-source robotic control software mc_rtc, our framework ensures reproducibility for both research and industrial deployment, this framework demonstrates a step toward industrial-grade performance and repeatability, showcasing its potential as a robust pHRI control system for industrial environments.

Authors:Weiwen Huang, Li Liang, Ningsheng Xu, Fang Deng
Title: Dominance Regions of Pursuit-evasion Games in Non-anticipative Information Patterns
Abstract:
The evader's dominance region is an important concept and the foundation of geometric methods for pursuit-evasion games. This article mainly reveals the relevant properties of the evader's dominance region, especially in non-anticipative information patterns. We can use these properties to research pursuit-evasion games in non-anticipative information patterns. The core problem is under what condition the pursuer has a non-anticipative strategy to prevent the evader leaving its initial dominance region before being captured regardless of the evader's strategy. We first define the evader's dominance region by the shortest path distance, and we rigorously prove for the first time that the initial dominance region of the evader is the reachable region of the evader in the open-loop sense. Subsequently, we prove that there exists a non-anticipative strategy by which the pursuer can capture the evader before the evader leaves its initial dominance region's closure in the absence of obstacles. For cases with obstacles, we provide a counter example to illustrate that such a non-anticipative strategy does not always exist, and provide a necessary condition for the existence of such strategy. Finally, we consider a scenario with a single corner obstacle and provide a sufficient condition for the existence of such a non-anticipative strategy. At the end of this article, we discuss the application of the evader's dominance region in target defense games. This article has important reference significance for the design of non-anticipative strategies in pursuit-evasion games with obstacles.

Authors:Francisco Zelaya-Arrazabal, Sebastian Martinez-Lizana, Héctor Pulgar-Painemal
Title: Modal-based prediction of power system frequency response and frequency nadir
Abstract:
This paper introduces a novel approach for predicting system frequency response (SFR) and frequency nadir based on modal analysis. By decomposing the full system dynamic response, the method identifies dominant modes based on their participation in frequency behavior and derives a closed-form expression for the frequency trajectory. Unlike traditional approaches based on the Average System Frequency (ASF) model, this method captures the true system dynamics and avoids oversimplified representations. The dominant modes exhibit low sensitivity to system parameters, enabling robust and accurate estimations across diverse operating conditions. The proposed approach is tested on two benchmark systems as well as the Salvadoran transmission planning network, demonstrating its scalability, precision, and adaptability. This methodology represents a shift from observing a simplified average system frequency response to a more detailed analysis focusing on system dynamics.

Authors:Tae-Won Ban, Kyu-Min Kang, Bang Chul Jung
Title: Multidimensional Swarm Flight Approach For Chasing Unauthorized UAVs Leveraging Asynchronous Deep Learning
Abstract:
This paper introduces a novel unmanned aerial vehicles (UAV) chasing system designed to track and chase unauthorized UAVs, significantly enhancing their neutralization effectiveness.

Authors:João Alves Ribeiro, Bruno Alves Ribeiro, Francisco Pimenta, Sérgio M. O. Tavares, Jie Zhang, Faez Ahmed
Title: Offshore Wind Turbine Tower Design and Optimization: A Review and AI-Driven Future Directions
Abstract:
Offshore wind energy leverages the high intensity and consistency of oceanic winds, playing a key role in the transition to renewable energy. As energy demands grow, larger turbines are required to optimize power generation and reduce the Levelized Cost of Energy (LCoE), which represents the average cost of electricity over a project's lifetime. However, upscaling turbines introduces engineering challenges, particularly in the design of supporting structures, especially towers. These towers must support increased loads while maintaining structural integrity, cost-efficiency, and transportability, making them essential to offshore wind projects' success. This paper presents a comprehensive review of the latest advancements, challenges, and future directions driven by Artificial Intelligence (AI) in the design optimization of Offshore Wind Turbine (OWT) structures, with a focus on towers. It provides an in-depth background on key areas such as design types, load types, analysis methods, design processes, monitoring systems, Digital Twin (DT), software, standards, reference turbines, economic factors, and optimization techniques. Additionally, it includes a state-of-the-art review of optimization studies related to tower design optimization, presenting a detailed examination of turbine, software, loads, optimization method, design variables and constraints, analysis, and findings, motivating future research to refine design approaches for effective turbine upscaling and improved efficiency. Lastly, the paper explores future directions where AI can revolutionize tower design optimization, enabling the development of efficient, scalable, and sustainable structures. By addressing the upscaling challenges and supporting the growth of renewable energy, this work contributes to shaping the future of offshore wind turbine towers and others supporting structures.

Authors:Zi-Qi Yang, Miaomiao Wang, Mehrdad R. Kermani
Title: A Null Space Compliance Approach for Maintaining Safety and Tracking Performance in Human-Robot Interactions
Abstract:
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a control approach has two main limitations: 1) the end-effector (EE)'s limited compliance to adapt to unknown physical interactions, and 2) inability of the robot body to compliantly adapt to unknown physical interactions. In this work, we present an approach to address these drawbacks. We introduce a modified Cartesian impedance control method combined with a Dynamical System (DS)-based motion generator, aimed at enhancing the interaction capability of the EE without compromising main task tracking performance. This approach enables human coworkers to interact with the EE on-the-fly, e.g. tool changeover, after which the robot compliantly resumes its task. Additionally, combining with a new null space impedance control method enables the robot body to exhibit compliant behaviour in response to interactions, avoiding serious injuries from accidental contact while mitigating the impact on main task tracking performance. Finally, we prove the passivity of the system and validate the proposed approach through comprehensive comparative experiments on a 7 Degree-of-Freedom (DOF) KUKA LWR IV+ robot.

Authors:Yangyang Li, Yuhua Xu, Wen Li, Guoxin Li, Zhibing Feng, Songyi Liu, Jiatao Du, Xinran Li
Title: Achieving Hiding and Smart Anti-Jamming Communication: A Parallel DRL Approach against Moving Reactive Jammer
Abstract:
This paper addresses the challenge of anti-jamming in moving reactive jamming scenarios. The moving reactive jammer initiates high-power tracking jamming upon detecting any transmission activity, and when unable to detect a signal, resorts to indiscriminate jamming. This presents dual imperatives: maintaining hiding to avoid the jammer's detection and simultaneously evading indiscriminate jamming. Spread spectrum techniques effectively reduce transmitting power to elude detection but fall short in countering indiscriminate jamming. Conversely, changing communication frequencies can help evade indiscriminate jamming but makes the transmission vulnerable to tracking jamming without spread spectrum techniques to remain hidden. Current methodologies struggle with the complexity of simultaneously optimizing these two requirements due to the expansive joint action spaces and the dynamics of moving reactive jammers. To address these challenges, we propose a parallelized deep reinforcement learning (DRL) strategy. The approach includes a parallelized network architecture designed to decompose the action space. A parallel exploration-exploitation selection mechanism replaces the $\varepsilon $-greedy mechanism, accelerating convergence. Simulations demonstrate a nearly 90\% increase in normalized throughput.

Authors:Manish Patel, Arnab Maity
Title: Exponentially Stable Combined Adaptive Control under Finite Excitation Condition
Abstract:
The parameter convergence relies on a stringent persistent excitation (PE) condition in adaptive control. Several works have proposed a memory term in the last decade to translate the PE condition to a feasible finite excitation (FE) condition. This work proposes a combined model reference adaptive control for a class of uncertain nonlinear systems with an unknown control effectiveness vector. The closed-loop system is exponentially stable under the FE condition. The exponential rate of convergence is independent of the excitation level of the regressor vector and is lower-bounded in terms of the system parameters and user-designed gains. Numerical simulation is illustrated, validating the results obtained with the proposed adaptive control.

Authors:Valery Ugrinovskii, Shuixin Xiao
Title: A two-disk approach to the synthesis of coherent passive equalizers for linear quantum systems
Abstract:
The coherent equalization problem consists in designing a quantum system acting as a mean-square near optimal filter for a given quantum communication channel. The paper develops an improved method for the synthesis of transfer functions for such equalizing filters, based on a linear quantum system model of the channel. The method draws on a connection with the two-disk problem of ${H}_{\infty}$ control for classical (i.e., nonquantum) linear uncertain systems. Compared with the previous methods, the proposed method applies to a broader class of linear quantum communication channels.

Authors:Zheng Xing, Weibing Zhao
Title: Trajectory Map-Matching in Urban Road Networks Based on RSS Measurements
Abstract:
This paper proposes an RSS-based approach to reconstruct vehicle trajectories within a road network, enforcing signal propagation rules and vehicle mobility constraints to mitigate the impact of RSS noise and sparsity. The key challenge lies in leveraging latent spatiotemporal correlations within RSS data while navigating complex road networks. To address this, we develop a Hidden Markov Model (HMM)-based RSS embedding (HRE) technique that employs alternating optimization to infer vehicle trajectories from RSS measurements. This model captures spatiotemporal dependencies while a road graph ensures network compliance. Additionally, we introduce a maximum speed-constrained rough trajectory estimation (MSR) method to guide the optimization process, enabling rapid convergence to a favorable local solution.

Authors:Fredrik Bagge Carlson, Cody Tapscott, Gabriel Baraldi, Chris Rackauckas
Title: C codegen considered unnecessary: go directly to binary, do not pass C. Compilation of Julia code for deployment in model-based engineering
Abstract:
Since time immemorial an old adage has always seemed to ring true: you cannot use a high-level productive programming language like Python or R for real-time control and embedded-systems programming, you must rewrite your program in C. We present a counterexample to this mantra by demonstrating how recent compiler developments in the Julia programming language allow users of Julia and the equation-based modeling language ModelingToolkit to compile and deploy binaries for real-time model-based estimation and control. Contrary to the approach taken by a majority of modeling and simulation tools, we do not generate C code, and instead demonstrate how we may use the native Julia code-generation pipeline through LLVM to compile architecture-specific binaries from high-level code. This approach avoids many of the restrictions typically placed on high-level languages to enable C-code generation. As case studies, we include a nonlinear state estimator derived from an equation-based model which is compiled into a program that performs state estimation for deployment onto a Raspberry Pi, as well as a PID controller library implemented in Julia and compiled into a shared library callable from a C program.

Authors:Kijin Sung, Kenta Hoshino, Akihiko Honda, Takeya Shima, Toshiyuki Ohtsuka
Title: Nonlinear receding-horizon differential game for drone racing along a three-dimensional path
Abstract:
Drone racing involves high-speed navigation of three-dimensional paths, posing a substantial challenge in control engineering. This study presents a game-theoretic control framework, the nonlinear receding-horizon differential game (NRHDG), designed for competitive drone racing. NRHDG enhances robustness in adversarial settings by predicting and countering an opponent's worst-case behavior in real time. It extends standard nonlinear model predictive control (NMPC), which otherwise assumes a fixed opponent model. First, we develop a novel path-following formulation based on projection point dynamics, eliminating the need for costly distance minimization. Second, we propose a potential function that allows each drone to switch between overtaking and obstructing maneuvers based on real-time race situations. Third, we establish a new performance metric to evaluate NRHDG with NMPC under race scenarios. Simulation results demonstrate that NRHDG outperforms NMPC in terms of both overtaking efficiency and obstructing capabilities.

Authors:Jesus Fernandez-Bes, Jesus Cid-Sueiro, Antonio G. Marques
Title: An MDP Model for Censoring in Harvesting Sensors: Optimal and Approximated Solutions
Abstract:
In this paper, we propose a novel censoring policy for energy-efficient transmissions in energy-harvesting sensors. The problem is formulated as an infinite-horizon Markov Decision Process (MDP). The objective to be optimized is the expected sum of the importance (utility) of all transmitted messages. Assuming that such importance can be evaluated at the transmitting node, we show that, under certain conditions on the battery model, the optimal censoring policy is a threshold function on the importance value. Specifically, messages are transmitted only if their importance is above a threshold whose value depends on the battery level. Exploiting this property, we propose a model-based stochastic scheme that approximates the optimal solution, with less computational complexity and faster convergence speed than a conventional Q-learning algorithm. Numerical experiments in single-hop and multi-hop networks confirm the analytical advantages of the proposed scheme.

Authors:Martin Joel Mouk Elele, Danilo Pau, Shixin Zhuang, Tullio Facchinetti
Title: Enhancing Field-Oriented Control of Electric Drives with Tiny Neural Network Optimized for Micro-controllers
Abstract:
The deployment of neural networks on resource-constrained micro-controllers has gained momentum, driving many advancements in Tiny Neural Networks. This paper introduces a tiny feed-forward neural network, TinyFC, integrated into the Field-Oriented Control (FOC) of Permanent Magnet Synchronous Motors (PMSMs). Proportional-Integral (PI) controllers are widely used in FOC for their simplicity, although their limitations in handling nonlinear dynamics hinder precision. To address this issue, a lightweight 1,400 parameters TinyFC was devised to enhance the FOC performance while fitting into the computational and memory constraints of a micro-controller. Advanced optimization techniques, including pruning, hyperparameter tuning, and quantization to 8-bit integers, were applied to reduce the model's footprint while preserving the network effectiveness. Simulation results show the proposed approach significantly reduced overshoot by up to 87.5%, with the pruned model achieving complete overshoot elimination, highlighting the potential of tiny neural networks in real-time motor control applications.

Authors:Koya Yamamoto, Patrick Kelly, Manoranjan Majji, Felipe Guzman
Title: Covariance Analysis of Attitude and Angular Rate Estimation using Accelerometers
Abstract:
In this work a method for using accelerometers for the determination of angular velocity and acceleration is presented. Minimum sensor requirements and insights into how an array of accelerometers can be configured to maximize estimator performance are considered. The framework presented utilizes linear least squares to estimate functions that are quadratic in angular velocity. Simple methods for determining the sign of the spin axis and the linearized covariance approximation are presented and found to perform quite effectively when compared to results obtained by Monte Carlo.

Authors:Shuvam Chakraborty, Ahmed Bedewy, Wenjun Li, Navid Abedini
Title: Digital-Twin assisted Network Energy Optimization during Low Traffic Hours
Abstract:
As wireless network technology advances towards the sixth generation (6G), increasing network energy consumption has become a critical concern due to the growing demand for diverse services, radio deployments at various frequencies, larger bandwidths, and more antennas. Network operators must manage energy usage not only to reduce operational cost and improve revenue but also to minimize environmental impact by reducing the carbon footprint. The 3rd Generation Partnership Project (3GPP) has introduced several network energy savings (NES) features. However, the implementation details and system-level aspects of these features have not been thoroughly investigated. In this paper, we explore system-level resource optimization for network energy savings in low-traffic scenarios. We introduce multiple NES optimization formulations and strategies, and further analyze their performance using a detailed network digital twin. Our results demonstrate promising NES gains of up to 44%. Additionally, we provide practical considerations for implementing the proposed schemes and examine their impacts on user equipment (UE) operation.

Authors:Fabio Spada, Purnanand Elango, Behçet Açıkmeşe
Title: Impulsive Relative Motion Control with Continuous-Time Constraint Satisfaction for Cislunar Space Missions
Abstract:
Recent investments in cislunar applications open new frontiers for space missions within highly nonlinear dynamical regimes. In this paper, we propose a method based on Sequential Convex Programming (SCP) to loiter around a given target with impulsive actuation while satisfying path constraints continuously over the finite time-horizon, i.e., independently of the number of nodes in which domain is discretized. Location, timing, magnitude, and direction of a fixed number of impulses are optimized in a model predictive framework, exploiting the exact nonlinear dynamics of non-stationary orbital regimes. The proposed approach is first validated on a relative orbiting problem with respect to a selenocentric near rectilinear halo orbit. The approach is then compared to a formulation with path constraints imposed only at nodes and with mesh refined to ensure complete satisfaction of path constraints over the continuous-time horizon. CPU time per iteration of 400 ms for the refined-mesh approach reduce to 5.5 ms for the proposed approach.

Authors:Alexander Sommer, Peter Bazan, Behnam Babaeian, Jonathan Fellerer, Warren B. Powell, Reinhard German
Title: Adaptive Self-Improvement for Smarter Energy Systems using Agentic Policy Search
Abstract:
Controlling energy systems usually involves manually designed policies for decision-making, which can be complex and time-consuming to develop. This process requires interdisciplinary collaboration among multiple domain experts, resulting in slow and inflexible adaptation to rapidly changing environments. Large Language Models (LLMs) offer a promising paradigm shift by integrating extensive contextual knowledge with the capability to generate structured, executable code. We present Agentic Policy Search (APS) -- a novel hierarchical optimization framework in which LLMs act as autonomous agents that propose complete control logics, translate them into executable code, and iteratively improve them through direct system feedback. We apply APS to a residential energy system with PV, battery, demand, and dynamic electricity prices. Within just seven simulated days, the method yields a net profit of up to 6.20 EUR compared to the no-battery reference scenario (-10.70 EUR), nearly matching the global optimum of a perfectly informed linear program. By combining LLM-driven policy search with the generation of human-interpretable control logic, APS effectively bridges adaptability and traceability in energy management -- while also offering a transferable framework for agentic optimization in other domains.

Authors:Sreenivasan Ganti, Visnu Srinivasan, Pallavi Ramicetty, Shravan Mohan, Milind Savagaonkar, Shubhashis Sengupta
Title: A parallelizable variant of HCA*
Abstract:
This paper presents a parallelizable variant of the well-known Hierarchical Cooperative A* algorithm (HCA*) for the multi-agent path finding (MAPF) problem. In this variant, all agents initially find their shortest paths disregarding the presence of others. This is done using A*. Then an intersection graph (IG) is constructed; each agent is a node and two nodes have an edge between them if the paths of corresponding agents collide. Thereafter, an independent set is extracted with the aid of an approximation algorithm for the maximum independent set problem. The paths for the agents belonging to independent set are fixed. The rest of agents now again find their shortest paths, this time ensuring no collision with the prior agents. Space-time A*, which is a crucial component of HCA*, is used here. These iterations continue until no agents are left. Since the tasks of finding shortest paths for the agents in any iteration are independent of each other, the proposed algorithm can be parallelized to a large extent. In addition to this, the task of determining the IG can also be done in parallel by dividing the map into sections and with each agent focusing on a particular section. The parallelism does come at a cost of communication between the agents and the server. This is accounted for in the simulations. As an added advantage, the user need not make a choice for the priority order. It is observed, empirically, that the proposed algorithm outperforms HCA* in terms of the computation time and the cost value in many cases. Simulations are provided for corroboration.

Authors:Ji-Hong Li, Hyungjoo Kang, Min-Gyu Kim, Mun-Jik Lee, Han-Sol Jin, Gun Rae Cho
Title: Tracking Error Based Fault Tolerant Scheme for Marine Vehicles with Thruster Redundancy
Abstract:
This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized to generate residual, in this paper we directly apply the trajectory tracking error terms to construct residual and detect thruster fault and failure in the steady state of the tracking system. As for identification or diagnosis, this paper proposes a novel scheme through a detailed examination of the tracking error trends and the combinations of thruster configurations. Since this fault detection and identification operates within the same closed-loop of the tracking control system, control reconfiguration can be easily achieved by adjusting the weight parameter of the isolated thruster to minimize tracking errors or residual. Numerical studies with the real world vehicle model is also carried out to verify the effectiveness of the proposed method.

Authors:Yajing Chen, Yanrong Li, Xiao-Lin Wang, Zhi-Sheng Ye
Title: Joint Design and Pricing of Extended Warranties for Multiple Automobiles with Different Price Bands
Abstract:
Extended warranties (EWs) are significant source of revenue for capital-intensive products like automobiles. Such products consist of multiple subsystems, providing flexibility in EW customization, for example, bundling a tailored set of subsystems in an EW contract. This, in turn, enables the creation of a service menu with different EW contract options. From the perspective of a third-party EW provider servicing a fleet of automobile brands, we develop a novel model to jointly optimize the design and pricing of EWs in order to maximize the profit. Specifically, the problem is to determine which contracts should be included in the EW menu and identify the appropriate price for each contract. As the complexity of the joint optimization problem increases exponentially with the number of subsystems, two solution approaches are devised to solve the problem. The first approach is based on a mixed-integer second-order cone programming reformulation, which guarantees optimality but is applicable only for a small number of subsystems. The second approach utilizes a two-step iteration process, offering enhanced computational efficiency in scenarios with a large number of subsystems. Through numerical experiments, the effectiveness of our model is validated, particularly in scenarios characterized by high failure rates and a large number of subsystems.

Authors:Suripto Bhuiyan, Michael Geller
Title: Tunable Multilayer Surface Plasmon Resonance Biosensor for Trace-Level Toxin Detection
Abstract:
This paper presents a comprehensive study on a novel multilayer surface plasmon resonance (SPR) biosensor designed for detecting trace-level toxins in liquid samples with exceptional precision and efficiency. Leveraging the Kretschmann configuration, the proposed design integrates advanced two-dimensional materials, including black phosphorus (BP) and transition metal dichalcogenides (TMDs), to significantly enhance the performance metrics of the sensor. Key innovations include the optimization of sensitivity through precise material layering, minimization of full-width at half-maximum (FWHM) to improve signal resolution, and maximization of the figure of merit (FoM) for superior detection accuracy. Numerical simulations are employed to validate the structural and functional enhancements of the biosensor. The results demonstrate improved interaction between the evanescent field and the analyte, enabling detection at trace concentrations with higher specificity. This biosensor is poised to contribute to advancements in biochemical sensing, environmental monitoring, and other critical applications requiring high-sensitivity toxin detection.

Authors:Nathaniel LeCompte, Andrew Caratenuto, Yi Zheng
Title: Waste Animal Bone-derived Calcium Phosphate Particles with High Solar Reflectance
Abstract:
Highly reflective Calcium Phosphate (CAP) nanoparticles have been obtained from waste chicken and porcine bones. Chicken and pork bones have been processed and calcined at temperatures between 600°C and 1200°C to remove organic material and resulting in CAP bio-ceramic compounds with high reflectance. The reflectivity of the materials in the solar wavelength region is on par with chemically synthesized CAP. The high reflectivity, consistently over 90%, as well as the size distribution and packing density of the nanoparticles obtained in these early bone studies make a strong case for pursuing this avenue to obtain pigment for high solar reflectivity applications, such as passive daytime radiative cooling. The results presented indicate a viable path toward a cost-effective and eco-friendly source of highly reflective cooling pigments. By sourcing calcium phosphates from animal bones, there is also the potential to divert large quantities of bone waste generated by the meat industry from landfills, further contributing toward sustainability and energy reduction efforts in the construction industry and beyond.

Authors:Matsive Ali, Sandesh Giri, Sen Liu, Qin Yang
Title: Digital Twin Synchronization: Bridging the Sim-RL Agent to a Real-Time Robotic Additive Manufacturing Control
Abstract:
With the rapid development of deep reinforcement learning technology, it gradually demonstrates excellent potential and is becoming the most promising solution in the robotics. However, in the smart manufacturing domain, there is still not too much research involved in dynamic adaptive control mechanisms optimizing complex processes. This research advances the integration of Soft Actor-Critic (SAC) with digital twins for industrial robotics applications, providing a framework for enhanced adaptive real-time control for smart additive manufacturing processing. The system architecture combines Unity's simulation environment with ROS2 for seamless digital twin synchronization, while leveraging transfer learning to efficiently adapt trained models across tasks. We demonstrate our methodology using a Viper X300s robot arm with the proposed hierarchical reward structure to address the common reinforcement learning challenges in two distinct control scenarios. The results show rapid policy convergence and robust task execution in both simulated and physical environments demonstrating the effectiveness of our approach.

Authors:Georg Happich, Alexander Grever, Julius Schöning
Title: Agricultural Industry Initiatives on Autonomy: How collaborative initiatives of VDMA and AEF can facilitate complexity in domain crossing harmonization needs
Abstract:
The agricultural industry is undergoing a significant transformation with the increasing adoption of autonomous technologies. Addressing complex challenges related to safety and security, components and validation procedures, and liability distribution is essential to facilitate the adoption of autonomous technologies. This paper explores the collaborative groups and initiatives undertaken to address these challenges. These groups investigate inter alia three focal topics: 1) describe the functional architecture of the operational range, 2) define the work context, i.e., the realistic scenarios that emerge in various agricultural applications, and 3) the static and dynamic detection cases that need to be detected by sensor sets. Linked by the Agricultural Operational Design Domain (Agri-ODD), use case descriptions, risk analysis, and questions of liability can be handled. By providing an overview of these collaborative initiatives, this paper aims to highlight the joint development of autonomous agricultural systems that enhance the overall efficiency of farming operations.

Authors:Abdollah Hajalilou, Elahe Parvini, Tiago A. Morgado, Pedro Alhais Lopes, M. Estrela Melo Jorge, Marta Freitas, Mahmoud Tavakoli
Title: Replacing the Gallium Oxide Shell with Conductive Ag: Toward a Printable and Recyclable Composite for Highly Stretchable Electronics, Electromagnetic Shielding, and Thermal Interfaces
Abstract:
Liquid metal (LM)-based composites hold promise for soft electronics due to their high conductivity and fluidic nature. However, the presence of α_Ga2O3 and GaOOH layers around LM droplets impairs conductivity and performance. We tackle this issue by replacing the oxide layer with conductive silver (Ag) using an ultrasonic_assisted galvanic replacement reaction. The Ag_coated nanoparticles form aggregated, porous microparticles that are mixed with styrene_isoprene_styrene (SIS) polymers, resulting in a digitally printable composite with superior electrical conductivity and electromechanical properties compared to conventional fillers. Adding more LM enhances these properties further. The composite achieves EMI shielding effectiveness (SE) exceeding 75 dB in the X_band frequency range, even at 200 per cent strain, meeting stringent military and medical standards. It is applicable in wireless communications and Bluetooth signal blocking and as a thermal interface material (TIM). Additionally, we highlight its recyclability using a biodegradable solvent, underscoring its eco_friendly potential. This composite represents a significant advancement in stretchable electronics and EMI shielding, with implications for wearable and bioelectronic applications.

Authors:Max Sibeijn, Saeed Ahmed, Mohammad Khosravi, Tamás Keviczky
Title: Economic Nonlinear Model Predictive Control of Prosumer District Heating Networks: The Extended Version
Abstract:
In this paper, we propose an economic nonlinear model predictive control (MPC) algorithm for district heating networks (DHNs). The proposed method features prosumers, multiple producers, and storage systems, which are essential components of 4th generation DHNs. These networks are characterized by their ability to optimize their operations, aiming to reduce supply temperatures, accommodate distributed heat sources, and leverage the flexibility provided by thermal inertia and storage, all crucial for achieving a fossil-fuel-free energy supply. Developing a smart energy management system to accomplish these goals requires detailed models of highly complex nonlinear systems and computational algorithms able to handle large-scale optimization problems. To address this, we introduce a graph-based optimization-oriented model that efficiently integrates distributed producers, prosumers, storage buffers, and bidirectional pipe flows, such that it can be implemented in a real-time MPC setting. Furthermore, we conduct several numerical experiments to evaluate the performance of the proposed algorithms in closed-loop. Our findings demonstrate that the MPC methods achieved up to 9% cost improvement over traditional rule-based controllers while better maintaining system constraints.

Authors:Marilena Zampara, Daniel Ávila, Anthony Papavasiliou
Title: Capacity Expansion Planning under Uncertainty subject to Expected Energy Not Served Constraints
Abstract:
We present a method for solving a large-scale stochastic capacity expansion problem which explicitly considers reliability constraints, in particular constraints on expected energy not served. Our method tackles this problem by a Lagrange relaxation of the expected energy not served constraints. We solve the relaxed formulation in an iterative manner, using a subgradient-based method. Each iteration requires the solution of a stochastic capacity expansion problem, for which we implement a subgradient decomposition scheme in a high-performance computing infrastructure. We apply the proposed methodology on the Economic Viability Assessment model that is used by ENTSO-E in the annual European Resource Adequacy Assessment, extended to include explicit reliability constraints. The approach is able to solve this model achieving a 1.3% optimality gap. We compare our approach against accounting for reliability through penalizing load shedding at VOLL, and find that the former results in 1.6% savings in total cost. We are also able to quantify the cost savings from allowing some load curtailment in the capacity planning process, which ranges from 1.6 to 6% in the cases analyzed.

Authors:Sean R. Bowerfind, Matthew R. Kirchner, Gary A. Hewer, D. Reed Robinson, Paula Chen, Alireza Farahmandi, Katia Estabridis
Title: A Model-Free Data-Driven Algorithm for Continuous-Time Control
Abstract:
Presented is an algorithm to synthesize an infinite-horizon LQR optimal feedback controller for continuous-time systems. The algorithm does not require knowledge of the system dynamics, but instead uses only a finite-length sampling of (possibly suboptimal) input-output data. The algorithm is based on a constrained optimization problem that enforces a necessary condition on the dynamics of the optimal value function along an arbitrary trajectory. This paper presents the derivation as well as shows examples applied to both linear and nonlinear systems inspired by air vehicles.

Authors:Yuriy Zacchia Lun, Francesco Smarra, Alessandro D'Innocenzo
Title: Optimal control over Markovian wireless communication channels under generalized packet dropout compensation
Abstract:
Control loops closed over wireless links greatly benefit from accurate estimates of the communication channel condition. To this end, the finite-state Markov channel model allows for reliable channel state estimation. This paper develops a Markov jump linear system representation for wireless networked control with persistent channel state observation, stochastic message losses, and generalized packet dropout compensation. With this model, we solve the finite- and infinite-horizon linear quadratic regulation problems and introduce an easy-to-test stability condition for any given infinite-horizon control law. We also thoroughly analyze the impact of a scalar general dropout compensation factor on the stability and closed-loop performance of a rotary inverted pendulum controlled remotely through a wireless link. Finally, we validate the results numerically via extensive Monte Carlo simulations, showing the benefits of the proposed control strategy.

Authors:Shivayogi Akki, Tan Chen
Title: Benchmarking Model Predictive Control and Reinforcement Learning Based Control for Legged Robot Locomotion in MuJoCo Simulation
Abstract:
Model Predictive Control (MPC) and Reinforcement Learning (RL) are two prominent strategies for controlling legged robots, each with unique strengths. RL learns control policies through system interaction, adapting to various scenarios, whereas MPC relies on a predefined mathematical model to solve optimization problems in real-time. Despite their widespread use, there is a lack of direct comparative analysis under standardized conditions. This work addresses this gap by benchmarking MPC and RL controllers on a Unitree Go1 quadruped robot within the MuJoCo simulation environment, focusing on a standardized task-straight walking at a constant velocity. Performance is evaluated based on disturbance rejection, energy efficiency, and terrain adaptability. The results show that RL excels in handling disturbances and maintaining energy efficiency but struggles with generalization to new terrains due to its dependence on learned policies tailored to specific environments. In contrast, MPC shows enhanced recovery capabilities from larger perturbations by leveraging its optimization-based approach, allowing for a balanced distribution of control efforts across the robot's joints. The results provide a clear understanding of the advantages and limitations of both RL and MPC, offering insights into selecting an appropriate control strategy for legged robotic applications.

Authors:Arda Bayer, David Maluf, Behnaam Aazhang
Title: Network Risk Estimation: A Risk Estimation Paradigm for Cyber Networks
Abstract:
Cyber networks are fundamental to many organization's infrastructure, and the size of cyber networks is increasing rapidly. Risk measurement of the entities/endpoints that make up the network via available knowledge about possible threats has been the primary tool in cyber network security. However, the dynamic behavior of the entities and the sparsity of risk-measurable points are limiting factors for risk measurement strategies, which results in poor network visibility considering the volatility of cyber networks. This work proposes a new probabilistic risk estimation approach to network security, NRE, which operates on top of existing risk measurements. The proposed method NRE extracts relationships among system components from the network connection data, models risk propagation based on the learned relationships and refines the estimates whenever risk measurements are provided. In this work, (i) the risk estimation scheme is proposed, (ii) an application of quantitative risk estimates is devised, (iii) descriptiveness of the risk estimates are compared to a pure risk measurement alternative and (iv) low computational complexity of the proposed method is illustrated capable of real-time deployment. The proposed method, NRE, is ultimately a quantitative data-driven risk assessment tool that can be used to add security aspects to existing network functions, such as routing, and it provides a robust description of the network state in the presence of threats, capable of running in real-time.

Authors:Yun-Feng Lo, Matthieu R. Bloch
Title: Active Hypothesis Testing for Quantum Detection of Phase-Shift Keying Coherent States
Abstract:
This paper explores the quantum detection of Phase-Shift Keying (PSK)-coded coherent states through the lens of active hypothesis testing, focusing on a Dolinar-like receiver with constraints on displacement amplitude and energy. With coherent state slicing, we formulate the problem as a controlled sensing task in which observation kernels have parameters shrinking with sample size. The constrained open-loop error exponent and a corresponding upper bound on the Bayesian error probability are proven. Surprisingly, the exponent-optimal open-loop policy for binary PSK with high dark counts is not simply time-sharing. This work serves as a first step towards obtaining analytical insights through the active hypothesis testing framework for designing resource-constrained quantum communication receivers.

Authors:Shanshan Jiang, Zelin Sun, Jiankun Zhang, Hua Geng
Title: Mode Switching-Induced Instability of Multi-source Feed DC Microgrid
Abstract:
In DC microgrids (DCMGs), DC-bus signaling based control strategy is extensively used for power management, where mode switching plays a crucial role in achieving multi-source coordination. However, few studies have noticed the impact of mode switching and switching strategies on system voltage stability. To fill this gap, this paper aims to provide a general analysis framework for mode switching-induced instability in multi-source DCMGs. First, manifold theory is employed to analyze the stability of the DCMG switched system. Subsequently, the instability mechanism and its physical interpretation are explored. The positive feedback activated by the decreasing DC bus voltage during the switching process leads to instability. Switching strategy may inadvertently contribute to this instability. To improve stability, a novel control method based on mode scheduling is proposed, by adjusting switching strategy and thereby correcting the system trajectory. Finally, both real-time simulations and experimental tests on a DCMG system verify the correctness and effectiveness of theoretical analysis results.

Authors:Zhijian Hao, Ashwin Lele, Yan Fang, Arijit Raychowdhury, Azadeh Ansari
Title: FAVbot: An Autonomous Target Tracking Micro-Robot with Frequency Actuation Control
Abstract:
Robotic autonomy at centimeter scale requires compact and miniaturization-friendly actuation integrated with sensing and neural network processing assembly within a tiny form factor. Applications of such systems have witnessed significant advancements in recent years in fields such as healthcare, manufacturing, and post-disaster rescue. The system design at this scale puts stringent constraints on power consumption for both the sensory front-end and actuation back-end and the weight of the electronic assembly for robust operation. In this paper, we introduce FAVbot, the first autonomous mobile micro-robotic system integrated with a novel actuation mechanism and convolutional neural network (CNN) based computer vision - all integrated within a compact 3-cm form factor. The novel actuation mechanism utilizes mechanical resonance phenomenon to achieve frequency-controlled steering with a single piezoelectric actuator. Experimental results demonstrate the effectiveness of FAVbot's frequency-controlled actuation, which offers a diverse selection of resonance modes with different motion characteristics. The actuation system is complemented with the vision front-end where a camera along with a microcontroller supports object detection for closed-loop control and autonomous target tracking. This enables adaptive navigation in dynamic environments. This work contributes to the evolving landscape of neural network-enabled micro-robotic systems showing the smallest autonomous robot built using controllable multi-directional single-actuator mechanism.

Authors:Guo-Zhao Liao, Xiao-Feng Gong, Wei Liu, Hing Cheung So
Title: Target Localization with a Coprime Multistatic MIMO Radar via Coupled Canonical Polyadic Decomposition Based on Joint EVD
Abstract:
This paper addresses target localization using a multistatic multiple-input multiple-output (MIMO) radar system with coprime L-shaped receive arrays (CLsA). A target localization method is proposed by modeling the observed signals as tensors that admit a coupled canonical polyadic decomposition (C-CPD) model without matched filtering. It consists of a novel joint eigenvalue decomposition (J-EVD) based (semi-)algebraic algorithm, and a post-processing approach to determine the target locations by fusing the direction-of-arrival estimates extracted from J-EVD-based CCPD results. Particularly, by leveraging the rotational invariance of Vandermonde structure in CLsA, we convert the CCPD problem into a J-EVD problem, significantly reducing its computational complexity. Experimental results show that our method outperforms existing tensor-based ones.

Authors:Siyi Wang, Yanxiang Feng, Xiaoling Li, Guanghui Zhang, Yikang Yang
Title: Hybrid Cooperative Co-Evolution Algorithm for Deadlock-prone Distributed Assembly Flowshop Scheduling with Limited buffers Using Petri nets
Abstract:
The distributed assembly flowshop scheduling problem (DAFSP) can be applied to immense manufacturing environments. In DAFSP, jobs are first processed in distributed flowshops, and then assembled into final products by an assembly machine, which usually has limited buffers in practical application. This limited capacity can lead to deadlocks, halting job completion and blocking the entire manufacturing process. However, existing scheduling methods fail to address these deadlocks in DAFSP effectively. As such, we develop a hybrid cooperative co-evolution (HCCE) algorithm for solving the deadlock-prone DAFSP by minimizing the makespan. For the first time, we use Petri nets to analyze the deadlocks in DAFSP and propose a Petri net-based deadlock amending method (IDAM), which is further integrated into HCCE to ensure the feasibility (i.e., deadlock-freeness) of solutions. Importantly, HCCE contains an elite archive (EAR) and two subpopulations. It uses the problem-specific operators for heuristic initialization and global-search. To enhance the quality and diversity of solutions, an information transfer mechanism (ITM) is developed among subpopulation and EAR, and four local-search operators are performed sequentially on each individual in EAR. Finally, comprehensive experiments demonstrate the effectiveness and superiority of the proposed HCCE algorithm.

Authors:Ricardo M. Fernandez, Felix Garcia-Loro, Gustavo Alves, Africa Lopez-Rey, Russ Meier, Manuel Castro
Title: New scenarios and trends in non-traditional laboratories from 2000 to 2020
Abstract:
For educational institutions in STEM areas, the provision of practical learning scenarios is, traditionally, a major concern. In the 21st century, the explosion of ICTs, as well as the universalization of low-cost hardware, have allowed the proliferation of technical solutions for any field; in the case of experimentation, encouraging the emergence and proliferation of non-traditional experimentation platforms. This movement has resulted in enriched practical environments, with wider adaptability for both students and teachers. In this paper, the evolution of scholar production has been analyzed at the global level from 2000 to 2020. Current and emerging experimentation scenarios have been identified, specifying the scope and boundaries between them.

Authors:Muhammad Adeel, Hasnain Ali, Afaque Manzoor Soomro, Muhammad Waqas
Title: Fabrication of Soft and Comfortable Pressure-Sensing Shoe Sole for Intuitive Monitoring of Human Quality Gaits
Abstract:
The study discusses the design and fabrication of flexible pressure sensors using Ecoflex/Graphene composites. The fabricated sensor is used for the application of intuitive monitoring of human quality gaits and implementation of the soft and comfortable shoe sole for rehabilitation of the patients with foot disorder is also taken into consideration. The sensor is fabricated using molding and casting technique by sandwiching the thin film Ecoflex/Graphene composites between the copper (Cu) electrodes with the dimension of 15 x 15 mm2 with high sensitivity. There are five pressure sensors integrated in the shoe sole, a sensor at the forefoot, three sensors at the midfoot and one sensor at the lower foot (heel). The behavior of the sensor is negative piezoresistive in which the resistance decreases as the pressure increases. The sensors are embedded in a soft and comfortable shoe sole and then integrated with a laptop or mobile application to monitor and analyze human gait in real-time. Furthermore, a dedicated Graphical User Interface (GUI) is designed to read the data. The pressure sensors are integrated with ESP32 microcontroller which wirelessly transmit data to the GUI and smart phones which could be further used in the intuitive monitoring, rehabilitation of the patients with foot disorder or neuromotor diseases.

Authors:Im Eunyoung, Kang Sunghoon, Kim Hyeoneui
Title: Development of a Validation and Inspection Tool for Armband-based Lifelog Data (VITAL) to Facilitate the Clinical Use of Wearable Data: A Prototype and Usability Evaluation
Abstract:
Background: The rise of mobile technology and health apps has increased the use of person-generated health data (PGHD). PGHD holds significant potential for clinical decision-making but remains challenging to manage. Objective: This study aimed to enhance the clinical utilization of wearable health data by developing the Validation and Inspection Tool for Armband-Based Lifelog Data (VITAL), a pipeline for data integration, visualization, and quality management, and evaluating its usability. Methods: The study followed a structured process of requirement gathering, tool implementation, and usability evaluation. Requirements were identified through input from four clinicians. Wearable health data from Samsung, Apple, Fitbit, and Xiaomi devices were integrated into a standardized dataframe at 10-minute intervals, focusing on biometrics, activity, and sleep. Features of VITAL support data integration, visualization, and quality management. Usability evaluation involved seven clinicians performing tasks, completing the Unified Theory of Acceptance and Use of Technology (UTAUT) survey, and participating in interviews to identify usability issues. Results: VITAL successfully integrated wearable data, thus enabling all participants to complete tasks with minimal errors without prior participant training. UTAUT survey results were positive, with average scores of 4.2 for performance expectancy, 3.96 for effort expectancy, and 4.14 for intention to use, indicating high user satisfaction and intent to adopt the tool. Conclusions: By enhancing wearable data integration, visualization, and quality management, the VITAL prototype shows significant potential for clinical application. Positive feedback highlights its promise, while emphasizing the need for further studies to confirm its real-world effectiveness.

Authors:Soojeong Lee, Ryan J. Caverly
Title: Passivity-Based Robust Shape Control of a Cable-Driven Solar Sail Boom for the CABLESSail Concept
Abstract:
Solar sails provide a means of propulsion using solar radiation pressure, which offers the possibility of exciting new spacecraft capabilities. However, solar sails have attitude control challenges because of the significant disturbance torques that they encounter due to imperfections in the sail and its supporting structure, as well as limited actuation capabilities. The Cable-Actuated Bio-inspired Lightweight Elastic Solar Sail (CABLESSail) concept was previously proposed to overcome these challenges by controlling the shape of the sail through cable actuation. The structural flexibility of CABLESSail introduces control challenges, which necessitate the design of a robust feedback controller for this system. The purpose of the proposed research here is to design a robust controller to ensure precise and reliable control of CABLESSail's boom. Taking into account the system dynamics and the dynamic properties of the CABLESSail concept, a passivity-based proportional-derivative (PD) controller for a single boom on the CABLESSail system is designed. To reach the nonzero desired setpoints, a feedforward input is additionally applied to the control law and a time-varying feedforward input is used instead of the constant one to effectively track a time-varying desired boom tip deflection. This control law is assessed by numerical simulations and by tests using a smaller-scale prototype of Solar Cruiser. Both the simulation and the test results show that this PD control with the time-varying feedforward input robustly controls the flexible cable-actuated solar sail.

Authors:Rudrapatna Vallabh Ramakanth, Eytan Modiano
Title: Centralized Versus Distributed Routing for Large-Scale Satellite Networks
Abstract:
An important choice in the design of satellite networks is whether the routing decisions are made in a distributed manner onboard the satellite, or centrally on a ground-based controller. We study the tradeoff between centralized and distributed routing in large-scale satellite networks. In particular, we consider a centralized routing scheme that has access to global but delayed network state information and a distributed routing scheme that has access to local but real-time network state information. For both routing schemes, we analyze the throughput and delay performance of shortest-path algorithms in networks with and without buffers onboard the satellites. We show that distributed routing outperforms centralized routing when the rate of changes in the network link state is comparable to the inherent propagation and transmission delays. In particular, we show that in highly dynamic networks without buffers, the distributed scheme achieves higher throughput than a centralized scheme. In networks with buffers, the distributed scheme achieves lower delays with the same throughput.

Authors:Binyu Cui, Jun Wang, Xibo Yuan, Alfonso Martinez, George Slama, Matthew Wilkowski, Ryosuke Ota, Keiji Wada
Title: Instantaneous Core Loss -- Cycle-by-cycle Modeling of Power Magnetics in PWM DC-AC Converters
Abstract:
Nowadays, PWM excitation is one of the most common waveforms seen by magnetic components in power electronic converters. Core loss modelling approaches such as improved Generalized Steinmetz equation (iGSE) or the loss map based on composite waveform hypothesis (CWH) process the PWM excitation piecewisely, which is proven to be effective for DC DC converters. As the additional challenge in PWM DC AC converters, the fundamental-frequency sinewave component induces the "major loop loss" on top of the piecewise high-frequency segments, which however cannot be modelled on a switching cycle basis by any existing methods. To address this gap, this paper proposes a novel fundamental concept, instantaneous core loss, which is the time-domain core loss observed experimentally for the first time in history. Extending the reactive voltage cancellation concept, this work presents a method to measure the instantaneous core loss, which only contains real power loss, as a function of time. Based on measurements in evaluated soft magnetic components, it was discovered that the discharging stage exhibits higher core loss than the charging stage. A modelling approach is then proposed to break down the major loop core loss, typically an average value in the literature, into the time domain to enable cycle-by-cycle modelling of core losses in PWM converters. This work enhances the fundamental understanding of the core loss process by moving from the average model to the time-domain model.

Authors:Carina Lehmal, Ziqian Zhang, Robert Schürhuber
Title: Benchmark Study of Transient Stability during Power-Hardware-in-the-Loop and Fault-Ride-Through capabilities of PV inverters
Abstract:
The deployment of PV inverters is rapidly expanding across Europe, where these devices must increasingly comply with stringent grid requirements.This study presents a benchmark analysis of four PV inverter manufacturers, focusing on their Fault Ride Through capabilities under varying grid strengths, voltage dips, and fault durations, parameters critical for grid operators during fault conditions.The findings highlight the influence of different inverter controls on key metrics such as total harmonic distortion of current and voltage signals, as well as system stability following grid faults.Additionally, the study evaluates transient stability using two distinct testing approaches.The first approach employs the current standard method, which is testing with an ideal voltage source. The second utilizes a Power Hardware in the Loop methodology with a benchmark CIGRE grid model.The results reveal that while testing with an ideal voltage source is cost-effective and convenient in the short term, it lacks the ability to capture the dynamic interactions and feedback loops of physical grid components.This limitation can obscure critical real world factors, potentially leading to unexpected inverter behavior and operational challenges in grids with high PV penetration.This study underscores the importance of re-evaluating conventional testing methods and incorporating Power Hardware in the Loop structures to achieve test results that more closely align with real-world conditions.

Authors:Haritha Srinivasan, Maryam Karimi
Title: Threat-based Security Controls to Protect Industrial Control Systems
Abstract:
This paper analyzes the reported threats to Industrial Control Systems (ICS)/Operational Technology (OT) and identifies common tactics, techniques, and procedures (TTP) used by threat actors. The paper then uses the MITRE ATT&CK framework to map the common TTPs and provide an understanding of the security controls needed to defend against the reported ICS threats. The paper also includes a review of ICS testbeds and ideas for future research using the identified controls.

Authors:Mostafa Barani, Konstantin Löffler, Pedro Crespo del Granado, Nikita Moskalenko, Evangelos Panos, Franziska M. Hoffart, Christian von Hirschhausen, Maria Kannavou, Hans Auer, Karlo Hainsch, Tatiana González Grandón, Siri Mathisen, Asgeir Tomasgard
Title: European Energy Vision 2060: Charting Diverse Pathways for Europe's Energy Transition
Abstract:
Europe is warming at the fastest rate of all continents, experiencing a temperature increase of about 1°C higher than the corresponding global increase. Aiming to be the first climate-neutral continent by 2050 under the European Green Deal, Europe requires an in-depth understanding of the potential energy transition pathways. In this paper, we develop four qualitative long-term scenarios covering the European energy landscape, considering key uncertainty pillars -- categorized under social, technological, economic, political, and geopolitical aspects. First, we place the scenarios in a three-dimensional space defined by Social dynamics, Innovation, and Geopolitical instabilities. These scenarios are brought to life by defining their narratives and focus areas according to their location in this three-dimensional space. The scenarios envision diverse futures and include distinct features. The EU Trinity scenario pictures how internal divisions among EU member states, in the context of global geopolitical instability, affect the EU climate targets. The REPowerEU++ scenario outlines the steps needed for a self-sufficient, independent European energy system by 2050. The Go RES scenario examines the feasibility of achieving carbon neutrality earlier than 2050 given favourable uncertain factors. The NECP Essentials scenario extends current national energy and climate plans until 2060 to assess their role in realizing climate neutrality. The scenarios are extended by incorporating policies and economic factors and detailed in a Qualitative to Quantitative (Q2Q) matrix, linking narratives to quantification. Finally, two scenarios are quantified to illustrate the quantification process. All the scenarios are in the process of being quantified and will be openly available and reusable.

Authors:Siyuan Chen, Hanshen Yu, Jamal Yagoobi, Chenhui Shao
Title: Reinforcement Learning Constrained Beam Search for Parameter Optimization of Paper Drying Under Flexible Constraints
Abstract:
Existing approaches to enforcing design constraints in Reinforcement Learning (RL) applications often rely on training-time penalties in the reward function or training/inference-time invalid action masking, but these methods either cannot be modified after training, or are limited in the types of constraints that can be implemented. To address this limitation, we propose Reinforcement Learning Constrained Beam Search (RLCBS) for inference-time refinement in combinatorial optimization problems. This method respects flexible, inference-time constraints that support exclusion of invalid actions and forced inclusion of desired actions, and employs beam search to maximize sequence probability for more sensible constraint incorporation. RLCBS is extensible to RL-based planning and optimization problems that do not require real-time solution, and we apply the method to optimize process parameters for a novel modular testbed for paper drying. An RL agent is trained to minimize energy consumption across varying machine speed levels by generating optimal dryer module and air supply temperature configurations. Our results demonstrate that RLCBS outperforms NSGA-II under complex design constraints on drying module configurations at inference-time, while providing a 2.58-fold or higher speed improvement.

Authors:Abhijeet Sahu, Venkatesh Venkataramanan, Richard Macwan
Title: ARM-IRL: Adaptive Resilience Metric Quantification Using Inverse Reinforcement Learning
Abstract:
Resilience of safety-critical systems is gaining importance, particularly with the increasing number of cyber and physical threats. Cyber-physical threats are becoming increasingly prevalent, as digital systems are ubiquitous in critical infrastructure. The challenge with determining the resilience of cyber-physical systems is identifying a set of resilience metrics that can adapt to the changing states of the system. A static resilience metric can lead to an inaccurate estimation of system state, and can result in unintended consequences against cyber threats. In this work, we propose a data-driven method for adaptive resilience metric learning. The primary goal is to learn a single resilience metric by formulating an inverse reinforcement learning problem that learns a reward or objective from a set of control actions from an expert. It learns the structure or parameters of the reward function based on information provided by expert demonstrations. Most prior work has considered static weights or theories from fuzzy logic to formulate a single resilience metric. Instead, this work learns the resilience metric, represented as reward function, using adversarial inverse reinforcement learning, to determine the optimal policy through training the generator discriminator in parallel. We evaluate our proposed technique in scenarios such as optimal communication network rerouting, power distribution network reconfiguration, and a combined cyber-physical restoration of critical load using the IEEE 123-bus system.

Authors:Yun-Peng Li, Hans-Andrea Loeliger
Title: Dual NUP Representations and Min-Maximization in Factor Graphs
Abstract:
Normals with unknown parameters (NUP) can be used to convert nontrivial model-based estimation problems into iterations of linear least-squares or Gaussian estimation problems. In this paper, we extend this approach by augmenting factor graphs with convex-dual variables and pertinent NUP representations. In particular, in a state space setting, we propose a new iterative forward-backward algorithm that is dual to a recently proposed backward-forward algorithm.

Authors:Jose Miguel Riquelme-Dominguez, Francisco de Paula García-López, Sergio Martinez
Title: Power Ramp-Rate Control via Power Regulation for Storageless Grid-Connected Photovoltaic Systems
Abstract:
Photovoltaic Power Ramp-Rate Control (PRRC) constitutes a key ancillary service for future power systems. Although its implementation through the installation of storage systems or irradiance sensors has been widely investigated, fewer studies have explored the power curtailment approach. The latter lacks efficiency, as it voluntarily produces power discharges, yet it is a cost-effective solution in terms of capital expenditures. This paper proposes a novel storageless and sensorless photovoltaic PRRC for grid-connected applications in which the photovoltaic power, rather than the voltage, is the controlled magnitude. The aforementioned contribution makes the effective tracking of the power ramp-rate limit possible compared to the existing methods in the literature. The method is assisted by a real-time curve-fitting algorithm that estimates the Maximum Power Point while operating suboptimally. Thus, no direct temperature or irradiance measurement systems are needed. The validation of the proposed PRRC strategy has been tested by simulation and compared to another approach available in the literature, considering real-field highly variable irradiance data. Experimental validation of the proposed strategy has been performed in real time via Controller Hardware-in-the-Loop.

Authors:Le Zhang, Paul Kotyczka
Title: Sampled-Data Control using Hermite-Obreschkoff Methods with an IDA-PBC Example
Abstract:
The motivation for this paper is the implementation of nonlinear state feedback control, designed based on the continuous-time plant model, in a sampled control loop under relatively slow sampling. In previous work we have shown that using one-step predictions of the target dynamics with higher order integration schemes, together with possibly higher order input shaping, is a simple and effective way to increase the feasible sampling times until performance degradation and instability occur. In this contribution we present a unifying derivation for arbitrary orders of the previously used Lobatto IIIA collocation and Hermite interpolation schemes through the Hermite-Obreschkoff formula. We derive, moreover, an IDA-PBC controller for a magnetic levitation system, which requires a non-constant target interconnection matrix, and show experimental results.

Authors:Juan Manuel Escaño, Miguel A. Ridao-Olivar, Carmelina Ierardi, Adolfo J. Sánchez, Kumars Rouzbehi
Title: Driver Behavior Soft-Sensor Based on Neurofuzzy Systems and Weighted Projection on Principal Components
Abstract:
This work has as main objective the development of a soft-sensor to classify, in real time, the behaviors of drivers when they are at the controls of a vehicle. Efficient classification of drivers' behavior while driving, using only the measurements of the sensors already incorporated in the vehicles and without the need to add extra hardware (smart phones, cameras, etc.), is a challenge. The main advantage of using only the data center signals of modern vehicles is economical. The classification of the driving behavior and the warning to the driver of dangerous behaviors without the need to add extra hardware (and their software) to the vehicle, would allow the direct integration of these classifiers into the current vehicles without incurring a greater cost in the manufacture of the vehicles and therefore be an added value. In this work, the classification is obtained based only on speed, acceleration and inertial measurements which are already present in many modern vehicles. The proposed algorithm is based on a structure made by several Neurofuzzy systems with the combination of projected data in components of various Principal Component Analysis. A comparison with several types of classical classifying algorithms has been made.

Authors:Sengiyumva Kisole, Kunal Garg, Matthew Peet
Title: Bounding the Settling Time of Finite-Time Stable Systems using Sum of Squares
Abstract:
Finite-time stability (FTS) of a differential equation guarantees that solutions reach a given equilibrium point in finite time, where the time of convergence depends on the initial state of the system. For traditional stability notions such as exponential stability, the convex optimization framework of Sum-of-Squares (SoS) enables computation of polynomial Lyapunov functions to certify stability. However, finite-time stable systems are characterized by non-Lipschitz, non-polynomial vector fields, rendering standard SoS methods inapplicable. To this end, we show that computation of a non-polynomial Lyapunov function certifying finite-time stability can be reformulated as feasibility of a set of polynomial inequalities under a particular transformation. As a result, SoS can be utilized to verify FTS and obtain a bound on the settling time. Numerical examples are used to demonstrate the accuracy of the conditions in both certifying finite-time stability and bounding the settling time.

Authors:Konrad Sundsgaard, Kutay Bölat, Guangya Yang
Title: Data Enrichment Opportunities for Distribution Grid Cable Networks using Variational Autoencoders
Abstract:
Electricity distribution cable networks suffer from incomplete and unbalanced data, hindering the effectiveness of machine learning models for predictive maintenance and reliability evaluation. Features such as the installation date of the cables are frequently missing. To address data scarcity, this study investigates the application of Variational Autoencoders (VAEs) for data enrichment, synthetic data generation, imbalanced data handling, and outlier detection. Based on a proof-of-concept case study for Denmark, targeting the imputation of missing age information in cable network asset registers, the analysis underlines the potential of generative models to support data-driven maintenance. However, the study also highlights several areas for improvement, including enhanced feature importance analysis, incorporating network characteristics and external features, and handling biases in missing data. Future initiatives should expand the application of VAEs by incorporating semi-supervised learning, advanced sampling techniques, and additional distribution grid elements, including low-voltage networks, into the analysis.

Authors:Mohamad Fares El Hajj Chehade, Sami Karaki
Title: BOOST: Microgrid Sizing using Ordinal Optimization
Abstract:
The transition to sustainable energy systems has highlighted the critical need for efficient sizing of renewable energy resources in microgrids. In particular, designing photovoltaic (PV) and battery systems to meet residential loads is challenging due to trade-offs between cost, reliability, and environmental impact. While previous studies have employed dynamic programming and heuristic techniques for microgrid sizing, these approaches often fail to balance computational efficiency and accuracy. In this work, we propose BOOST, or Battery-solar Ordinal Optimization Sizing Technique, a novel framework for optimizing the sizing of PV and battery components in microgrids. Ordinal optimization enables computationally efficient evaluations of potential designs while preserving accuracy through robust ranking of solutions. To determine the optimal operation of the system at any given time, we introduce a mixed-integer linear programming (MILP) approach, which achieves lower costs than the commonly used dynamic programming methods. Our numerical experiments demonstrate that the proposed framework identifies optimal designs that achieve a levelized cost of energy (LCOE) as low as 8.84 cents/kWh, underscoring its potential for cost-effective microgrid design. The implications of our work are significant: BOOST provides a scalable and accurate methodology for integrating renewable energy into residential microgrids, addressing economic and environmental goals simultaneously.

Authors:Francisco Souza, Thom Badings, Geert Postma, Jeroen Jansen
Title: Integrating Expert and Physics Knowledge for Modeling Heat Load in District Heating Systems
Abstract:
New residential neighborhoods are often supplied with heat via district heating systems (DHS). Improving the energy efficiency of a DHS is critical for increasing sustainability and satisfying user requirements. In this paper, we present HELIOS, a dedicated artificial intelligence (AI) model designed specifically for modeling the heat load in DHS. HELIOS leverages a combination of established physical principles and expert knowledge, resulting in superior performance compared to existing state-of-the-art models. HELIOS is explainable, enabling enhanced accountability and traceability in its predictions. We evaluate HELIOS against ten state-of-the-art data-driven models in modeling the heat load in a DHS case study in the Netherlands. HELIOS emerges as the top-performing model while maintaining complete accountability. The applications of HELIOS extend beyond the present case study, potentially supporting the adoption of AI by DHS and contributing to sustainable energy management on a larger scale.

Authors:Pengyang Song, Han Feng, Shreyashi Shukla, Jue Wang, Tao Hong
Title: HOPS: High-order Polynomials with Self-supervised Dimension Reduction for Load Forecasting
Abstract:
Load forecasting is a fundamental task in smart grid. Many techniques have been applied to developing load forecasting models. Due to the challenges such as the Curse of Dimensionality, overfitting, and limited computing resources, multivariate higher-order polynomial models have received limited attention in load forecasting, despite their desirable mathematical foundations and optimization properties. In this paper, we propose low rank approximation and self-supervised dimension reduction to address the aforementioned issues. To further improve computational efficiency, we also utilize a fast Conjugate Gradient based algorithm for the proposed polynomial models. Based on the load datasets from the ISO New England, the proposed method high-order polynomials with self-supervised dimension reduction (HOPS) demonstrates higher forecasting accuracy over several competitive models. Additionally, experimental results indicate that our approach alleviates redundant variable construction, achieving better forecasts with fewer input variables.

Authors:Matthew Okner, David Veksler
Title: Automated Water Irrigation System
Abstract:
This paper presents the design and implementation of an automated water irrigation system aimed at optimizing plant care through precision moisture monitoring and controlled water delivery. The system uses a capacitive soil moisture sensor, an ADC (analog-to-digital converter), and a relay-driven water pump to ensure plants receive adequate hydration based on real-time data. In addition, this work aims to build on existing applications for Raspberry Pi (4B) and Arduino-based automatic irrigation systems by integrating advanced calibration methods, employing optimized algorithms, and introducing new technologies to further enhance overall system efficiency and reliability.

Authors:Jing Dong, Berk Görgülü, Vahid Sarhangian
Title: Multiclass Queue Scheduling Under Slowdown: An Approximate Dynamic Programming Approach
Abstract:
In many service systems, especially those in healthcare, customer waiting times can result in increased service requirements. Such service slowdowns can significantly impact system performance. Therefore, it is important to properly account for their impact when designing scheduling policies. Scheduling under wait-dependent service times is challenging, especially when multiple customer classes are heterogeneously affected by waiting. In this work, we study scheduling policies in multiclass, multiserver queues with wait-dependent service slowdowns. We propose a simulation-based Approximate Dynamic Programming (ADP) algorithm to find close-to-optimal scheduling policies. The ADP algorithm (i) represents the policy using classifiers based on the index policy structure, (ii) leverages a coupling method to estimate the differences of the relative value functions directly, and (iii) uses adaptive sampling for efficient state-space exploration. Through extensive numerical experiments, we illustrate that the ADP algorithm generates close-to-optimal policies that outperform well-known benchmarks. We also provide insights into the structure of the optimal policy, which reveals an important trade-off between instantaneous cost reduction and preventing the system from reaching high-cost equilibria. Lastly, we conduct a case study on scheduling admissions into rehabilitation care to illustrate the effectiveness of the ADP algorithm in practice.

Authors:James Sadler, Rizwaan Mohammed, Michael Castle, Kotub Uddin
Title: ACCEPT: Diagnostic Forecasting of Battery Degradation Through Contrastive Learning
Abstract:
Modeling lithium-ion battery (LIB) degradation offers significant cost savings and enhances the safety and reliability of electric vehicles (EVs) and battery energy storage systems (BESS). Whilst data-driven methods have received great attention for forecasting degradation, they often demonstrate limited generalization ability and tend to underperform particularly in critical scenarios involving accelerated degradation, which are crucial to predict accurately. These methods also fail to elucidate the underlying causes of degradation. Alternatively, physical models provide a deeper understanding, but their complex parameters and inherent uncertainties limit their applicability in real-world settings. To this end, we propose a new model - ACCEPT. Our novel framework uses contrastive learning to map the relationship between the underlying physical degradation parameters and observable operational quantities, combining the benefits of both approaches. Furthermore, due to the similarity of degradation paths between LIBs with the same chemistry, this model transfers non-trivially to most downstream tasks, allowing for zero-shot inference. Additionally, since categorical features can be included in the model, it can generalize to other LIB chemistries. This work establishes a foundational battery degradation model, providing reliable forecasts across a range of battery types and operating conditions.

Authors:Jeffrey A. DesRoches, Raghvendra V. Cowlagi
Title: Minimum-Time Sequential Traversal by a Team of Small Unmanned Aerial Vehicles in an Unknown Environment with Winds
Abstract:
We consider the problem of transporting multiple packages from an initial location to a destination location in a windy urban environment using a team of SUAVs. Each SUAV carries one package. We assume that the wind field is unknown, but wind speed can be measured by SUAVs during flight. The SUAVs fly sequentially one after the other, measure wind speeds along their trajectories, and report the measurements to a central computer. The overall objective is to minimize the total travel time of all SUAVs, which is in turn related to the number of SUAV traversals through the environment. For a discretized environment modeled by a graph, we describe a method to estimate wind speeds and the time of traversal for each SUAV path. Each SUAV traverses a minimum-time path planned based on the current wind field estimate. We study cases of static and time-varying wind fields with and without measurement noise. For each case, we demonstrate via numerical simulation that the proposed method finds the optimal path after a minimal number of traversals.

Authors:Aidan Gerkis, Xiaozhe Wang
Title: Efficient Probabilistic Assessment of Power System Resilience Using the Polynomial Chaos Expansion Method with Enhanced Stability
Abstract:
Increasing frequency and intensity of extreme weather events motivates the assessment of power system resilience. The random nature of power system failures during these events mandates probabilistic resilience assessment, but state-of-the-art methods are computationally inefficient. In this paper, an enhanced PCE method to quantify power system resilience based on the extended AC Cascading Failure Model (AC-CFM) model is proposed. To address repeatability issues arising from PCE computation with different sample sets, we propose a novel experiment design method. Numerical studies on the IEEE 39-bus system illustrate the improved repeatability and convergence of the method. The enhanced PCE method is then used to efficiently assess the system's resilience and propose adaptation measures.

Authors:Hafiz Majid Hussain, Ashfaq Ahmad. Pedro H. J. Nardelli
Title: Crossover-BPSO Driven Multi-Agent Technology for Managing Local Energy Systems
Abstract:
This article presents a new hybrid algorithm, crossover binary particle swarm optimization (crBPSO), for allocating resources in local energy systems via multi-agent (MA) technology. Initially, a hierarchical MA-based architecture in a grid-connected local energy setup is presented. In this architecture, task specific agents operate in a master-slave manner. Where, the master runs a well-formulated optimization routine aiming at minimizing costs of energy procurement, battery degradation, and load scheduling delay. The slaves update the master on their current status and receive optimal action plans accordingly. Simulation results demonstrate that the proposed algorithm outperforms selected existing ones by 21\% in terms average energy system costs while satisfying customers' energy demand and maintaining the required quality of service.

Authors:Bastien Giraud, Lola Charles, Agnes Marjorie Nakiganda, Johanna Vorwerk, Spyros Chatzivasileiadis
Title: A Dataset Generation Toolbox for Dynamic Security Assessment: On the Role of the Security Boundary
Abstract:
Dynamic security assessment (DSA) is crucial for ensuring the reliable operation of power systems. However, conventional DSA approaches are becoming intractable for future power systems, driving interest in more computationally efficient data-driven methods. Efficient dataset generation is a cornerstone of these methods. While importance and generic sampling techniques often focus on operating points near the system's security boundary, systematic methods for sampling in this region remain scarce. Furthermore, the impact of sampling near the security boundary on the performance of data-driven DSA methods has yet to be established. This paper highlights the critical role of accurately capturing security boundaries for effective security assessment. As such, we propose a novel method for generating a high number of samples close to the security boundary, considering both AC feasibility and small-signal stability. Case studies on the PGLib-OPF 39-bus and PGLib-OPF 162-bus systems demonstrate the importance of including boundary-adjacent operating points in training datasets while maintaining a balanced distribution of secure and insecure points.

Authors:Aditya Deole, Mehran Mesbahi
Title: Estimation-Aware Trajectory Optimization with Set-Valued Measurement Uncertainties
Abstract:
In this paper, an optimization-based framework for generating estimation-aware trajectories is presented. In this setup, measurement (output) uncertainties are state-dependent and set-valued. Enveloping ellipsoids are employed to characterize state-dependent uncertainties with unknown distributions. The concept of regularity for set-valued output maps is then introduced, facilitating the formulation of the estimation-aware trajectory generation problem. Specifically, it is demonstrated that for output-regular maps, one can utilize a set-valued observability measure that is concave with respect to the finite horizon state trajectories. By maximizing this measure, estimation-aware trajectories can then be synthesized for a broad class of systems. Trajectory planning routines are also examined in this work, by which the observability measure is optimized for systems with locally linearized dynamics. To illustrate the effectiveness of the proposed approach, representative examples in the context of trajectory planning with vision-based estimation are presented. Moreover, the paper presents estimation-aware planning for an uncooperative Target-Rendezvous problem, where an Ego-satellite employs an onboard machine learning (ML)-based estimation module to realize the rendezvous trajectory.

Authors:Ali Peivand, Seyyed Mostafa Nosratabadi
Title: Integrating Cybersecurity in Predictive Cost-Benefit Power Scheduling: A DeepStack Model with Dynamic Defense Mechanism
Abstract:
This paper introduces a novel, deep learning-based predictive model tailored to address wind curtailment in contemporary power systems, while enhancing cybersecurity measures through the implementation of a Dynamic Defense Mechanism (DDM). The augmented BiLSTM architecture facilitates accurate short-term predictions for wind power. In addition, a ConvGAN-driven step for stochastic scenario generation and a hierarchical, multi-stage optimization framework, which includes cases with and without Battery Energy Storage (BES), significantly minimizes operational costs. The inclusion of DDM strategically alters network reactances, thereby obfuscating the system's operational parameters to deter cyber threats. This robust solution not only integrates wind power more efficiently into power grids, leveraging BES potential to improve the economic efficiency of the system, but also boosting the cyber security of the system. Validation using the Illinois 200-bus system demonstrates the model's potential, achieving a 98% accuracy in forecasting and substantial cost reductions of over 3.8%. The results underscore the dual benefits of enhancing system reliability and security through advanced deep learning architectures and the strategic application of cybersecurity measures.

Authors:Henrique O. Caetano, Rahul K. Gupta, Marco Aiello, Carlos Dias Maciel
Title: A Bayesian Hierarchical Model for Generating Synthetic Unbalanced Power Distribution Grids
Abstract:
The real-world data of power networks is often inaccessible due to privacy and security concerns, highlighting the need for tools to generate realistic synthetic network data. Existing methods leverage geographic tools like OpenStreetMap with heuristic rules to model system topology and typically focus on single-phase, balanced systems, limiting their applicability to real-world distribution systems, which are usually unbalanced. This work proposes a Bayesian Hierarchical Model (BHM) to generate unbalanced three-phase distribution systems learning from existing networks. The scheme takes as input the base topology and aggregated demand per node and outputs a three-phase unbalanced system. The proposed scheme achieves a Mean Absolute Percentage Error (MAPE) of less than $8\%$ across all phases, with computation times of 20.4 seconds for model training and 3.1 seconds per sample generation. The tool is applied to learn from publicly available SMART-DS dataset and applied to generate European 906 and IEEE-123 systems. We demonstrate the transfer learning capability of the proposed tool by leveraging a model trained on an observed system to generate a synthetic network for an unobserved system. Specifically, the tool is trained using the publicly available SMART-DS dataset and subsequently applied to generate synthetic networks for the European 906-bus system and the IEEE 123-bus system. This tool allows researchers to simulate realistic unbalanced three-phase power data with high accuracy and speed, enhancing planning and operational analysis for modern power grids.

Authors:Seyed Mehdi Rakhtala, Roja Eini
Title: Nonlinear Modeling of a PEM Fuel Cell System; a Practical Study with Experimental Validation
Abstract:
In this paper, a nonlinear six order model is proposed for a proton exchange membrane fuel cell (PEMFC) as a control-oriented electrochemical model. Its validation is performed on a specific single cell PEMFC with effective dimension of 5 cm5 cm. This model is described in the nonlinear state space form with 6 state variables. Load current and DC voltage are considered as measurable disturbance and control input respectively. Besides, the model includes fuel cell stack and its auxiliary components as well. In this survey, a nonlinear state space representation is derived by arranging nonlinear equations and combining them with auxiliary components model. The proposed model can be successfully used to design nonlinear controller and nonlinear observer systems. The analyzed PEMFC system consists of air compressor motor dynamic equations, air and fuel supply subsystems, a perfect air humidifier and a fuel cell stack. An experimentally validated nonlinear model that reproduces the most typical features of a laboratory PEMFC system is presented. This model is derived based on physics law in stack, including system gases dynamics. The objective of this paper is to introduce a fully analytical model which has been fully validated on a fuel cell system and its auxiliary components. The proposed method can be used as a general modeling guideline for control-oriented purposes. Moreover, it can be successfully implemented in composing a dynamic subsystem, like hydrogen subsystem, as part of the whole nonlinear model.

Authors:Jose A. Borja-Conde, Juan M. Nadales, Filiberto Fele, Daniel Limon
Title: Economic Model Predictive Control for Periodic Operation: A Quadratic Programming Approach
Abstract:
Periodic dynamical systems, distinguished by their repetitive behavior over time, are prevalent across various engineering disciplines. In numerous applications, particularly within industrial contexts, the implementation of model predictive control (MPC) schemes tailored to optimize specific economic criteria was shown to offer substantial advantages. However, the real-time implementation of these schemes is often infeasible due to limited computational resources. To tackle this problem, we propose a resource-efficient economic model predictive control scheme for periodic systems, leveraging existing single-layer MPC techniques. Our method relies on a single quadratic optimization problem, which ensures high computational efficiency for real-time control in dynamic settings. We prove feasibility, stability and convergence to optimum of the proposed approach, and validate the effectiveness through numerical experiments.

Authors:Anand Singh, Anoop Jain
Title: Range-Only Dynamic Output Feedback Controller for Safe and Secure Target Circumnavigation
Abstract:
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance and remains within the sensing region around the target throughout its motion. The proposed control design methodology is based on the construction of a joint Lyapunov function that incorporates: (i) a quadratic potential function characterizing the desired target-circumnavigation objective, and (ii) a barrier Lyapunov function-based potential term to enforce safety and sensing constraints on the robot's motion. A notable feature of the proposed control design is its reliance exclusively on local range measurements between the robot and the target, realized using a dynamic output feedback controller that treats the range as the only observable output for feedback. Using the Lyapunov stability theory, we show that the desired equilibrium of the closed-loop system is asymptotically stable, and the prescribed safety and security constraints are met under the proposed controllers. We also obtain restrictive bounds on the post-design signals and provide both simulation and experimental results to validate the theoretical contributions.

Authors:Francesc Varkevisser, Wouter A. Serdijn, Tiago L. Costa
Title: Analysis of Power Losses and the Efficacy of Power Minimization Strategies in Multichannel Electrical Stimulation Systems
Abstract:
Neuroprosthetic devices require multichannel stimulator systems with an increasing number of channels. However, there are inherent power losses in typical multichannel stimulation circuits caused by a mismatch between the power supply voltage and the voltage required at each electrode to successfully stimulate tissue. This imposes a bottleneck towards high-channel-count devices, which is particularly severe in wirelessly-powered devices. Hence, advances in the power efficiency of stimulation systems are critical. To support these advances, this paper presents a methodology to identify and quantify power losses associated with different power supply scaling strategies in multichannel stimulation systems. The proposed methodology utilizes distributions of stimulation amplitudes and electrode impedances to calculate power losses in multichannel systems. Experimental data from previously published studies spanning various stimulation applications were analyzed to evaluate the performance of fixed, global, and stepped supply scaling methods, focusing on their impact on power dissipation and efficiency. Variability in output conditions results in low power efficiency in multichannel stimulation systems across all applications. Stepped voltage scaling demonstrated substantial efficiency improvements, achieving an increase of 67 % to 146 %, particularly in high-channel-count applications with significant variability in tissue impedance. Global scaling, by contrast, was more advantageous for systems with fewer channels. The findings highlight the importance of tailoring power management strategies to specific applications to optimize efficiency while minimizing system complexity. The proposed methodology offers a framework for evaluating efficiency-complexity trade-offs, advancing the design of scalable neurostimulation systems.

Authors:Juan Eloy Ruiz-Castro, Christian Acal
Title: MMAPs to model complex multi-state systems with vacation policies in the repair facility
Abstract:
Two complex multi-state systems subject to multiple events are built in an algorithmic and computational way by considering phase-type distributions and Markovian arrival processes with marked arrivals. The internal performance of the system is composed of different degradation levels and internal repairable and non-repairable failures can occur. Also, the system is subject to external shocks that may provoke repairable or non-repairable failure. A multiple vacation policy is introduced in the system for the repairperson. Preventive maintenance is included in the system to improve the behaviour. Two types of task may be performed by the repairperson; corrective repair and preventive maintenance. The systems are modelled, the transient and stationary distributions are built and different performance measures are calculated in a matrix-algorithmic form. Cost and rewards are included in the model in a vector matrix way. Several economic measures are worked out and the net reward per unit of time is used to optimize the system. A numerical example shows that the system can be optimized according to the existence of preventive maintenance and the distribution of vacation time. The results have been implemented computationally with Matlab and R (packages: expm, optim).

Authors:Leonid Rodniansky, Tania Butovsky, Mikhail Shpak
Title: Real-Time Outlier Connections Detection in Databases Network Traffic
Abstract:
The article describes a practical method for detecting outlier database connections in real-time. Outlier connections are detected with a specified level of confidence. The method is based on generalized security rules and a simple but effective real-time machine learning mechanism. The described method is non-intrusive to the database and does not depend on the type of database. The method is used to proactively control access even before database connection is established, minimize false positives, and maintain the required response speed to detected database connection outliers. The capabilities of the system are demonstrated with several examples of outliers in real-world scenarios.

Authors:Kavin Dave, Aditya Mukherjee, Hari Shanker Gupta, Deepak Jain, Shalabh Gupta
Title: Ultrafast pulsed laser evaluation of Single Event Transients in opto-couplers
Abstract:
We build a 1064 nm fiber laser system-based testing facility for emulating SETs in different electronics components and ICs. Using these facilities, we tested the 4N35 optocoupler to observe SETs for the first time.

Authors:Jose Guajardo, Ali Niknejad
Title: Open-source End-to-End Digital Beamforming System Modeling
Abstract:
Digital beamforming forms the foundation for massive MIMO in 6G wireless communications. At their core, digital beamforming architectures provide key benefits such as faster beam search, interference nulling via zero-force beamforming, higher spectral capacity, and more increased flexibility. However, they generally tradeoff power consumption due to the large number of ADCs in such systems. This paper introduces an open-source MATLAB-based behavioral hardware model of a general digital beamforming system. More specifically, it models an end-to-end uplink between an arbitrary number of user elements (UEs) and an arbitrarily large base station (BS) with and without a strong interferer. This paper also presents and validates an equation-based model for the effects of interference on thermal and quantization noise. The behavioral model presented in this paper aims to deepen understanding of such digital beamforming systems to enable system designers to make optimizations. The results presented in this paper primarily center on implementations with low-resolution ADCs and, thus, focus on the effects of system parameters, including interferer strength, on quantization noise.

Authors:Joshit Mohanty, Sujatha Alla, Vaishali, Nagesh Bheesetty, Prasanthi Chidipudi, Satya Prakash Chowdary Nandigam, Marisha Jmukhadze, Puneeth Bheesetty, Narendra Lakshmana Gowda
Title: Digital Twin for Smart Societies: A Catalyst for Inclusive and Accessible Healthcare
Abstract:
With rapid digitization and digitalization, drawing a fine line between the digital and the physical world has become nearly impossible. It has become essential more than ever to integrate all spheres of life into a single Digital Thread to address pressing challenges of modern society: accessible and inclusive healthcare in terms of equality and equity. Techno-social advancements and mutual acceptance have enabled the infusion of digital models to simulate social settings with minimum resource utilization to make effective decisions. However, a significant gap exists in feeding back the models with appropriate real-time changes. In other words, active behavioral modeling of modern society is lacking, influencing community healthcare as a whole. By creating virtual replicas of (physical) behavioral systems, digital twins can enable real-time monitoring, simulation, and optimization of urban dynamics. This paper explores the potential of digital twins to promote inclusive healthcare for evolving smart cities. We argue that digital twins can be used to: Identify and address disparities in access to healthcare services, Facilitate community participation, Simulate the impact of urban policies and interventions on different groups of people, and Aid policy-making bodies for better access to healthcare. This paper proposes several ways to use digital twins to stitch the actual and virtual societies. Several discussed concepts within this framework envision an active, integrated, and synchronized community aware of data privacy and security. The proposal also provides high-level step-wise transitions that will enable this transformation.

Authors:Michael W. Fisher, Ian A. Hiskens
Title: Determining Disturbance Recovery Conditions by Inverse Sensitivity Minimization
Abstract:
Power systems naturally experience disturbances, some of which can damage equipment and disrupt consumers. It is important to quickly assess the likely consequences of credible disturbances and take preventive action, if necessary. However, assessing the impact of potential disturbances is challenging because many of the influential factors, such as loading patterns, controller settings and load dynamics, are not precisely known. To address this issue, the paper introduces the concept of parameter-space recovery regions. For each disturbance, the corresponding recovery region is the region of parameter space for which the system will recover to the desired operating point. The boundary of the recovery region establishes the separation between parameter values that result in trouble-free recovery and those that incur undesirable non-recovery. The safety margin for a given set of parameter values is defined as the smallest distance (in parameter space) between the given values and the recovery boundary. Novel numerical algorithms with theoretical guarantees are presented for efficiently computing recovery boundaries and safety margins. Unlike prior methods, which tend to be overly conservative and restricted to low dimensional parameter space, these methods compute safety margins to arbitrary user-specified accuracy and do so efficiently in high dimensional parameter space. The efficacy of the methods is demonstrated using the IEEE 39-bus benchmark power system, where safety margins are computed for cases that consider up to 86 parameters, and reveal unexpected safety implications that would not have been observed otherwise.

Authors:Amir Pouya Masoumi, Leo Creedon, Ramen Ghosh, Nimra Munir, Ross McMorrow, Marion McAfee
Title: Interpretable machine-learning for predicting molecular weight of PLA based on artificial bee colony optimization algorithm and adaptive neurofuzzy inference system
Abstract:
This article discusses the integration of the Artificial Bee Colony (ABC) algorithm with two supervised learning methods, namely Artificial Neural Networks (ANNs) and Adaptive Network-based Fuzzy Inference System (ANFIS), for feature selection from Near-Infrared (NIR) spectra for predicting the molecular weight of medical-grade Polylactic Acid (PLA). During extrusion processing of PLA, in-line NIR spectra were captured along with extrusion process and machine setting data. With a dataset comprising 63 observations and 512 input features, appropriate machine learning tools are essential for interpreting data and selecting features to improve prediction accuracy. Initially, the ABC optimization algorithm is coupled with ANN/ANFIS to forecast PLA molecular weight. The objective functions of the ABC algorithm are to minimize the root mean square error (RMSE) between experimental and predicted PLA molecular weights while also minimizing the number of input features. Results indicate that employing ABC-ANFIS yields the lowest RMSE of 282 Da and identifies four significant parameters (NIR wavenumbers 6158 cm-1, 6310 cm-1, 6349 cm-1, and melt temperature) for prediction. These findings demonstrate the effectiveness of using the ABC algorithm with ANFIS for selecting a minimal set of features to predict PLA molecular weight with high accuracy during processing

Authors:Tianyi Huang, Richard Xiong
Title: Cost-Effective Robotic Handwriting System with AI Integration
Abstract:
This paper introduces a cost-effective robotic handwriting system designed to replicate human-like handwriting with high precision. Combining a Raspberry Pi Pico microcontroller, 3D-printed components, and a machine learning-based handwriting generation model implemented via TensorFlow, the system converts user-supplied text into realistic stroke trajectories. By leveraging lightweight 3D-printed materials and efficient mechanical designs, the system achieves a total hardware cost of approximately \$56, significantly undercutting commercial alternatives. Experimental evaluations demonstrate handwriting precision within $\pm$0.3 millimeters and a writing speed of approximately 200 mm/min, positioning the system as a viable solution for educational, research, and assistive applications. This study seeks to lower the barriers to personalized handwriting technologies, making them accessible to a broader audience.

Authors:Jingzhan Ge, Zi-Hao Zhang, Sheng-En Huang
Title: Hierarchical Sampling-based Planner with LTL Constraints and Text Prompting
Abstract:
This project introduces a hierarchical planner integrating Linear Temporal Logic (LTL) constraints with natural language prompting for robot motion planning. The framework decomposes maps into regions, generates directed graphs, and converts them into transition systems for high-level planning. Text instructions are translated into LTL formulas and converted to Deterministic Finite Automata (DFA) for sequential goal-reaching tasks while adhering to safety constraints. High-level plans, derived via Breadth-First Search (BFS), guide low-level planners like Exploring Random Trees (RRT) and Probabilistic Roadmaps (PRM) for obstacle-avoidant navigation along with LTL tasks. The approach demonstrates adaptability to various task complexities, though challenges such as graph construction overhead and suboptimal path generation remain. Future directions include extending to considering terrain conditions and incorporating higher-order dynamics.

Authors:Zilong Xu, Zihao Wang, He Li, Dingli Yu, Zaili Yang, Jin Wang
Title: A Geometric Analysis-Based Safety Assessment Framework for MASS Route Decision-Making in Restricted Waters
Abstract:
To enhance the safety of Maritime Autonomous Surface Ships (MASS) navigating in restricted waters, this paper aims to develop a geometric analysis-based route safety assessment (GARSA) framework, specifically designed for their route decision-making in irregularly shaped waterways. Utilizing line and point geometric elements to define waterway boundaries, the framework enables to construct a dynamic width characterization function to quantify spatial safety along intricate waterways. An iterative method is developed to calculate this function, enabling an abstracted spatial property representation of the waterways. Based on this, we introduce a navigational safety index that balances global navigational safety and local risk to determine the safest route. To accommodate ship kinematic constraints, path modifications are applied using a dynamic window approach. A case study in a simulated Port of Hamburg environment shows that GARSA effectively identifies safe routes and avoids the risk of entering narrow waterways in an autonomous manner, thereby prioritizing safety in route decision-making for MASS in confined waters.

Authors:Hao Fu, William H. K. Lam, Wei Ma, Yuxin Shi, Rui Jiang, Huijun Sun, Ziyou Gao
Title: Modeling the residual queue and queue-dependent capacity in a static traffic assignment problem
Abstract:
The residual queue during a given study period (e.g., peak hour) is an important feature that should be considered when solving a traffic assignment problem under equilibrium for strategic traffic planning. Although studies have focused extensively on static or quasi-dynamic traffic assignment models considering the residual queue, they have failed to capture the situation wherein the equilibrium link flow passing through the link is less than the link physical capacity under congested conditions. To address this critical issue, we introduce a novel static traffic assignment model that explicitly incorporates the residual queue and queue-dependent link capacity. The proposed model ensures that equilibrium link flows remain within the physical capacity bounds, yielding estimations more aligned with data observed by traffic detectors, especially in oversaturated scenarios. A generalized link cost function considering queue-dependent capacity, with an additional queuing delay term is proposed. The queuing delay term represents the added travel cost under congestion, offering a framework wherein conventional static models, both with and without physical capacity constraints, become special cases of our model. Our study rigorously analyzes the mathematical properties of the new model, establishing the theoretical uniqueness of solutions for link flow and residual queue under certain conditions. We also introduce a gradient projection-based alternating minimization algorithm tailored for the proposed model. Numerical examples are conducted to demonstrate the superiority and merit of the proposed model and solution algorithm.

Authors:Carlos Andrés Elorza Casas, Luis A. Ricardez-Sandoval, Joshua L. Pulsipher
Title: A Comparison of Strategies to Embed Physics-Informed Neural Networks in Nonlinear Model Predictive Control Formulations Solved via Direct Transcription
Abstract:
This study aims to benchmark candidate strategies for embedding neural network (NN) surrogates in nonlinear model predictive control (NMPC) formulations that are subject to systems described with partial differential equations and that are solved via direct transcription (i.e., simultaneous methods). This study focuses on the use of physics-informed NNs and physics-informed convolutional NNs as the internal (surrogate) models within the NMPC formulation. One strategy embeds NN models as explicit algebraic constraints, leveraging the automatic differentiation (AD) of an algebraic modelling language (AML) to evaluate the derivatives. Alternatively, the solver can be provided with derivatives computed external to the AML via the AD routines of the machine learning environment the NN is trained in. The three numerical experiments considered in this work reveal that replacing mechanistic models with NN surrogates may not always offer computational advantages when smooth activation functions are used in conjunction with a local nonlinear solver (e.g., Ipopt), even with highly nonlinear systems. Moreover, in this context, the external function evaluation of the NN surrogates often outperforms the embedding strategies that rely on explicit algebraic constraints, likely due to the difficulty in initializing the auxiliary variables and constraints introduced by explicit algebraic reformulations.

Authors:Karim Cherifi, Achraf El Messaoudi, Hannes Gernandt, Marco Roschkowski
Title: Nonlinear port-Hamiltonian system identification from input-state-output data
Abstract:
A framework for identifying nonlinear port-Hamiltonian systems using input-state-output data is introduced. The framework utilizes neural networks' universal approximation capacity to effectively represent complex dynamics in a structured way. We show that using the structure helps to make long-term predictions compared to baselines that do not incorporate physics. We also explore different architectures based on MLPs, KANs, and using prior information. The technique is validated through examples featuring nonlinearities in either the skew-symmetric terms, the dissipative terms, or the Hamiltonian.

Authors:Hilal Esra Yaldiz, Ozgur B. Akan
Title: Molecular Communication-Inspired Particle Collector-Transmitter (PaCoT) for Heavy Metal Removal from Human Circulatory System
Abstract:
This study proposes a novel molecular communication (MC)-inspired nanomachine, PArticle COllector-Transmitter (PaCoT), to remove toxic heavy metals from the human circulatory system. PaCoT collects these toxic metals and transmits them to release nodes, such as lymph capillaries, before they reach critical organs. The design incorporates key physical parameters and operates through particle reception and release mechanisms. In the reception process, described as ligand-receptor binding reactions, modeled as a continuous-time Markov process (CTMP), PaCoT uses metallothionein proteins as receptors and heavy metals (e.g., Zn, Pb, Cd) as ligands. We assume that the toxicity condition (toxic (bit-1), non-toxic (bit-0)) is encoded into the concentration of heavy metal molecules. Thus, we consider that heavy metal concentration within the MC channel (e.g., human circulatory system) employs binary concentration shift keying (binary CSK). The concentration ratio of specific heavy metals is estimated to infer toxicity, i.e., a high ratio indicates toxicity and a low ratio suggests non-toxicity. Toxicity detection is achieved by monitoring the receptor bound duration in the presence of interferers and various types of heavy metals. After detecting and collecting toxic heavy metals, PaCoT securely retains them in a liquid medium (e.g., water) until release, employing two mechanisms: (1) a single-disc viscous micropump to regulate flow rate, and (2) Brownian motion to facilitate diffusion. PaCoT's performance is evaluated through MATLAB simulations, focusing on bit error probability (BEP) of the toxicity detection method, release time of molecules from PaCoT and energy consumption.

Authors:Mayank Singh, Noor Hakam, Trisha M. Kesar, Nitin Sharma
Title: Koopman-Based Model Predictive Control of Functional Electrical Stimulation for Ankle Dorsiflexion and Plantarflexion Assistance
Abstract:
Functional Electrical Stimulation (FES) can be an effective tool to augment paretic muscle function and restore normal ankle function. Our approach incorporates a real-time, data-driven Model Predictive Control (MPC) scheme, built upon a Koopman operator theory (KOT) framework. This framework adeptly captures the complex nonlinear dynamics of ankle motion in a linearized form, enabling application of linear control approaches for highly nonlinear FES-actuated dynamics. Utilizing inertial measurement units (IMUs), our method accurately predicts the FES-induced ankle movements, while accounting for nonlinear muscle actuation dynamics, including the muscle activation for both plantarflexors, and dorsiflexors (Tibialis Anterior (TA)). The linear prediction model derived through KOT allowed us to formulate the MPC problem with linear state space dynamics, enhancing the real-time feasibility, precision and adaptability of the FES driven control. The effectiveness and applicability of our approach have been demonstrated through comprehensive simulations and experimental trials, including three participants with no disability and a participant with Multiple Sclerosis. Our findings highlight the potential of a KOT-based MPC approach for FES based gait assistance that offers effective and personalized assistance for individuals with gait impairment conditions.

Authors:Masoud S. Sakha, Rushikesh Kamalapurkar
Title: Switched Optimal Control with Dwell Time Constraints
Abstract:
This paper presents an embedding-based approach for solving switched optimal control problems (SOCPs) with dwell time constraints. At first, an embedded optimal control problem (EOCP) is defined by replacing the discrete switching signal with a continuous embedded variable that can take intermediate values between the discrete modes. While embedding enables solutions of SOCPs via conventional techniques, optimal solutions of EOCPs often involve nonexistent modes and thus may not be feasible for the SOCP. In the modified EOCP (MEOCP), a concave function is added to the cost function to enforce a bang-bang solution in the embedded variable, which results in feasible solutions for the SOCP. However, the MEOCP cannot guarantee the satisfaction of dwell-time constraints. In this paper, a MEOCP is combined with a filter layer to remove switching times that violate the dwell time constraint. Insertion gradients are used to minimize the effect of the filter on the optimal cost.

Authors:Xin Lu, Jing Qiu, Cuo Zhang, Gang Lei, Jianguo Zhu
Title: Promoting Shared Energy Storage Aggregation among High Price-Tolerance Prosumer: An Incentive Deposit and Withdrawal Service
Abstract:
Many residential prosumers exhibit a high price-tolerance for household electricity bills and a low response to price incentives. This is because the household electricity bills are not inherently high, and the potential for saving on electricity bills through participation in conventional Shared Energy Storage (SES) is limited, which diminishes their motivation to actively engage in SES. Additionally, existing SES models often require prosumers to take additional actions, such as optimizing rental capacity and bidding prices, which happen to be capabilities that typical household prosumers do not possess. To incentivize these high price-tolerance residential prosumers to participate in SES, a novel SES aggregation framework is proposed, which does not require prosumers to take additional actions and allows them to maintain existing energy storage patterns. Compared to conventional long-term operation of SES, the proposed framework introduces an additional short-term construction step during which the energy service provider (ESP) acquires control of the energy storage systems (ESS) and offers electricity deposit and withdrawal services (DWS) with dynamic coefficients, enabling prosumers to withdraw more electricity than they deposit without additional actions. Additionally, a matching mechanism is proposed to align prosumers' electricity consumption behaviors with ESP's optimization strategies. Finally, the dynamic coefficients in DWS and trading strategies are optimized by an improved deep reinforcement learning (DRL) algorithm. Case studies are conducted to verify the effectiveness of the proposed SES aggregation framework with DWS and the matching mechanism.

Authors:M. Amin Rahimian, Michael P. Colaresi
Title: Democratic Resilience and Sociotechnical Shocks
Abstract:
We focus on the potential fragility of democratic elections given modern information-communication technologies (ICT) in the Web 2.0 era. Our work provides an explanation for the cascading attrition of public officials recently in the United States and offers potential policy interventions from a dynamic system's perspective. We propose that micro-level heterogeneity across individuals within crucial institutions leads to vulnerabilities of election support systems at the macro scale. Our analysis provides comparative statistics to measure the fragility of systems against targeted harassment, disinformation campaigns, and other adversarial manipulations that are now cheaper to scale and deploy. Our analysis also informs policy interventions that seek to retain public officials and increase voter turnout. We show how limited resources (for example, salary incentives to public officials and targeted interventions to increase voter turnout) can be allocated at the population level to improve these outcomes and maximally enhance democratic resilience. On the one hand, structural and individual heterogeneity cause systemic fragility that adversarial actors can exploit, but also provide opportunities for effective interventions that offer significant global improvements from limited and localized actions.

Authors:Caner Odabaş, Ömer Morgül
Title: A Novel Observer Design for LuGre Friction Estimation and Control
Abstract:
Dynamic components of the friction may directly impact the stability and performance of the motion control systems. The LuGre model is a prevalent friction model utilized to express this dynamic behavior. Since the LuGre model is very comprehensive, friction compensation based on it might be challenging. Inspired by this, we develop a novel observer to estimate and compensate for LuGre friction. Furthermore, we present a Lyapunov stability analysis to show that observer dynamics are asymptotically stable under certain conditions. Compared to its counterparts, the proposed observer constitutes a simple and standalone scheme that can be utilized with arbitrary control inputs in a straightforward way. As a primary difference, the presented observer estimates velocity and uses the velocity error to estimate friction in addition to control input. The extensive simulations revealed that the introduced observer enhances position and velocity tracking performance in the presence of friction.

Authors:TieuNien Le, VanCuong Pham, NgocSon Vu
Title: Development of an Adaptive Sliding Mode Controller using Neural Networks for Trajectory Tracking of a Cylindrical Manipulator
Abstract:
Cylindrical manipulators are extensively used in industrial automation, especially in emerging technologies like 3D printing, which represents a significant future trend. However, controlling the trajectory of nonlinear models with system uncertainties remains a critical challenge, often leading to reduced accuracy and reliability. To address this, the study develops an Adaptive Sliding Mode Controller (ASMC) integrated with Neural Networks (NNs) to improve trajectory tracking for cylindrical manipulators. The ASMC leverages the robustness of sliding mode control and the adaptability of neural networks to handle uncertainties and dynamic variations effectively. Simulation results validate that the proposed ASMC-NN achieves high trajectory tracking accuracy, fast response time, and enhanced reliability, making it a promising solution for applications in 3D printing and beyond.

Authors:Alexander Quessy, Thomas Richardson, Sebastian East
Title: Safe Reinforcement Learning with Minimal Supervision
Abstract:
Reinforcement learning (RL) in the real world necessitates the development of procedures that enable agents to explore without causing harm to themselves or others. The most successful solutions to the problem of safe RL leverage offline data to learn a safe-set, enabling safe online exploration. However, this approach to safe-learning is often constrained by the demonstrations that are available for learning. In this paper we investigate the influence of the quantity and quality of data used to train the initial safe learning problem offline on the ability to learn safe-RL policies online. Specifically, we focus on tasks with spatially extended goal states where we have few or no demonstrations available. Classically this problem is addressed either by using hand-designed controllers to generate data or by collecting user-generated demonstrations. However, these methods are often expensive and do not scale to more complex tasks and environments. To address this limitation we propose an unsupervised RL-based offline data collection procedure, to learn complex and scalable policies without the need for hand-designed controllers or user demonstrations. Our research demonstrates the significance of providing sufficient demonstrations for agents to learn optimal safe-RL policies online, and as a result, we propose optimistic forgetting, a novel online safe-RL approach that is practical for scenarios with limited data. Further, our unsupervised data collection approach highlights the need to balance diversity and optimality for safe online exploration.

Authors:Yingjie Zhou, Tao Li
Title: Privacy-Preserving Distributed Online Mirror Descent for Nonconvex Optimization
Abstract:
We investigate the distributed online nonconvex optimization problem with differential privacy over time-varying networks. Each node minimizes the sum of several nonconvex functions while preserving the node's differential privacy. We propose a privacy-preserving distributed online mirror descent algorithm for nonconvex optimization, which uses the mirror descent to update decision variables and the Laplace differential privacy mechanism to protect privacy. Unlike the existing works, the proposed algorithm allows the cost functions to be nonconvex, which is more applicable. Based upon these, we prove that if the communication network is $B$-strongly connected and the constraint set is compact, then by choosing the step size properly, the algorithm guarantees $ε$-differential privacy at each time. Furthermore, we prove that if the local cost functions are $β$-smooth, then the regret over time horizon $T$ grows sublinearly while preserving differential privacy, with an upper bound $O(\sqrt{T})$. Finally, the effectiveness of the algorithm is demonstrated through numerical simulations.

Authors:Alice Cleynen, Benoîte de Saporta, Orlane Rossini, Régis Sabbadin, Amélie Vernay
Title: Bridging Impulse Control of Piecewise Deterministic Markov Processes and Markov Decision Processes: Frameworks, Extensions, and Open Challenges
Abstract:
Control theory plays a pivotal role in understanding and optimizing the behavior of complex dynamical systems across various scientific and engineering disciplines. Two key frameworks that have emerged for modeling and solving control problems in stochastic systems are piecewise deterministic Markov processes (PDMPs) and Markov decision processes (MDPs). Each framework has its unique strengths, and their intersection offers promising opportunities for tackling a broad class of problems, particularly in the context of impulse controls and decision-making in complex systems. The relationship between PDMPs and MDPs is a natural subject of exploration, as embedding impulse control problems for PDMPs into the MDP framework could open new avenues for their analysis and resolution. Specifically, this integration would allow leveraging the computational and theoretical tools developed for MDPs to address the challenges inherent in PDMPs. On the other hand, PDMPs can offer a versatile and simple paradigm to model continuous time problems that are often described as discrete-time MDPs parametrized by complex transition kernels. This transformation has the potential to bridge the gap between the two frameworks, enabling solutions to previously intractable problems and expanding the scope of both fields. This paper presents a comprehensive review of two research domains, illustrated through a recurring medical example. The example is revisited and progressively formalized within the framework of thevarious concepts and objects introduced

Authors:Mario Zanon, Lars Grüne
Title: Stabilization of Strictly Pre-Dissipative Receding Horizon Linear Quadratic Control by Terminal Costs
Abstract:
Asymptotic stability in receding horizon control is obtained under a strict pre-dissipativity assumption, in the presence of suitable state constraints. In this paper we analyze how terminal constraints can be replaced by suitable terminal costs. We restrict to the linear-quadratic setting as that allows us to obtain stronger results, while we analyze the full nonlinear case in a separate contribution.

Authors:Michael Ruderman, Francesco De Rito
Title: Study of Frictional and Impact Transients in Active-Passive Mechanical Pair
Abstract:
We consider an active-passive mechanical pair in which the relative motion of the latter is constrained by the mechanical impact. The system dynamics is described by the previously introduced modeling frameworks of force transition and dissipation through the nonlinear Coulomb friction and structural damping, the later in accord with Hertzian contact theory. The focus of the recent study is on combining both interaction mechanisms, and the detailed experimental evaluation which discloses validity of the modeling assumptions. Such mechanical pair interactions can be found in various mechatronic systems and mechanisms, like for example clutches, backlash elements, sliding items on the shaking and inclining surfaces, conveyor belts and others. This practical study demonstrates and discusses the transients of a vibro-impact dynamics and shows theoretical developments in line with experimental evaluation.

Authors:Youqing Wang, Ying Li, Thomas Parisini, Dong Zhao
Title: Resilient Distributed Control for Uncertain Nonlinear Interconnected Systems under Network Anomaly
Abstract:
We address a distributed adaptive control methodology for nonlinear interconnected systems possibly affected by network anomalies. In the framework of adaptive approximation, the distributed controller and parameter estimator are designed by exploiting a backstepping approach. The stability of the distributed control system under anomalies is analyzed, where both local and neighboring anomaly effects are considered. To quantify the resilience of the interconnected system under the action of network anomalies, we derive bounds on the duration of each anomaly and the resting time between two consecutive anomalies. Specifically, when each anomaly duration is smaller than our designed upper bound, the interconnected system controlled by the distributed approximation-based controller remains asymptotically stable. Moreover, if the resting time between two consecutive anomalies is larger than the proposed bound, then all signals of the control system are guaranteed to be bounded. In the paper, we show that under the action of the proposed distributed adaptive controller, the interconnected system remains stable in the presence of network anomalies, with both the qualitative and quantitative resilient conditions. Extensive simulation results show the effectiveness of our theoretical results.

Authors:Atonu Ghosh, Devadeep Misra, Hirdesh Mewada
Title: Extending Internet Access Over LoRa for Internet of Things and Critical Applications
Abstract:
LoRa bridges the gap between remote locations and mainstream networks, enabling large-scale Internet of Things (IoT) deployments. Despite the recent advancements around LoRa, Internet access over this technology is still largely unexplored. Most existing solutions only handle packets within the local LoRa network and do not interact with web applications. This limits the scalability and the ability to deliver essential web services in disconnected regions. This work proposes and implements ILoRa to extend the public Internet to disconnected areas for essential service delivery. ILoRa enables accessing Application Programming Interfaces (APIs) and web pages on the Internet over a LoRa backbone network. It comprises a ILoRa coordinator code (ICN) and access point nodes (APNs). The ICN interfaces the LoRa network with the public Internet and interprets content. The APN tethers a WiFi hotspot to which devices connect and access the web content. This work further proposes data handling methods for ICNs and APNs. An actual hardware-based implementation validates the proposed system. The implementation achieves a throughput of 1.06 kbps tested for an Internet-based API returning JSON data of 930 B. Furthermore, the APN consumed approximately $0.162$A current, and the resource utilization on the ICN was minimal.

Authors:Zhitao Yu, Joshua Tran, Claire Li, Aaron Weber, Yash P. Talwekar, Sawyer Fuller
Title: TinySense: A Lighter Weight and More Power-efficient Avionics System for Flying Insect-scale Robots
Abstract:
In this paper, we introduce advances in the sensor suite of an autonomous flying insect robot (FIR) weighing less than a gram. FIRs, because of their small weight and size, offer unparalleled advantages in terms of material cost and scalability. However, their size introduces considerable control challenges, notably high-speed dynamics, restricted power, and limited payload capacity. While there have been advancements in developing lightweight sensors, often drawing inspiration from biological systems, no sub-gram aircraft has been able to attain sustained hover without relying on feedback from external sensing such as a motion capture system. The lightest vehicle capable of sustained hovering -- the first level of ``sensor autonomy'' -- is the much larger 28 g Crazyflie. Previous work reported a reduction in size of that vehicle's avionics suite to 187 mg and 21 mW. Here, we report a further reduction in mass and power to only 78.4 mg and 15 mW. We replaced the laser rangefinder with a lighter and more efficient pressure sensor, and built a smaller optic flow sensor around a global-shutter imaging chip. A Kalman Filter (KF) fuses these measurements to estimate the state variables that are needed to control hover: pitch angle, translational velocity, and altitude. Our system achieved performance comparable to that of the Crazyflie's estimator while in flight, with root mean squared errors of 1.573 deg, 0.186 m/s, and 0.136 m, respectively, relative to motion capture.

Authors:Changyou Geng, Dezhi Ren, Enkai Mao, Changfu Zou, Mario Vašak, Xinyi Zheng, Weiji Han
Title: Fundamental Techniques for Optimal Control of Reconfigurable Battery Systems: System Modeling and Feasible Search Space Construction
Abstract:
Reconfigurable battery systems (RBSs) are emerging as a promising solution to improving fault tolerance, charge and thermal balance, energy delivery, etc. To optimize these performance metrics of RBSs, high-dimensional nonlinear integer programming problems need to be formulated and solved. To accomplish this, it is necessary to address several critical challenges stemming from nonlinear battery characteristics, discrete switch states, dynamic system configurations, as well as the curse of dimensionality inherent in large-scale RBSs. Thus, we propose a unified modeling framework to accommodate various possible configurations of an RBS and even to cover different RBS designs and their hybrid combinations, enabling the problem formulation for the RBS optimal control and facilitating the RBS topology design.Further, to solve the formulated RBS optimal control problems, the search space is narrowed to encompass only the feasible solutions, thereby ensuring safe battery connections while substantially curtailing search efforts. These proposed techniques, focusing on unifying the system modeling and narrowing the search space, lay a solid foundation for effectively formulating and efficiently solving RBS optimal control problems. The accuracy and effectiveness of the proposed techniques are demonstrated by both simulation and experimental tests.

Authors:Isin M Balci, Efstathios Bakolas
Title: Constrained Multi-Modal Density Control of Linear Systems via Covariance Steering Theory
Abstract:
In this paper, we investigate finite-horizon optimal density steering problems for discrete-time stochastic linear dynamical systems whose state probability densities can be represented as Gaussian Mixture Models (GMMs). Our goal is to compute optimal controllers that can ensure that the terminal state distribution will match the desired distribution exactly (hard-constrained version) or closely (soft-constrained version) where in the latter case we employ a Wasserstein like metric that can measure the distance between different GMMs. Our approach relies on a class of randomized control policies which allow us to reformulate the proposed density steering problems as finite-dimensional optimization problems, and in particular, linear and bilinear programs. Additionally, we explore more general density steering problems based on the approximation of general distributions by GMMs and characterize bounds for the error between the terminal distribution under our policy and the approximated GMM terminal state distribution. Finally, we demonstrate the effectiveness of our approach through non-trivial numerical experiments.

Authors:Torsten Djurhuus, Viktor Krozer
Title: A Novel First-Principles Model of Injection-Locked Oscillator Phase Noise
Abstract:
The paper documents the development of a novel time-domain model of injection-locked oscillator phase-noise response. The methodology follows a first-principle approach and applies to all circuit topologies, coupling configurations, parameter dependencies etc. The corresponding numerical algorithm is readily integrated into all major commercial simulation software suites. The model advances current state-of-the-art pertaining to analytical modelling of this class of circuits. Using this novel analytical framework, several important new insights are revealed which, in-turn, translate into useful design rules for synthesis of injection-locked oscillator circuits with optimal noise performance.

Authors:William Kuhl, Jun Wang, Duncan Eddy, Mykel Kochenderfer
Title: Markov Decision Processes for Satellite Maneuver Planning and Collision Avoidance
Abstract:
This paper presents a decentralized, online planning approach for scalable maneuver planning for large constellations. While decentralized, rule-based strategies have facilitated efficient scaling, optimal decision-making algorithms for satellite maneuvers remain underexplored. As commercial satellite constellations grow, there are benefits of online maneuver planning, such as using real-time trajectory predictions to improve state knowledge, thereby reducing maneuver frequency and conserving fuel. We address this gap in the research by treating the satellite maneuver planning problem as a Markov decision process (MDP). This approach enables the generation of optimal maneuver policies online with low computational cost. This formulation is applied to the low Earth orbit collision avoidance problem, considering the problem of an active spacecraft deciding to maneuver to avoid a non-maneuverable object. We test the policies we generate in a simulated low Earth orbit environment, and compare the results to traditional rule-based collision avoidance techniques.

Authors:Cuiqin Zhao, Dongya Shen, Yanming Duan, Yuting Wang, Huihui Xiao, Longxiang Luo
Title: Low RCS High-Gain Broadband Substrate Integrated Waveguide Antenna Based on Elliptical Polarization Conversion Metasurface
Abstract:
Designed an elliptical polarization conversion metasurface (PCM) for Ka-band applications, alongside a high-gain substrate integrated waveguide (SIW) antenna. The PCM elements are integrated into the antenna design in a chessboard array configuration, with the goal of achieving effective reduction in the antenna's radar cross section (RCS). Both the PCM elements and antenna structure exhibit a simple design. The top layer of the metasurface (MS) elements employs an elliptical pattern symmetric along the diagonal, enabling efficient conversion of linearly polarized waves. The antenna component, on the other hand, consists of a broadband dipole antenna fed by SIW slot coupling. Verified through simulations, the polarization conversion bandwidth of this PCM unit reaches 80.38% where polarization conversion ratio (PCR) exceeds 90% (25.3-59.3GHz), demonstrating exceptional conversion performance. When the dipole antenna is combined with the PCM, its -10dB impedance bandwidth reaches to 15.09% (33.7-39.2GHz), with a maximum realized gain of 9.1dBi. Notably, the antenna loaded with the chessboard PCM structure effectively disperses the energy of scattered echoes around, significantly reducing the concentration of scattered energy in the direction of the incident wave, thereby achieving an effective reduction in RCS.

Authors:Aniket Raj, Amit Kumar
Title: EOG Communication Interface for Quadriplegics: Prototype & Signal Processing
Abstract:
Electrooculography (EOG) is an electrophysiological signal that determines the human eye orientation and is therefore widely used in Human Tracking Interfaces (HCI). The purpose of this project is to develop a communication method for quadriplegic patients using EOG signals aimed at text and voice generation. The system consists of 3D eye movement tracking embedded using a custom-built prototype to measure the eyeball's left-right and up-down movements. The ESP32 board, which has a set of parameters to convert the data into content displayed on LCDs and MP3 players, is used to capture and process the signal. helps people by facilitating more natural and efficient symptom expression. The blink system will be able to incorporate face masks and more eye tests as it continues to develop. Even if it might work, more research and clinical trials are needed to evaluate the system's usefulness and ensure that it performs as planned in real-world scenarios. With this project, assistive technology will make significant progress and improve the lives of many who suffer from severe motor impairments.

Authors:Xia Xie, Kexin Fan, Wenfeng Deng, Nikolaos Pappas, Qinyu Zhang
Title: Multi-Satellite Beam Hopping and Power Allocation Using Deep Reinforcement Learning
Abstract:
In non-geostationary orbit (NGSO) satellite communication systems, effectively utilizing beam hopping (BH) technology is crucial for addressing uneven traffic demands. However, optimizing beam scheduling and resource allocation in multi-NGSO BH scenarios remains a significant challenge. This paper proposes a multi-NGSO BH algorithm based on deep reinforcement learning (DRL) to optimize beam illumination patterns and power allocation. By leveraging three degrees of freedom (i.e., time, space, and power), the algorithm aims to optimize the long-term throughput and the long-term cumulative average delay (LTCAD). The solution is based on proximal policy optimization (PPO) with a hybrid action space combining discrete and continuous actions. Using two policy networks with a shared base layer, the proposed algorithm jointly optimizes beam scheduling and power allocation. One network selects beam illumination patterns in the discrete action space, while the other manages power allocation in the continuous space. Simulation results show that the proposed algorithm significantly reduces LTCAD while maintaining high throughput in time-varying traffic scenarios. Compared to the four benchmark methods, it improves network throughput by up to $8.9\%$ and reduces LTCAD by up to $69.2\%$

Authors:W. Steven Gray, Erik I. Verriest
Title: On Symmetries in Analytic Input-Output Systems
Abstract:
There are many notions of symmetry for state space models. They play a role in understanding when systems are time reversible, provide a system theoretic interpretation of thermodynamics, and have applications in certain stabilization and optimal control problems. The earliest form of symmetry for analytic input-output systems is due to Fliess who introduced systems described by an exchangeable generating series. In this case, one is able to write the output as a memoryless analytic function of the integral of each input. The first goal of this paper is to describe two new types of symmetry for such Chen--Fliess input-output systems, namely, coefficient reversible symmetry and palindromic symmetry. Each concept is then related to the notion of an exchangeable series. The second goal of the paper is to provide an in-depth analysis of Chen--Fliess input-output systems whose generating series are linear time-varying, palindromic, and have generating series coefficients growing at a maximal rate while ensuring some type of convergence. It is shown that such series have an infinite Hankel rank and Lie rank, have a certain infinite dimensional state space realization, and a description of their relative degree and zero dynamics is given.

Authors:Ismail Zrigui, Samira Khoulji, Mohamed Larbi Kerkeb
Title: Integrated Strategy for Urban Traffic Optimization: Prediction, Adaptive Signal Control, and Distributed Communication via Messaging
Abstract:
This work introduces an integrated approach to optimizing urban traffic by combining predictive modeling of vehicle flow, adaptive traffic signal control, and a modular integration architecture through distributed messaging. Using real-time data from various sensors, the system anticipates traffic fluctuations and dynamically adjusts signal phase durations to minimize delays and improve traffic flow. This proactive adjustment, supported by algorithms inspired by simulated annealing and reinforcement learning, also enhances energy efficiency, reduces pollutant emissions, and responds effectively to unexpected events (adverse weather, accidents, or temporary gatherings). Preliminary simulations conducted in a realistic urban environment demonstrate a significant reduction in average waiting times. Future developments include incorporating data from connected vehicles, integrating new modes of transport, and continuously refining predictive models to address the growing challenges of urban mobility.

Authors:Ebrahim Navid Sadjadi, Jesus Garcia, Jose M. Molina, Akbar Hashemi Borzabadi, Monireh Asadi Abchouyeh
Title: Fuzzy Model Identification and Self Learning with Smooth Compositions
Abstract:
This paper develops a smooth model identification and self-learning strategy for dynamic systems taking into account possible parameter variations and uncertainties. We have tried to solve the problem such that the model follows the changes and variations in the system on a continuous and smooth surface. Running the model to adaptively gain the optimum values of the parameters on a smooth surface would facilitate further improvements in the application of other derivative based optimization control algorithms such as MPC or robust control algorithms to achieve a combined modeling-control scheme. Compared to the earlier works on the smooth fuzzy modeling structures, we could reach a desired trade-off between the model optimality and the computational load. The proposed method has been evaluated on a test problem as well as the non-linear dynamic of a chemical process.

Authors:Henghua Shen, Qixin Wang
Title: Emergency-Brake Simplex: Toward A Verifiably Safe Control-CPS Architecture for Abrupt Runtime Reachability Constraint Changes
Abstract:
When a system's constraints change abruptly, the system's reachability safety does no longer sustain. Thus, the system can reach a forbidden/dangerous value. Conventional remedy practically involves online controller redesign (OCR) to re-establish the reachability's compliance with the new constraints, which, however, is usually too slow. There is a need for an online strategy capable of managing runtime changes in reachability constraints. However, to the best of the authors' knowledge, this topic has not been addressed in the existing literature. In this paper, we propose a fast fault tolerance strategy to recover the system's reachability safety in runtime. Instead of redesigning the system's controller, we propose to change the system's reference state to modify the system's reachability to comply with the new constraints. We frame the reference state search as an optimization problem and employ the Karush-Kuhn-Tucker (KKT) method as well as the Interior Point Method (IPM) based Newton's method (as a fallback for the KKT method) for fast solution derivation. The optimization also allows more future fault tolerance. Numerical simulations demonstrate that our method outperforms the conventional OCR method in terms of computational efficiency and success rate. Specifically, the results show that the proposed method finds a solution $10^{2}$ (with the IPM based Newton's method) $\sim 10^{4}$ (with the KKT method) times faster than the OCR method. Additionally, the improvement rate of the success rate of our method over the OCR method is $40.81\%$ without considering the deadline of run time. The success rate remains at $49.44\%$ for the proposed method, while it becomes $0\%$ for the OCR method when a deadline of $1.5 \; seconds$ is imposed.

Authors:Shian Wang, Jose Acedo Aguilar, Miguel Velez-Reyes
Title: Smoothing traffic flow through automated vehicle control with optimal parameter selection
Abstract:
Stop-and-go traffic waves are known for reducing the efficiency of transportation systems by increasing traffic oscillations and energy consumption. In this study, we develop an approach to synthesize a class of additive feedback controllers for automated vehicles (AVs) to smooth nonlinear mixed traffic flow, including both AVs and human-driven vehicles (HVs). Unlike recent explicit AV controllers that rely on strict assumptions such as time-varying equilibrium traffic speed, our proposed AV controller requires only local traffic information, such as inter-vehicle spacing and relative speed, which are readily available through AV onboard sensors. Essentially, it allows a controlled AV to track a subtler version of the perturbed speed profile resulting from its preceding vehicle, thereby enabling smoother traffic flow. Additionally, we provide a method for selecting the optimal control parameters to achieve traffic-smoothing effects efficiently. These unique features of the developed AV controller ensure much higher implementability. We demonstrate the effectiveness of the proposed approach through simulations of two distinct traffic scenarios with varying levels of oscillation. The results show that AVs using the proposed controller are capable of effectively reducing traffic oscillations and lowering vehicle fuel consumption by up to 46.78\% and 2.74\%, respectively, for a platoon of 10 vehicles. The traffic-smoothing effect of the controller is more pronounced at higher penetration rates of AVs. While the performance of the proposed approach is slightly less superior to that of the most recent additive AV controller, it offers greater implementability and provides an efficient method for selecting optimal control parameters.

Authors:Grant Ruan, Munther A. Dahleh
Title: Temperature-Controlled Smart Charging for Electric Vehicles in Cold Climates
Abstract:
The battery performance and lifespan of electric vehicles (EVs) degrade significantly in cold climates, requiring a considerable amount of energy to heat up the EV batteries. This paper proposes a novel technology, namely temperature-controlled smart charging, to coordinate the heating/charging power and reduce the total energy use of a solar-powered EV charging station. Instead of fixing the battery temperature setpoints, we analyze the thermal dynamics and inertia of EV batteries, and decide the optimal timing and proper amount of energy allocated for heating. In addition, a temperature-sensitive charging model is formulated with consideration of dynamic charging rates as well as battery health. We further tailor acceleration algorithms for large-scale EV charging, including the reduced-order dual decomposition and vehicle rescheduling. Simulation results demonstrate that the proposed temperature-controlled smart charging is superior in capturing the flexibility value of EV batteries and making full use of the rooftop solar energy. The proposed model typically achieves a 12.5--18.4% reduction in the charging cost and a 0.4--6.8% drop in the overhead energy use for heating.

Authors:Kun Wang, Roberto Armellin, Adam Evans, Harry Holt, Zheng Chen
Title: Learning-Based Stable Optimal Guidance for Spacecraft Close-Proximity Operations
Abstract:
Machine learning techniques have demonstrated their effectiveness in achieving autonomy and optimality for nonlinear and high-dimensional dynamical systems. However, traditional black-box machine learning methods often lack formal stability guarantees, which are critical for safety-sensitive aerospace applications. This paper proposes a comprehensive framework that combines control Lyapunov functions with supervised learning to provide certifiably stable, time- and fuel-optimal guidance for rendezvous maneuvers governed by Clohessy-Wiltshire dynamics. The framework is easily extensible to nonlinear control-affine systems. A novel neural candidate Lyapunov function is developed to ensure positive definiteness. Subsequently, a control policy is defined, in which the thrust direction vector minimizes the Lyapunov function's time derivative, and the thrust throttle is determined using minimal required throttle. This approach ensures that all loss terms related to the control Lyapunov function are either naturally satisfied or replaced by the derived control policy. To jointly supervise the Lyapunov function and the control policy, a simple loss function is introduced, leveraging optimal state-control pairs obtained by a polynomial maps based method. Consequently, the trained neural network not only certifies the Lyapunov function but also generates a near-optimal guidance policy, even for the bang-bang fuel-optimal problem. Extensive numerical simulations are presented to validate the proposed method.

Authors:Sushil Ghildiyal, Kishankumar Bhimani, Manimozhi M
Title: Design To Convert a Wired PLC into Wireless PLC
Abstract:
This paper implies Bluetooth technology, which is put into effect to alter extant, wired into wireless Programmable Logic Controller (PLC). Here two Bluetooth devices are employed as a transceiver to transmit and receives the input signal to contrive wireless PLC. The main advantage of PLC is to control the output according to the status of input. In Bluetooth technology, the handshaking between the two Bluetooth modules takes place, which is interfaced with a microcontroller board (Arduino board) and then to PLC such that field devices can be controlled without wire.

Authors:R. Bernal, F. Milano
Title: A Complex Frequency-Based Control for Inverter-Based Resources
Abstract:
This paper proposes a novel control for Inverter-based Resources (IBRs) based on the Complex Frequency (CF) concept. The controller's objective is to maintain a constant CF of the voltage at the terminals of the IBR by adjusting its current reference. This current is imposed based on the well-known power flow equation, the dynamics of which are calculated through the estimation of the CF of the voltages of the adjacent buses. Performance is evaluated by analyzing local variations in frequency and magnitude of the voltage, as well as the response of the system's Center of Inertia (CoI) frequency, and then compared with conventional frequency droop, PI voltage controllers and virtual inertia. The case study utilizes the WSCC 9-bus system and a 1479-bus model of the Irish transmission grid and considers various contingencies and sensitivities such as the impact of limiters, delays, noise, R/X ratio, and EMT dynamics. Results show that the proposed scheme consistently outperforms the conventional controllers, leading to significant improvements in the overall dynamic response of the system.

Authors:Roy Steinberg, Kiril Solovey
Title: Impossibility of Self-Organized Aggregation without Computation
Abstract:
In their seminal work, Gauci et al. (2014) studied the fundamental task of aggregation, wherein multiple robots need to gather without an a priori agreed-upon meeting location, using minimal hardware. That paper considered differential-drive robots that are memoryless and unable to compute. Moreover, the robots cannot communicate with one another and are only equipped with a simple sensor that determines whether another robot is directly in front of them. Despite those severe limitations, Gauci et al. introduced a controller and proved mathematically that it aggregates a system of two robots for any initial state. Unfortunately, for larger systems, the same controller aggregates empirically in many cases but not all. Thus, the question of whether a controller exists that aggregates for any number of robots remains open. In this paper, we show that no such controller exists by investigating the geometric structure of controllers. In addition, we disprove the aggregation proof of the paper above for two robots and present an alternative controller alongside a simple and rigorous aggregation proof.

Authors:Sampson E. Nwachukwu
Title: Power Flow Analysis of a 5-Bus Power System Based on Newton-Raphson Method
Abstract:
Load flow analysis is a fundamental technique used by electrical engineers to simulate and evaluate power system behavior under steady-state conditions. It enables efficient operation and control by determining how active and reactive power flows throughout the system. Selecting an appropriate solution method is critical to ensuring reliable and economical operation of power generation, transmission, and distribution networks. While the conventional loop method may be used in small-scale systems, it is limited by its reliance on impedance-based load data and its inability to scale to complex networks. In contrast, iterative techniques such as the Gauss-Seidel (GS) and Newton-Raphson (NR) methods are better suited for analyzing large systems. Of these, the NR method offers significant advantages due to its quadratic convergence and improved numerical stability. This study presents a power flow analysis of a 5-bus system using the Newton-Raphson approach. The system was modeled and simulated in PowerWorld Simulator (PWS), and a custom MATLAB implementation was developed to verify the results under a base case scenario. The comparative analysis demonstrates that the NR method provides accurate and robust solutions for power flow problems, making it well-suited for evaluating system performance under various operating conditions.

Authors:Umair Zulfiqar
Title: Data-driven Implementations of Various Generalizations of Balanced Truncation
Abstract:
There exist two main frameworks for non-intrusive implementations of approximate balanced truncation: the quadrature-based framework and the ADI-based framework. Both approaches rely solely on samples of the transfer function to construct truncated balanced models, eliminating the need for access to the original model's state-space realization. Recently, the quadrature-based framework has been extended to various generalizations of balanced truncation, including positive-real balanced truncation, bounded-real balanced truncation, and balanced stochastic truncation. While this extension is theoretically nonintrusive-meaning it does not require the original state-space realization-it depends on samples of spectral factorizations of the transfer function. Since practical methods for obtaining such samples are currently unavailable, this extension remains largely a theoretical contribution. In this work, we present a non-intrusive ADI-type framework for these generalized balanced truncation methods that requires only samples of the original transfer function for implementation.

Authors:Jingwen Wei
Title: Real-Time Obstacle Avoidance Algorithms for Unmanned Aerial and Ground Vehicles
Abstract:
The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path planning. However, applying UAVs to search and rescue missions in disaster zones remains underexplored, especially for autonomous navigation. This report develops methods for real-time and secure UAV maneuvering in complex 3D environments, crucial during forest fires. Building upon past research, it focuses on designing navigation algorithms for unfamiliar and hazardous environments, aiming to improve rescue efficiency and safety through UAV-based early warning and rapid response. The work unfolds in phases. First, a 2D fusion navigation strategy is explored, initially for mobile robots, enabling safe movement in dynamic settings. This sets the stage for advanced features such as adaptive obstacle handling and decision-making enhancements. Next, a novel 3D reactive navigation strategy is introduced for collision-free movement in forest fire simulations, addressing the unique challenges of UAV operations in such scenarios. Finally, the report proposes a unified control approach that integrates UAVs and unmanned ground vehicles (UGVs) for coordinated rescue missions in forest environments. Each phase presents challenges, proposes control models, and validates them with mathematical and simulation-based evidence. The study offers practical value and academic insights for improving the role of UAVs in natural disaster rescue operations.

Authors:Maryam Mahdi Al-Husseini
Title: A Hybrid Intrusion Detection System with a New Approach to Protect the Cybersecurity of Cloud Computing
Abstract:
Cybersecurity is one of the foremost challenges facing the world of cloud computing. Recently, the widespread adoption of smart devices in cloud computing environments that provide Internet-based services has become prevalent. Therefore, it is essential to consider the security threats in these environments. The use of intrusion detection systems can mitigate the vulnerabilities of these systems. Furthermore, hybrid intrusion detection systems can provide better protection compared to conventional intrusion detection systems. These systems manage issues related to complexity, dimensionality, and performance. This research aims to propose a Hybrid Intrusion Detection System (HyIDS) that identifies and mitigates initial threats. The main innovation of this research is the introduction of a new method for hybrid intrusion detection systems (HyIDS). For this purpose, an Energy-Valley Optimizer (EVO) is used to select an optimal feature set, which is then classified using supervised machine learning models. The proposed approach is evaluated using the CIC_DDoS2019, CSE_CIC_DDoS2018, and NSL-KDD datasets. For evaluation and testing, the proposed system has been run for a total of 32 times. The results of the proposed approach are compared with the Grey Wolf Optimizer (GWO). With the CIC_DDoS2019 dataset, the D_TreeEVO model achieves an accuracy of 99.13% and a detection rate of 98.941%. Furthermore, this result reaches 99.78% for the CSE_CIC_DDoS2018 dataset. In comparison to NSL-KDD, it has an accuracy of 99.50% and a detection rate (DT) of 99.48%. For feature selection, EVO outperforms GWO. The results of this research indicate that EVO yields better results as an optimizer for HyIDS performance.

Authors:Adittya Pal
Title: Thermodynamic free energy map for the non-oxidative glycolysis pathways
Abstract:
Designing reaction pathways that maximize the production of a target compound in a given metabolic network is a fundamental problem in systems biology. In this study, we systematically explore the non-oxidative glycolysis metabolic network, guided by the principle that reactions with negative Gibbs free energy differences are thermodynamically favored. We enumerate alternative pathways that implement the net non-oxidative glycolysis reaction, categorized by their length. Our analysis reveals several alternative thermodynamically favorable pathways beyond those reported in experiments. In addition, we identify molecules within the network, such as 3-hydroxypropionic acid, that may have significant potential for further investigation.

Authors:Jaehong Oh
Title: Ontology Neural Network and ORTSF: A Framework for Topological Reasoning and Delay-Robust Control
Abstract:
The advancement of autonomous robotic systems has led to impressive capabilities in perception, localization, mapping, and control. Yet, a fundamental gap remains: existing frameworks excel at geometric reasoning and dynamic stability but fall short in representing and preserving relational semantics, contextual reasoning, and cognitive transparency essential for collaboration in dynamic, human-centric environments. This paper introduces a unified architecture comprising the Ontology Neural Network (ONN) and the Ontological Real-Time Semantic Fabric (ORTSF) to address this gap. The ONN formalizes relational semantic reasoning as a dynamic topological process. By embedding Forman-Ricci curvature, persistent homology, and semantic tensor structures within a unified loss formulation, ONN ensures that relational integrity and topological coherence are preserved as scenes evolve over time. The ORTSF transforms reasoning traces into actionable control commands while compensating for system delays. It integrates predictive and delay-aware operators that ensure phase margin preservation and continuity of control signals, even under significant latency conditions. Empirical studies demonstrate the ONN + ORTSF framework's ability to unify semantic cognition and robust control, providing a mathematically principled and practically viable solution for cognitive robotics.

Authors:Senol Gulgonul
Title: PID Tuning via Desired Step Response Curve Fitting
Abstract:
This paper presents a PID tuning method based on step response curve fitting (PID-SRCF) that utilizes L2-norm minimization for precise reference tracking and explicit transient response shaping. The algorithm optimizes controller parameters by minimizing the root-mean-square error between desired and actual step responses. The proposed approach determines optimal PID parameters by matching any closed-loop response to a desired system step response. Practically a first-order plus time delay model or a second-order system with defined settling time and overshoot requirements are preferred. The method has open-source implementation using constrained nonlinear optimization in MATLAB. Comparative evaluations demonstrate that PID-SRCF can replace known analytical methods like Ziegler Nichols, Lambda Tuning, Pole Placement, Dominant Pole and MATLAB proprietary PID tuning applications.

Authors:Ali Peivandizadeh
Title: A Theoretical Framework for Virtual Power Plant Integration with Gigawatt-Scale AI Data Centers: Multi-Timescale Control and Stability Analysis
Abstract:
The explosive growth of artificial intelligence has created gigawatt-scale data centers that fundamentally challenge power system operation, exhibiting power fluctuations exceeding 500 MW within seconds and millisecond-scale variations of 50-75% of thermal design power. This paper presents a comprehensive theoretical framework that reconceptualizes Virtual Power Plants (VPPs) to accommodate these extreme dynamics through a four-layer hierarchical control architecture operating across timescales from 100 microseconds to 24 hours. We develop control mechanisms and stability criteria specifically tailored to converter-dominated systems with pulsing megawatt-scale loads. We prove that traditional VPP architectures, designed for aggregating distributed resources with response times of seconds to minutes, cannot maintain stability when confronted with AI data center dynamics exhibiting slew rates exceeding 1,000 MW/s at gigawatt scale. Our framework introduces: (1) a sub-millisecond control layer that interfaces with data center power electronics to actively dampen power oscillations; (2) new stability criteria incorporating protection system dynamics, demonstrating that critical clearing times reduce from 150 ms to 83 ms for gigawatt-scale pulsing loads; and (3) quantified flexibility characterization showing that workload deferability enables 30% peak reduction while maintaining AI service availability above 99.95%. This work establishes the mathematical foundations necessary for the stable integration of AI infrastructure that will constitute 50-70% of data center electricity consumption by 2030.

Authors:Thien Nhan Vo
Title: Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique
Abstract:
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by incorporating the dynamics of the quadrotor and accounting for non-holonomic constraints. The proposed sliding mode controller effectively addresses system nonlinearities and improves tracking of predefined trajectories. Simulation results are presented graphically to demonstrate the controller's performance.

Authors:Ali Baheri
Title: Implicit Constraint-Aware Off-Policy Correction for Offline Reinforcement Learning
Abstract:
Offline reinforcement learning promises policy improvement from logged interaction data alone, yet state-of-the-art algorithms remain vulnerable to value over-estimation and to violations of domain knowledge such as monotonicity or smoothness. We introduce implicit constraint-aware off-policy correction, a framework that embeds structural priors directly inside every Bellman update. The key idea is to compose the optimal Bellman operator with a proximal projection on a convex constraint set, which produces a new operator that (i) remains a $γ$-contraction, (ii) possesses a unique fixed point, and (iii) enforces the prescribed structure exactly. A differentiable optimization layer solves the projection; implicit differentiation supplies gradients for deep function approximators at a cost comparable to implicit Q-learning. On a synthetic Bid-Click auction -- where the true value is provably monotone in the bid -- our method eliminates all monotonicity violations and outperforms conservative Q-learning and implicit Q-learning in return, regret, and sample efficiency.

Authors:Abdullah Burkan Bereketoglu
Title: Hybrid Meta-Learning Framework for Anomaly Forecasting in Nonlinear Dynamical Systems via Physics-Inspired Simulation and Deep Ensembles
Abstract:
We propose a hybrid meta-learning framework for forecasting and anomaly detection in nonlinear dynamical systems characterized by nonstationary and stochastic behavior. The approach integrates a physics-inspired simulator that captures nonlinear growth-relaxation dynamics with random perturbations, representative of many complex physical, industrial, and cyber-physical systems. We use CNN-LSTM architectures for spatio-temporal feature extraction, Variational Autoencoders (VAE) for unsupervised anomaly scoring, and Isolation Forests for residual-based outlier detection in addition to a Dual-Stage Attention Recurrent Neural Network (DA-RNN) for one-step forecasting on top of the generated simulation data. To create composite anomaly forecasts, these models are combined using a meta-learner that combines forecasting outputs, reconstruction errors, and residual scores. The hybrid ensemble performs better than standalone models in anomaly localization, generalization, and robustness to nonlinear deviations, according to simulation-based experiments. The framework provides a broad, data-driven approach to early defect identification and predictive monitoring in nonlinear systems, which may be applied to a variety of scenarios where complete physical models might not be accessible.

Authors:Mingcong Li
Title: Online-Optimized Gated Radial Basis Function Neural Network-Based Adaptive Control
Abstract:
Real-time adaptive control of nonlinear systems with unknown dynamics and time-varying disturbances demands precise modeling and robust parameter adaptation. While existing neural network-based strategies struggle with computational inefficiency or inadequate temporal dependencies, this study proposes a hybrid control framework integrating a Temporal-Gated Radial Basis Function (TGRBF) network with a nonlinear robust controller. The TGRBF synergizes radial basis function neural networks (RBFNNs) and gated recurrent units (GRUs) through dynamic gating, enabling efficient offline system identification and online temporal modeling with minimal parameter overhead (14.5% increase vs. RBFNNs). During control execution, an event-triggered optimization mechanism activates momentum-explicit gradient descent to refine network parameters, leveraging historical data to suppress overfitting while maintaining real-time feasibility. Concurrently, the nonlinear controller adaptively tunes its gains via Jacobian-driven rules derived from the TGRBF model, ensuring rapid error convergence and disturbance rejection. Lyapunov-based analysis rigorously guarantees uniform ultimate boundedness of both tracking errors and adaptive parameters. Simulations on a nonlinear benchmark system demonstrate the framework's superiority: compared to PID and fixed-gain robust controllers, the proposed method reduces settling time by 14.2%, limits overshoot to 10%, and achieves 48.4% lower integral time-weighted absolute error under dynamic disturbances. By unifying data-driven adaptability with stability-guaranteed control, this work advances real-time performance in partially observable, time-varying industrial systems.

Authors:Jaehong Oh
Title: Cognitive Synergy Architecture: SEGO for Human-Centric Collaborative Robots
Abstract:
This paper presents SEGO (Semantic Graph Ontology), a cognitive mapping architecture designed to integrate geometric perception, semantic reasoning, and explanation generation into a unified framework for human-centric collaborative robotics. SEGO constructs dynamic cognitive scene graphs that represent not only the spatial configuration of the environment but also the semantic relations and ontological consistency among detected objects. The architecture seamlessly combines SLAM-based localization, deep-learning-based object detection and tracking, and ontology-driven reasoning to enable real-time, semantically coherent mapping.

Authors:Ali Baheri
Title: Wasserstein-Barycenter Consensus for Cooperative Multi-Agent Reinforcement Learning
Abstract:
Cooperative multi-agent reinforcement learning (MARL) demands principled mechanisms to align heterogeneous policies while preserving the capacity for specialized behavior. We introduce a novel consensus framework that defines the team strategy as the entropic-regularized $p$-Wasserstein barycenter of agents' joint state--action visitation measures. By augmenting each agent's policy objective with a soft penalty proportional to its Sinkhorn divergence from this barycenter, the proposed approach encourages coherent group behavior without enforcing rigid parameter sharing. We derive an algorithm that alternates between Sinkhorn-barycenter computation and policy-gradient updates, and we prove that, under standard Lipschitz and compactness assumptions, the maximal pairwise policy discrepancy contracts at a geometric rate. Empirical evaluation on a cooperative navigation case study demonstrates that our OT-barycenter consensus outperforms an independent learners baseline in convergence speed and final coordination success.

Authors:Robert R. Bitmead
Title: The Milieu, Science & Logic of Feedback Control
Abstract:
'The cardinal sin in control is to believe that the plant is given' Karl Astrom. Astrom, a towering figure of control theory and practice and awardee of the 1993 IEEE Medal of Honor for his work on adaptive control, provides this assessment of the obstinate part of realizing a feedback controller. And yet we are exhorted to rely on solely-data-driven methods of control design skipping the modeling and plant identification phases entirely. What is going on? Whom should we trust? How do we reconcile the implied ease (or indeed avoidance) of modeling with the steely focus on robustness of the control and the capacity of feedback to accommodate uncertainty? This paper seeks to investigate this subject with the objective of appreciating not whom to trust but what are the circumstances where the direct paradigm of control design from any lightly qualified data set provides a sensible way forward. Here is a clue: It depends on the confidence of your contentions about the plant system, the detailed data themselves and your appetite for failure. The paper attempts to segue repeatedly between the broad philosophical context and hard engineering examples. To instantiate ideas and add detail to vagaries, we incorporate a number of examples, each validated by their demonstrated commercial and industrial viability and each terminating with ein Blickwinkel or perspective in German. As David Wallace-Wells poses, before investing hundreds of billions of dollars we really ought to ask what is the trillion-dollar problem which might potentially be solved. By sticking to industrially proven technologies, we hope to delineate what works suitably well in practice or was judged worthy of the risk.

Authors:Yunus Emre Kunt
Title: Development of a Smart Autonomous Irrigation System Using Iot and AI
Abstract:
Agricultural irrigation ensures that the water required for plant growth is delivered to the soil in a controlled manner. However, uncontrolled management can lead to water waste while reducing agricultural productivity. Drip irrigation systems, which have been one of the most efficient methods since the 1970s, are modernised with IoT and artificial intelligence in this study, aiming to both increase efficiency and prevent water waste. The developed system is designed to be applicable to different agricultural production areas and tested with a prototype consisting of 3 rows and 3 columns. The project will commence with the transmission of environmental data from the ESP32 microcontroller to a computer via USB connection, where it will be processed using an LSTM model to perform learning and prediction. The user will be able to control the system manually or delegate it to artificial intelligence through the Blynk application. The system includes ESP32 microcontroller, rain and soil moisture sensors, DHT11 temperature and humidity sensor, relays, solenoid valves and 12V power supply. The system aims to increase labour productivity and contribute to the conservation of water resources by enabling agricultural and greenhouse workers to focus on processes other than irrigation. In addition, the developed autonomous irrigation system will support the spread of sustainable agricultural practices and increase agricultural productivity. Keywords: Autonomous Irrigation, IoT, Artificial Intelligence, Agriculture, Water Management

Authors:Rongfei Li
Title: Control Architecture and Design for a Multi-robotic Visual Servoing System in Automated Manufacturing Environment
Abstract:
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision robot manipulators. These sensory cues naturally compensate for high levels of uncertainties that exist in the manufacturing environment. Uncertainties in performing manufacturing tasks may come from measurement noise, model inaccuracy, joint compliance (e.g., elasticity), etc. Although advanced metrology sensors and high precision microprocessors, which are utilized in modern robots, have compensated for many structural and dynamic errors in robot positioning, a well-designed control algorithm still works as a comparable and cheaper alternative to reduce uncertainties in automated manufacturing. Our work illustrates that a multi-robot control system that simulates the positioning process for fastening and unfastening applications can reduce various uncertainties, which may occur in this process, to a great extent. In addition, most research papers in visual servoing mainly focus on developing control and observation architectures in various scenarios, but few have discussed the importance of the camera's location in the configuration. In a manufacturing environment, the quality of camera estimations may vary significantly from one observation location to another, as the combined effects of environmental conditions result in different noise levels of a single image shot at different locations. Therefore, in this paper, we also propose a novel algorithm for the camera's moving policy so that it explores the camera workspace and searches for the optimal location where the image noise level is minimized.

Authors:Daizhan Cheng
Title: Semi-Tensor-Product Based Convolutional Neural Networks
Abstract:
The semi-tensor product (STP) of vectors is a generalization of conventional inner product of vectors, which allows the factor vectors to of different dimensions. This paper proposes a domain-based convolutional product (CP). Combining domain-based CP with STP of vectors, a new CP is proposed. Since there is no zero or any other padding, it can avoid the junk information caused by padding. Using it, the STP-based convolutional neural network (CNN) is developed. Its application to image and third order signal identifications is considered.

Authors:Lipinski Krzysztof
Title: Impacts between multibody systems and deformable structures
Abstract:
Collisions and impacts are the principal reasons for impulsive motions, which we frequently see in dynamic responses of systems. Precise modelling of impacts is a challenging problem due to the lack of the accurate and commonly accepted constitutive law that governs their mechanics. Rigid-body approach and soft contact methods are discussed in this paper and examined in the presented numerical examples. The main focus is set to impacts in systems with multiple unilateral contacts and collisions with elastic elements of the reference. Parameters of interconnecting unilateral springs are under discussion.

Authors:Rahul Bhadani
Title: Followerstopper Revisited: Phase-space Lagrangian Controller for Traffic Decongestion
Abstract:
This paper revisits Followerstopper, a phase-space-based control system that had demonstrated its ability to mitigate emergent traffic jams due to stop-and-go traffic during rush hour in the mixed-autonomy setting. Followerstopper was deployed on an autonomous vehicle. The controller attenuates the emanant traffic waves by regulating its velocity according to the relative distance and velocity of the leader car. While regulating the velocity, the controller also prevents the collision of the ego vehicle with the lead vehicle within the range specified by the controller's design parameter. The controller design is based on a configurable quadratic curve on relative distance-relative velocity phase-space that allows the transition of the regulated velocity from (i) no modification of input, (ii) decelerating to match the leader's velocity (iii) braking to avoid any imminent collision. In this paper, we explore the phase-space properties of Followerstopper and provide a detailed description of a nonlinear control law that regulates the reference input to Followerstopper within the physics-informed boundaries. We also provide a new discussion on the nominal control law that regulates the reference speed to Followerstopper to avoid unrealistic and unsafe acceleration.

Authors:Michael Sebek
Title: Exploring Noncommutative Polynomial Equation Methods for Discrete-Time Quaternionic Control
Abstract:
We present new polynomial-based methods for discrete-time quaternionic systems, highlighting how noncommutative multiplication modifies classical control approaches. Defining quaternionic polynomials via a backward-shift operator, we examine left and right fraction representations of transfer functions, showing that right zeros correspond to similarity classes of quaternionic matrix right eigenvalues. We then propose a feedback design procedure that generalizes pole placement to quaternions - a first approach using a genuine quaternionic polynomial equation.

Authors:Xibai Wang
Title: TIP-Search: Time-Predictable Inference Scheduling for Market Prediction under Uncertain Load
Abstract:
This paper proposes TIP-Search, a time-predictable inference scheduling framework for real-time market prediction under uncertain workloads. Motivated by the strict latency demands in high-frequency financial systems, TIP-Search dynamically selects a deep learning model from a heterogeneous pool, aiming to maximize predictive accuracy while satisfying per-task deadline constraints. Our approach profiles latency and generalization performance offline, then performs online task-aware selection without relying on explicit input domain labels. We evaluate TIP-Search on three real-world limit order book datasets (FI-2010, Binance BTC/USDT, LOBSTER AAPL) and demonstrate that it outperforms static baselines with up to 8.5% improvement in accuracy and 100% deadline satisfaction. Our results highlight the effectiveness of TIP-Search in robust low-latency financial inference under uncertainty.

Authors:Abdullah Burkan Bereketoglu
Title: Composite Reward Design in PPO-Driven Adaptive Filtering
Abstract:
Model-free and reinforcement learning-based adaptive filtering methods are gaining traction for denoising in dynamic, non-stationary environments such as wireless signal channels. Traditional filters like LMS, RLS, Wiener, and Kalman are limited by assumptions of stationary or requiring complex fine-tuning or exact noise statistics or fixed models. This letter proposes an adaptive filtering framework using Proximal Policy Optimization (PPO), guided by a composite reward that balances SNR improvement, MSE reduction, and residual smoothness. Experiments on synthetic signals with various noise types show that our PPO agent generalizes beyond its training distribution, achieving real-time performance and outperforming classical filters. This work demonstrates the viability of policy-gradient reinforcement learning for robust, low-latency adaptive signal filtering.

Authors:Atahan Karagoz
Title: Energentic Intelligence: From Self-Sustaining Systems to Enduring Artificial Life
Abstract:
This paper introduces Energentic Intelligence, a class of autonomous systems defined not by task performance, but by their capacity to sustain themselves through internal energy regulation. Departing from conventional reward-driven paradigms, these agents treat survival-maintaining functional operation under fluctuating energetic and thermal conditions-as the central objective. We formalize this principle through an energy-based utility function and a viability-constrained survival horizon, and propose a modular architecture that integrates energy harvesting, thermal regulation, and adaptive computation into a closed-loop control system. A simulated environment demonstrates the emergence of stable, resource-aware behavior without external supervision. Together, these contributions provide a theoretical and architectural foundation for deploying autonomous agents in resource-volatile settings where persistence must be self-regulated and infrastructure cannot be assumed.

Authors:Hamid Jahanian
Title: SIL Allocation for Mitigation Safety Functions
Abstract:
SIL (Safety Integrity Level) allocation plays a pivotal role in evaluating the significance of Safety Functions (SFs) within high-risk industries. The outcomes of a SIL allocation study determine the design specifications necessary to uphold the Probability of Failure on Demand (PFD) below permissible limits, thus managing risk effectively. While extensive research has focused on SIL allocation for preventive SFs, there is a noticeable gap in attention towards mitigation SFs. To address this gap, this paper discusses the shortcomings of current methods and proposes a new approach to overcome them. The principles of the proposed method are substantiated by detailed mathematical formulation and the practical application of the method is demonstrated through a case study in a road tunnel project.

Authors:Simon Mylius
Title: Systematic Hazard Analysis for Frontier AI using STPA
Abstract:
All of the frontier AI companies have published safety frameworks where they define capability thresholds and risk mitigations that determine how they will safely develop and deploy their models. Adoption of systematic approaches to risk modelling, based on established practices used in safety-critical industries, has been recommended, however frontier AI companies currently do not describe in detail any structured approach to identifying and analysing hazards. STPA (Systems-Theoretic Process Analysis) is a systematic methodology for identifying how complex systems can become unsafe, leading to hazards. It achieves this by mapping out controllers and controlled processes then analysing their interactions and feedback loops to understand how harmful outcomes could occur (Leveson & Thomas, 2018). We evaluate STPA's ability to broaden the scope, improve traceability and strengthen the robustness of safety assurance for frontier AI systems. Applying STPA to the threat model and scenario described in 'A Sketch of an AI Control Safety Case' (Korbak et al., 2025), we derive a list of Unsafe Control Actions. From these we select a subset and explore the Loss Scenarios that lead to them if left unmitigated. We find that STPA is able to identify causal factors that may be missed by unstructured hazard analysis methodologies thereby improving robustness. We suggest STPA could increase the safety assurance of frontier AI when used to complement or check coverage of existing AI governance techniques including capability thresholds, model evaluations and emergency procedures. The application of a systematic methodology supports scalability by increasing the proportion of the analysis that could be conducted by LLMs, reducing the burden on human domain experts.

Authors:Zheng Zhao
Title: Generative diffusion posterior sampling for informative likelihoods
Abstract:
Sequential Monte Carlo (SMC) methods have recently shown successful results for conditional sampling of generative diffusion models. In this paper we propose a new diffusion posterior SMC sampler achieving improved statistical efficiencies, particularly under outlier conditions or highly informative likelihoods. The key idea is to construct an observation path that correlates with the diffusion model and to design the sampler to leverage this correlation for more efficient sampling. Empirical results conclude the efficiency.

Authors:Senol Gulgonul
Title: IAE Optimized PID Tuning with Phase Margin and Crossover Frequency Constraints
Abstract:
This paper presents PMwc-Tune, a novel PID tuning method that uniquely combines frequency-domain robustness constraints with time-domain performance optimization through constrained nonlinear programming. The key contribution is a unified formulation that simultaneously enforces phase margin and crossover frequency requirements (via nonlinear equality constraints) while minimizing the Integral Absolute Error (IAE) of the closed-loop response. The algorithm employs Sequential Quadratic Programming (SQP) to solve this constrained optimization problem, guaranteeing specification attainment within numerical tolerances while optimizing transient performance. Numerical validation on benchmark systems demonstrates precise convergence to design targets (phase margin and crossover frequency errors <1%) with a 4.6% IAE reduction compared to MATLAB's pidtune. The open-source implementation provides both methodological transparency and practical design flexibility, enabling PID controllers that rigorously balance frequency-domain robustness and time-domain performance.

Authors:Jared Miller
Title: Incremental Gain Computation and Regulation of Discrete-time Positive Luré Systems using Linear Programming
Abstract:
This work approaches the problem of computing incremental $\ell_1$ and $\ell_\infty$ gains for discrete-time positive systems in \lure feedback with static memoryless nonlinearities, and regulating the $\ell_\infty$ gain through the design of a state-feedback controller. Finite incremental gains provide a quantitative measure of robustness for trajectories, and will ensure that all pairs of trajectories will converge to a fixed point or will diverge together in the absence of an applied input. Upper-bounds on these incremental gains can be computed through linear programming. Computation and regulation of the $\ell_1$ and $\ell_\infty$ incremental gains are verified by numerical examples.

Authors:Vladimír Kučera
Title: Decoupling Periodic Systems: An Algebraic Approach
Abstract:
This paper addresses the problem of row-by-row (or diagonal) decoupling of discrete-time linear multi-input multi-output systems with periodic time-varying coefficients using periodic state feedback. Previous solutions have tackled row-by-row decoupling using dynamic compensation for square systems and block-decoupling through regular state feedback for nonsquare systems with more outputs than inputs. While it appears likely that a row-by-row state feedback solution for square systems can be deduced from these findings, a direct argument seems more appropriate here as it presents a natural extension for decoupling nonsquare systems with more inputs than outputs. This extension, which necessitates nonregular state feedback, has yet to be explored for periodic systems. Our approach is purely algebraic, based on a time-invariant representation of the periodic system.

Authors:Ziad Qais Al-Abbasi
Title: Optimizing Connectivity and Scheduling of Near/Far Field Users in Massive MIMO NOMA System
Abstract:
It is envisioned that the next generations of wireless communication environment will be characterized with dense traffic demand due to the prediction that there will be large numbers of active users. Hence, it is important to find a solution to deal with such dense numbers of users. This paper investigates optimizing the connectivity and users scheduling to improve the performance of near and far field users in a downlink, multiuser, massive MIMO-NOMA system. For the considered system model, combining NOMA side by side with massive MIMO offers a great opportunity to exploit the available radio resources and boost the overall system efficiency. The paper proposes separate clustering of near field users and far field users. It also proposes using a beamforming scheme to separately serve the users within each cluster. However, NOMA is proposed to be applied among all users to boost resource sharing. In particular, a cognitive-NOMA beamforming scheme and NOMA themed beamforming are proposed to serve the users within each cluster, and they are compared against random beamforming from literature. Simulation results show that both of the proposed beamforming schemes proved their superiority as compared to random beamforming. Several scheduling techniques were also considered in this paper to examine possible solutions for boosting the system performance considered, namely, priority, joint, dynamic, and fairness-based scheduling techniques for both near field and far field users. The paper also proposes a suboptimal, fairness aiming and gradual allocation approach for allocating the transmission power among the users. The results show that user-clustering offers better connectivity and scheduling performance than the case where no clustering is applied.

Authors:Hendra I. Nurdin
Title: Physical Reduced Stochastic Equations for Continuously Monitored Non-Markovian Quantum Systems with a Markovian Embedding
Abstract:
An effective approach to modeling non-Markovian quantum systems is to embed a principal (quantum) system of interest into a larger quantum system. A widely employed embedding is one that uses another quantum system, referred to as the auxiliary system, which is coupled to the principal system, and both the principal and auxiliary can be coupled to quantum white noise processes. The principal and auxiliary together form a quantum Markov system and the quantum white noises act as a bath (environment) for this system. Recently it was shown that the conditional evolution of the principal system in this embedding under continuous monitoring by a travelling quantum probe can be expressed as a system of coupled stochastic differential equations (SDEs) that involve only operators of the principal system. The reduced conditional state of the principal only (conditioned on the measurement outcomes) is determined by the ``diagonal" blocks of this coupled systems of SDEs. It is shown here that the ``off-diagonal" blocks can be exactly eliminated up to their initial conditions, leaving a reduced closed system of SDEs for the diagonal blocks only. Under additional conditions the off-diagonal initial conditions can be made to vanish. This new closed system of equations, which includes an integration term involving a two-time stochastic kernel, represents the non-Markovian stochastic dynamics of the principal system under continuous-measurement. The system of equations determine the reduced conditional state of the principal only and may be viewed as a stochastic Nakajima-Zwanzig type of equation for continuously monitored non-Markovian quantum systems.

Authors:Masahiko Ueda
Title: Properties of zero-determinant strategies in multichannel games
Abstract:
Controlling payoffs in repeated games is one of the important topics in control theory of multi-agent systems. Recently proposed zero-determinant strategies enable players to unilaterally enforce linear relations between payoffs. Furthermore, based on the mathematics of zero-determinant strategies, regional payoff control, in which payoffs are enforced into some feasible regions, has been discovered in social dilemma situations. More recently, theory of payoff control was extended to multichannel games, where players parallelly interact with each other in multiple channels. However, properties of zero-determinant strategies specific to multichannel games are still not clear. In this paper, we elucidate properties of zero-determinant strategies in multichannel games. First, we relate the existence condition of zero-determinant strategies in multichannel games to that of zero-determinant strategies in each channel. We then show that the existence of zero-determinant strategies in multichannel games requires the existence of zero-determinant strategies in some channels. This result implies that the existence of zero-determinant strategies in multichannel games is tightly restricted by structure of games played in each channel.

Authors:Wouter Jongeneel
Title: A generalized global Hartman-Grobman theorem for asymptotically stable semiflows
Abstract:
Recently, Kvalheim and Sontag provided a generalized global Hartman-Grobman theorem for equilibria under asymptotically stable continuous vector fields. By leveraging topological properties of Lyapunov functions, their theorem works without assuming hyperbolicity. We extend their theorem to a class of possibly discontinuous vector fields, in particular, to vector fields generating asymptotically stable semiflows.

Authors:Alberto Padoan
Title: Least Squares Model Reduction: A Two-Stage System-Theoretic Interpretation
Abstract:
Model reduction simplifies complex dynamical systems while preserving essential properties. This paper revisits a recently proposed system-theoretic framework for least squares moment matching. It interprets least squares model reduction in terms of two steps process: constructing a surrogate model to satisfy interpolation constraints, then projecting it onto a reduced-order space. Using tools from output regulation theory and Krylov projections, this approach provides a new view on classical methods. For illustration, we reexamine the least-squares model reduction method by Lucas and Smith, offering new insights into its structure.

Authors:Jochen L. Cremer
Title: Customising Electricity Contracts at Scale with Large Language Models
Abstract:
The electricity system becomes more complex, connecting massive numbers of end-users and distributed generators. Adding or removing grid connections requires expert studies to align technical constraints with user requests. In times of labour shortages, carrying out these studies represents a significant amount of time that engineers at system operators spend in planning departments. As time is limited, only standard block connectivity contracts can be offered to end-users, or the requests pile up. Even if offers are made, these often do not perfectly match the user's requirements, leading to overpaying or underusing the grid capacity. This paper investigates whether end-users can negotiate individual, flexible time-of-use contracts directly with the grid using Large Language Models (LLM) in chats at scale. The LLM-based chat has direct access to a model of the grid and studies the grid's technical constraints just as an expert engineer. The advantage of this system is that end-users can directly interact with grid models through natural language; no intermediate is needed to service, analyse, study, assess, advise, consult and engineer. This initial study paves the way toward developing this tailored LLM system, resulting in possible high-efficiency gains for grid planning and customer management.

Authors:Tamas G. Molnar
Title: Navigating Polytopes with Safety: A Control Barrier Function Approach
Abstract:
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic method is proposed to generate control barrier function candidates in closed form that lead to controllers with formal safety guarantees. The proposed approach is demonstrated through simulation, with obstacle avoidance examples in 2D and 3D, including dynamically changing environments.

Authors:Senol Gulgonul
Title: IAE Optimized PID Tuning via Second Order Step Response Target Matching
Abstract:
This paper presents SOSTIAE (Second-Order System Target IAE), a novel PID tuning method that combines IAE minimization with explicit transient response shaping for practical control applications. The algorithm generates optimal PID parameters by matching the closed-loop response to a target second-order system with user-defined settling time (Ts) and percent overshoot (PO), while maintaining the conventional IAE performance metric. Comparative evaluations on first to third-order systems demonstrate that SOSTIAE consistently outperforms MATLAB's proprietary pidtune function, achieving 47-67% lower overshoot and up to 26% better IAE performance for higher-order plants. The constrained optimization framework ensures physically realizable controllers by enforcing non-negative PID gains and stability criteria, addressing known limitations of unconstrained IAE methods. Results indicate that SOSTIAE provides engineers with a systematic alternative for PID tuning when transient specifications and practical implementation constraints are critical.

Authors:Umair Shahzad
Title: Impact of Wind Generation on Risk-based Security Assessment of Power System
Abstract:
The electric power system is one of the largest and most intricate infrastructures. Therefore, it is critical to assess and maintain its security. A power system security assessment is indispensable for identifying post-contingency issues, taking corrective measures, and protecting the system from blackouts. This paper examined the impact of wind generation on the risk-based security assessment of a power transmission network in the context of planning. DIgSILENT PowerFactory software was used to conduct the analysis using a combination of the brute force technique and the nonsequential Monte Carlo (MC) simulation method on the IEEE 39-bus transmission test system. Optimal power flow (OPF) was used to quantify security, considering (N-1), (N-2), and (N-3) line outages and an (N-1) bus outage. Moreover, the average cost deviation from the mean optimal system operating cost was proposed as a novel security indicator. The results obtianed accurately depicted the effects of changing wind generation levels on system security in terms of risk. The most and least critical line(s) and bus in the system, for different wind generation levels, were also determined. Moreover, the worst-case wind-generation threshold level using two different cost functions for wind was identified.

Authors:Umair Shahzad
Title: A Risk-Based Probabilistic Transient Stability Approach for Ranking of Circuit Breakers in a Power System
Abstract:
Power systems are getting more complex than ever and are consequently operating close to their limit of stability. Moreover, with the increasing demand of renewable wind generation, and the requirement to maintain a secure power system, the importance of transient stability cannot be overestimated. Current deterministic industry practices of transient stability assessment ignore the probability of variables involved. With increasing system uncertainties and widespread electricity market deregulation, there is a strong inevitability to incorporate probabilistic transient stability analysis. Circuit breakers play a critical role in fault clearing and consequently in determining the system transient stability. It is important that they undergo timely and appropriate maintenance procedures based on some criterion. Considering the need of incorporating risk in modern power systems, this paper proposes a risk-based probabilistic transient stability approach for ranking of circuit breakers in a power system. A novel priority index was proposed to rank the circuit breakers based on the system transient stability risk. DIgSILENT PowerFactory software was used to conduct the required simulations on IEEE 14 bus system. The proposed risk-based framework was deemed to be efficient in identification of the circuit breakers based on their priority rank index which can aid in power system planning process.

Authors:Ali Devran Kara
Title: Learning POMDPs with Linear Function Approximation and Finite Memory
Abstract:
We study reinforcement learning with linear function approximation and finite-memory approximations for partially observed Markov decision processes (POMDPs). We first present an algorithm for the value evaluation of finite-memory feedback policies. We provide error bounds derived from filter stability and projection errors. We then study the learning of finite-memory based near-optimal Q values. Convergence in this case requires further assumptions on the exploration policy when using general basis functions. We then show that these assumptions can be relaxed for specific models such as those with perfectly linear cost and dynamics, or when using discretization based basis functions.

Authors:Khalid Abd El Mageed Hag Elamin
Title: Particle Filtering for Enhanced Parameter Estimation in Bilinear Systems Under Colored Noise
Abstract:
This paper addresses the challenging problem of parameter estimation in bilinear systems under colored noise. A novel approach, termed B-PF-RLS, is proposed, combining a particle filter (PF) with a recursive least squares (RLS) estimator. The B-PF-RLS algorithm tackles the complexities arising from system nonlinearities and colored noise by effectively estimating unknown system states using the particle filter, which are then integrated into the RLS parameter estimation process. Furthermore, the paper introduces an enhanced particle filter that eliminates the need for explicit knowledge of the measurement noise variance, enhancing the method's practicality for real-world applications. Numerical examples demonstrate the B-PF-RLS algorithm's superior performance in accurately estimating both system parameters and states, even under uncertain noise conditions. This work offers a robust and effective solution for system identification in various engineering applications involving bilinear models subject to complex noise environments.

Authors:Midhun T. Augustine
Title: Data-driven Model Predictive Control using MATLAB
Abstract:
This paper presents a comprehensive overview of data-driven model predictive control, highlighting state-of-the-art methodologies and their numerical implementation. The discussion begins with a brief review of conventional model predictive control (MPC), which discusses both linear MPC (LMPC) and nonlinear MPC (NMPC). This is followed by a section on data-driven LMPC, outlining fundamental concepts and the implementation of various approaches, including subspace predictive control and prediction error methods. Subsequently, the focus shifts to data-driven NMPC, emphasizing approaches based on recurrent neural network-based models. The paper concludes with a review of recent advancements in data-driven MPC and explores potential directions for future research.

Authors:J. T. Scruggs
Title: Optimal $\mathbb{H}_2$ Control with Passivity-Constrained Feedback: Convex Approach
Abstract:
We consider the $\mathbb{H}_2$-optimal feedback control problem, for the case in which the plant is passive with bounded $\mathbb{L}_2$ gain, and the feedback law is constrained to be output-strictly passive. In this circumstance, we show that this problem distills to a convex optimal control problem, in which the optimization domain is the associated Youla parameter for the closed-loop system. This enables the globally-optimal controller to be solved as an infinite-dimensional but convex optimization. Near-optimal solutions may be found through the finite-dimensional convex truncation of this infinite-dimensional domain. The idea is demonstrated on a simple vibration suppression example.

Authors:David Grasev
Title: Identification and Optimal Nonlinear Control of Turbojet Engine Using Koopman Eigenfunction Model
Abstract:
Gas turbine engines are complex and highly nonlinear dynamical systems. Deriving their physics-based models can be challenging because it requires performance characteristics that are not always available, often leading to many simplifying assumptions. This paper discusses the limitations of conventional experimental methods used to derive component-level and locally linear parameter-varying models, and addresses these issues by employing identification techniques based on data collected from standard engine operation under closed-loop control. The rotor dynamics are estimated using the sparse identification of nonlinear dynamics. Subsequently, the autonomous part of the dynamics is mapped into an optimally constructed Koopman eigenfunction space. This process involves eigenvalue optimization using metaheuristic algorithms and temporal projection, followed by gradient-based eigenfunction identification. The resulting Koopman model is validated against an in-house reference component-level model. A globally optimal nonlinear feedback controller and a Kalman estimator are then designed within the eigenfunction space and compared to traditional and gain-scheduled proportional-integral controllers, as well as a proposed internal model control approach. The eigenmode structure enables targeting individual modes during optimization, leading to improved performance tuning. Results demonstrate that the Koopman-based controller surpasses other benchmark controllers in both reference tracking and disturbance rejection under sea-level and varying flight conditions, due to its global nature.

Authors:Andrey Polyakov
Title: Discontinuous integro-differential control systems with sliding modes
Abstract:
The paper deals with analysis and design sliding mode control systems modeled by integro-differential equations. Filippov method and equivalent control approach are extended to a class of nonlinear discontinuous integro-differential equations. Sliding mode control algorithm is designed for a control system with distributed input delay. The obtained results are illustrated by numerical example.

Authors:Wen-Long Jin
Title: Provably safe and human-like car-following behaviors: Part 2. A parsimonious multi-phase model with projected braking
Abstract:
Ensuring safe and human-like trajectory planning for automated vehicles amidst real-world uncertainties remains a critical challenge. While existing car-following models often struggle to consistently provide rigorous safety proofs alongside human-like acceleration and deceleration patterns, we introduce a novel multi-phase projection-based car-following model. This model is designed to balance safety and performance by incorporating bounded acceleration and deceleration rates while emulating key human driving principles. Building upon a foundation of fundamental driving principles and a multi-phase dynamical systems analysis (detailed in Part 1 of this study \citep{jin2025WA20-02_Part1}), we first highlight the limitations of extending standard models like Newell's with simple bounded deceleration. Inspired by human drivers' anticipatory behavior, we mathematically define and analyze projected braking profiles for both leader and follower vehicles, establishing safety criteria and new phase definitions based on the projected braking lead-vehicle problem. The proposed parsimonious model combines an extended Newell's model for nominal driving with a new control law for scenarios requiring projected braking. Using speed-spacing phase plane analysis, we provide rigorous mathematical proofs of the model's adherence to defined safe and human-like driving principles, including collision-free operation, bounded deceleration, and acceptable safe stopping distance, under reasonable initial conditions. Numerical simulations validate the model's superior performance in achieving both safety and human-like braking profiles for the stationary lead-vehicle problem. Finally, we discuss the model's implications and future research directions.

Authors:Wen-Long Jin
Title: Provably safe and human-like car-following behaviors: Part 1. Analysis of phases and dynamics in standard models
Abstract:
Trajectory planning is essential for ensuring safe driving in the face of uncertainties related to communication, sensing, and dynamic factors such as weather, road conditions, policies, and other road users. Existing car-following models often lack rigorous safety proofs and the ability to replicate human-like driving behaviors consistently. This article applies multi-phase dynamical systems analysis to well-known car-following models to highlight the characteristics and limitations of existing approaches. We begin by formulating fundamental principles for safe and human-like car-following behaviors, which include zeroth-order principles for comfort and minimum jam spacings, first-order principles for speeds and time gaps, and second-order principles for comfort acceleration/deceleration bounds as well as braking profiles. From a set of these zeroth- and first-order principles, we derive Newell's simplified car-following model. Subsequently, we analyze phases within the speed-spacing plane for the stationary lead-vehicle problem in Newell's model and its extensions, which incorporate both bounded acceleration and deceleration. We then analyze the performance of the Intelligent Driver Model and the Gipps model. Through this analysis, we highlight the limitations of these models with respect to some of the aforementioned principles. Numerical simulations and empirical observations validate the theoretical insights. Finally, we discuss future research directions to further integrate safety, human-like behaviors, and vehicular automation in car-following models, which are addressed in Part 2 of this study \citep{jin2025WA20-02_Part2}, where we develop a novel multi-phase projection-based car-following model that addresses the limitations identified here.

Authors:Jason Zalev
Title: Optimal Trajectory Planning with Collision Avoidance for Autonomous Vehicle Maneuvering
Abstract:
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the vehicle maneuver's performance. While most path planning approaches include finding a collision-free route, optimal trajectory planning involves solving the best transition from initial to final states, minimizing the action over all paths permitted by a kinematic model. Here we propose a novel method based on sequential convex optimization, which permits flexible and efficient optimal trajectory generation. The objective is to achieve the fastest time, shortest distance, and fewest number of path segments to satisfy motion requirements, while avoiding sensor blind-spots. In our approach, vehicle kinematics are represented by a discretized Dubins model. To avoid collisions, each waypoint is constrained by linear inequalities representing closest distance of obstacles to a polygon specifying the vehicle's extent. To promote smooth and valid trajectories, the solved kinematic state and control variables are constrained and regularized by penalty terms in the model's cost function, which enforces physical restrictions including limits for steering angle, acceleration and speed. In this paper, we analyze trajectories obtained for several parking scenarios. Results demonstrate efficient and collision-free motion generated by the proposed technique.

Authors:Md Nur-A-Adam Dony
Title: Non-Blocking Robustness Analysis in Discrete Event Systems
Abstract:
This paper presents a mathematical framework for characterizing state blocking in discrete event systems (DES) under transition deletions. We introduce a path-based analysis approach that determines whether systems maintain non-blocking properties when transitions are removed. Through formal analysis and case studies, we establish three key contributions: a mathematical characterization of transition-induced blocking with necessary and sufficient conditions, a definition of robust deviations that preserve non-blocking properties, and an algorithm for identifying critical transitions and analyzing system behavior under deletions. Our algorithm reduces computational complexity by leveraging minimal blocking sets, achieving significant reduction in computational requirements. We demonstrate the framework's effectiveness through manufacturing system and autonomous vehicle case studies, showing substantial improvements in identifying critical transitions and predicting potential blocking scenarios across different application domains.

Authors:Md Nur-A-Adam Dony
Title: Integrating Koopman theory and Lyapunov stability for enhanced model predictive control in nonlinear systems
Abstract:
This paper delves into the challenges posed by the increasing complexity of modern control systems, specifically focusing on bilinear systems, a prevalent subclass of non-linear systems characterized by state dynamics influenced by the interaction of state and control variables. Traditional control strategies, such as PID controllers, often fall short in adequately addressing the intricacies of such systems due to their predictive limitations. To bridge this gap, we introduce Model Predictive Control (MPC), a sophisticated technique that utilizes system models to forecast future behaviors, allowing for the computation of an optimal control sequence by minimizing deviations and control efforts. The Koopman operator emerges as a pivotal tool in this framework by providing a means to linearize the nonlinear dynamics of bilinear systems. By integrating the principles of Lyapunov theory with the linearizing capabilities of the Koopman operator into the MPC framework, we give rise to Koopman Lyapunov-based Model Predictive Control (Koopman LMPC). This approach not only retains MPC's predictive capabilities but also harnesses the Koopman operator's ability to transform complex nonlinear behaviors into a linear framework, thereby enhancing the robustness and applicability of LMPC. With the stability assurances from Lyapunov theory, Koopman LMPC presents a robust solution to effectively control and stabilize bilinear systems. The paper underscores the efficacy of Koopman LMPC, emphasizing its significance in achieving optimal performance and system stability, marking it as a promising approach for the future of advanced control systems.

Authors:Md Nur-A-Adam Dony
Title: Leveraging Reinforcement Learning and Koopman Theory for Enhanced Model Predictive Control Performance
Abstract:
This study presents an innovative approach to Model Predictive Control (MPC) by leveraging the powerful combination of Koopman theory and Deep Reinforcement Learning (DRL). By transforming nonlinear dynamical systems into a higher-dimensional linear regime, the Koopman operator facilitates the linear treatment of nonlinear behaviors, paving the way for more efficient control strategies. Our methodology harnesses the predictive prowess of Koopman-based models alongside the optimization capabilities of DRL, particularly using the Proximal Policy Optimization (PPO) algorithm, to enhance the controller's performance. The resulting end-to-end learning framework refines the predictive control policies to cater to specific operational tasks, optimizing both performance and economic efficiency. We validate our approach through rigorous NMPC and eNMPC case studies, demonstrating that the Koopman-RL controller outperforms traditional controllers by achieving higher stability, superior constraint satisfaction, and significant cost savings. The findings indicate that our model can be a robust tool for complex control tasks, offering valuable insights into future applications of RL in MPC.

Authors:Yating Yuan
Title: Continuous-Time Control Synthesis for Multiple Quadrotors under Signal Temporal Logic Specifications
Abstract:
Ensuring continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is challenging due to nonlinear dynamics, safety constraints, and disturbances. This letter proposes a two-stage framework to address this challenge. First, exponentially decaying tracking error bounds are derived with multidimensional geometric control gains obtained via differential evolution. These bounds are less conservative, while the resulting tracking errors exhibit smaller oscillations and improved transient performance. Second, leveraging the time-varying bounds, a mixed-integer convex programming (MICP) formulation generates piecewise Bézier reference trajectories that satisfy STL and velocity limits, while ensuring inter-agent safety through convex-hull properties. Simulation results demonstrate that the proposed approach enables formally verifiable multi-agent coordination in constrained environments, with provable tracking guarantees under bounded disturbances.

Authors:Krti Tallam
Title: Engineering Risk-Aware, Security-by-Design Frameworks for Assurance of Large-Scale Autonomous AI Models
Abstract:
As AI models scale to billions of parameters and operate with increasing autonomy, ensuring their safe, reliable operation demands engineering-grade security and assurance frameworks. This paper presents an enterprise-level, risk-aware, security-by-design approach for large-scale autonomous AI systems, integrating standardized threat metrics, adversarial hardening techniques, and real-time anomaly detection into every phase of the development lifecycle. We detail a unified pipeline - from design-time risk assessments and secure training protocols to continuous monitoring and automated audit logging - that delivers provable guarantees of model behavior under adversarial and operational stress. Case studies in national security, open-source model governance, and industrial automation demonstrate measurable reductions in vulnerability and compliance overhead. Finally, we advocate cross-sector collaboration - uniting engineering teams, standards bodies, and regulatory agencies - to institutionalize these technical safeguards within a resilient, end-to-end assurance ecosystem for the next generation of AI.

Authors:Michael Ruderman
Title: Design and Application of Energy-saving Sub-Optimal Sliding Mode Control
Abstract:
The recently introduced energy-saving extension of the sub-optimal sliding mode control (SOSMC), which is known in the literature for the last two and half decades, incorporates a control-off mode that allows for saving energy during the finite-time convergence process. This novel energy-saving algorithm (denoted by ES-SOSMC) assumes the systems with relative degree two between the sliding variable and the switching control with a bounded magnitude, while the matched upper-bounded perturbations are not necessarily continuous. The design and practical application of the ES-SOSMC are the subject of this chapter. A method for parameterizing the ES-SOSMC through a constrained minimization of the energy cost function is recalled which guarantees the total energy consumption is lower than that of the conventional SOSMC. Also the residual steady-state oscillations (chattering), occurring when additional (actuator) dynamics are taken into account, are addressed. An application example for scanning and machining a rough surface, both of which require a stiff position control in contact with a moving surface, demonstrates practical suitability of the control. Here, ES-SOSMC is compared with SOSMC by showing an equivalent tracking and stabilization performance and evaluating the energy-saving operation with respect to a fuel consumption norm.

Authors:Jaehong Oh
Title: Towards Cognitive Collaborative Robots: Semantic-Level Integration and Explainable Control for Human-Centric Cooperation
Abstract:
This is a preprint of a review article that has not yet undergone peer review. The content is intended for early dissemination and academic discussion. The final version may differ upon formal publication. As the Fourth Industrial Revolution reshapes industrial paradigms, human-robot collaboration (HRC) has transitioned from a desirable capability to an operational necessity. In response, collaborative robots (Cobots) are evolving beyond repetitive tasks toward adaptive, semantically informed interaction with humans and environments. This paper surveys five foundational pillars enabling this transformation: semantic-level perception, cognitive action planning, explainable learning and control, safety-aware motion design, and multimodal human intention recognition. We examine the role of semantic mapping in transforming spatial data into meaningful context, and explore cognitive planning frameworks that leverage this context for goal-driven decision-making. Additionally, we analyze explainable reinforcement learning methods, including policy distillation and attention mechanisms, which enhance interpretability and trust. Safety is addressed through force-adaptive control and risk-aware trajectory planning, while seamless human interaction is supported via gaze and gesture-based intent recognition. Despite these advancements, challenges such as perception-action disjunction, real-time explainability limitations, and incomplete human trust persist. To address these, we propose a unified Cognitive Synergy Architecture, integrating all modules into a cohesive framework for truly human-centric cobot collaboration.

Authors:Rafal Kasikowski
Title: Power Loss and Temperature Distribution in Coil of PFC Inductor with Air Gap for Multimode Operation
Abstract:
Power converters inherently display non-linear load characteristics, resulting in a high level of mains harmonics, and hence the necessity of implementing Power Factor Correction (PFC). Active PFC circuitry typically comprises an inductor and a power switch to control and alter the input current so that it matches, in shape and phase, the input voltage. This modelling of the waveforms can be performed by means of distinct conduction modes of the PFC inductor. The digital controller implemented in the constructed and investigated boost-type PFC converter can be programmed to operate in discontinuous conduction mode (DCM), continuous conduction mode (CCM), or a combination of the two. The individual modes of operation, via distinct PFC inductor current waveforms, impact the overall efficiency of power conversion and, by extension, temperature distribution in the magnetic component. This paper investigates how the examined conduction modes bear on distinct power-loss mechanisms present in the PFC inductor, including high-frequency eddy-current-generating phenomena, and the fringing effect in particular. As demonstrated herein, the DCM operation, for the set output power level, exhibits exacerbated power dissipation in the winding of the inductor due to the somewhat increased RSM value of the current and the intensified fringing magnetic flux at an air gap. The latter assertion will undergo further, more quantitatively focused research. Finally, the construction of the coil was optimised to reduce power loss by diminishing eddy-current mechanisms.

Authors:Suyun Borjigin
Title: Triple-identity Authentication: The Future of Secure Access
Abstract:
In a typical authentication process, the local system verifies the user's identity using a stored hash value generated by a cross-system hash algorithm. This article shifts the research focus from traditional password encryption to the establishment of gatekeeping mechanisms for effective interactions between a system and the outside world. Here, we propose a triple-identity authentication system to achieve this goal. Specifically, this local system opens the inner structure of its hash algorithm to all user credentials, including the login name, login password, and authentication password. When a login credential is entered, the local system hashes it and then creates a unique identifier using intermediate hash elements randomly selected from the open algorithm. Importantly, this locally generated unique identifier (rather than the stored hash produced by the open algorithm) is utilized to verify the user's combined identity, which is generated by combining the entered credential with the International Mobile Equipment Identity and the International Mobile Subscriber Identity. The verification process is implemented at each interaction point: the login name field, the login password field, and the server's authentication point. Thus, within the context of this triple-identity authentication system, we establish a robust gatekeeping mechanism for system interactions, ultimately providing a level of security that is equivalent to multi-factor authentication.

Authors:Fabio Marco Monetti
Title: Evaluating an assembly- and disassembly-oriented expansion of Modular Function Deployment through a workshop-based assessment
Abstract:
Modular product architectures are used to enhance flexibility, reduce production complexity, and support sustainability goals. However, traditional Modular Function Deployment (MFD) method does not fully integrate Design for Assembly (DFA) and Design for Disassembly (DFD) principles, leading to sub-optimal manufacturability and end-of-life strategies. This study introduces an expanded MFD method incorporating assembly and disassembly considerations into early-stage modularisation. A workshop-based evaluation assesses usability and applicability, involving participants using standard and expanded MFD. Results indicate that integrating DFA and DFD enhances assembly efficiency, ease of disassembly, and modular product strategy alignment. However, usability challenges were identified, necessitating refinements for industry application.

Authors:Mohammad Vedadi
Title: Optimized Cascaded Position Control of BLDC Motors Considering Torque Ripple
Abstract:
Brushless DC (BLDC) motors are increasingly used in various industries due to their reliability, low noise, and extended lifespan compared to traditional DC motors. Their high torque-to-weight ratio and impressive starting torque make them ideal for automotive, robotics, and industrial applications. This paper explores the multi-objective tuning of BLDC motor controllers, focusing on position and torque ripple. A state-space model of the BLDC motor and the entire control system, including the power stage and control structure, is developed in the Simulink environment. Two common control mechanisms, trapezoidal and Field Oriented Control (FOC), are implemented and optimized. Both mechanisms utilize a cascaded closed-loop position control, providing fair disturbance rejection but requiring challenging tuning of the controllers. To address these challenges, the non-dominated sorting genetic algorithm II (NSGA-II) is used for optimization. This study demonstrates the effectiveness of optimization techniques in enhancing the performance of control systems.

Authors:Geoff Boeing
Title: Modeling and Analyzing Urban Networks and Amenities with OSMnx
Abstract:
OSMnx is a Python package for downloading, modeling, analyzing, and visualizing urban networks and any other geospatial features from OpenStreetMap data. A large and growing body of literature uses it to conduct scientific studies across the disciplines of geography, urban planning, transport engineering, computer science, and others. The OSMnx project has recently developed and implemented many new features, modeling capabilities, and analytical methods. The package now encompasses substantially more functionality than was previously documented in the literature. This article introduces OSMnx's modern capabilities, usage, and design -- in addition to the scientific theory and logic underlying them. It shares lessons learned in geospatial software development and reflects on open science's implications for urban modeling and analysis.

Authors:Mats Gustafsson
Title: Physical Limits and Optimal Synthesis of Beyond Diagonal Anomalous Scatterers
Abstract:
Realizing metasurfaces for anomalous scattering is fundamental to designing reflector arrays, reconfigurable intelligent surfaces, and metasurface antennas. However, the basic cost of steering scattering into non-specular directions is not fully understood. This paper derives tight physical bounds on anomalous scattering using antenna array systems equipped with non-local matching networks. The matching networks are explicitly synthesized based on the solutions of the optimization problems that define these bounds. Furthermore, we analyze fundamental limits for metasurface antennas implemented with metallic and dielectric materials exhibiting minimal loss within a finite design region. The results reveal a typical 6dB reduction in bistatic radar cross section (RCS) in anomalous directions compared to the forward direction. Numerical examples complement the theory and illustrate the inherent cost of achieving anomalous scattering relative to forward or specular scattering for canonical configurations.

Authors:Rahul K. Gupta
Title: Linear Phase Balancing Scheme using Voltage Unbalance Sensitivities in Multi-phase Power Distribution Grids
Abstract:
Power distribution networks, especially in North America, are often unbalanced due to the mix of single-, two- and three-phase networks as well as due to the high penetration of single-phase devices at the distribution level such as electric vehicle (EV) chargers and single-phase solar plants. However, the network operator must adhere to the voltage unbalance levels within the limits specified by IEEE, IEC, and NEMA standards for the safety of the equipment as well as the efficiency of the network operation. Existing works have proposed active and reactive power control in the network to minimize imbalances. However, these optimization problems are highly nonlinear and nonconvex due to the inherent non-linearity of unbalanced metrics and power-flow equations. In this work, we propose a linearization approach of unbalance metrics such as voltage unbalance factors (VUF), phase voltage unbalance rate (PVUR), and line voltage unbalance rate (LVUR) using the first order Taylor's approximation. This linearization is then applied to the phase balancing control scheme; it is formulated as a feedback approach where the linearization is updated successively after the active/reactive control setpoint has been actuated and shows improvement in voltage imbalances. We demonstrate the application of the proposed scheme on a standard IEEE benchmark test case, demonstrating its effectiveness.

Authors:Mohammad Khajenejad
Title: Optimal Dynamic Control of Bounded Jacobian Discrete-Time Systems via Interval Observers
Abstract:
This paper presents an optimal dynamic control framework for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations affected by both state and process noise. Rather than directly stabilizing the uncertain system, we focus on stabilizing an interval observer in a higher dimensional space, whose states bound the true system states. Our nonlinear dynamic control method introduces added flexibility over traditional static and linear approaches, effectively compensating for system nonlinearities and enabling potentially tighter closed-loop intervals. Additionally, we establish a separation principle that allows for the design of observer and control gains. We further derive tractable matrix inequalities to ensure system stability in the closed-loop configuration. The simulation results show that the proposed dynamic control approach significantly outperforms a static counterpart method.

Authors:Michael Ruderman
Title: Reduced order asymptotic observer of friction in motion control
Abstract:
An asymptotic observer of the motion state variables with nonlinear friction [1] benefits from a robust to the noise state-space representation of the dynamic friction force, including pre-sliding transitions, and implements the reduced order Luenberger observation law with only measurable output displacement. The uniform asymptotic stability and convergence analysis of the proposed observer are elaborated by using the Lyapunov function-based stability criteria by Ignatyev and imposing the parametric constraints on the time dependent eigenvalues to be always negative real. A design procedure for assigning a dominant (thus slowest) real pole of the observer system matrix is proposed. A thorough experimental evaluation is given for the proposed observer-based friction compensation, which is performed for positioning and tracking tasks and compared with an optimally tuned PID feedback control.

Authors:Shashwat Pandya
Title: NMPC-based Unified Posture Manipulation and Thrust Vectoring for Agile and Fault-Tolerant Flight of a Morphing Aerial Robot
Abstract:
This thesis presents a unified control framework for agile and fault-tolerant flight of the Multi-Modal Mobility Morphobot (M4) in aerial mode. The M4 robot is capable of transitioning between ground and aerial locomotion. The articulated legs enable more dynamic maneuvers than a standard quadrotor platform. A nonlinear model predictive control (NMPC) approach is developed to simultaneously plan posture manipulation and thrust vectoring actions, allowing the robot to execute sharp turns and dynamic flight trajectories. The framework integrates an agile and fault-tolerant control logic that enables precise tracking under aggressive maneuvers while compensating for actuator failures, ensuring continued operation without significant performance degradation. Simulation results validate the effectiveness of the proposed method, demonstrating accurate trajectory tracking and robust recovery from faults, contributing to resilient autonomous flight in complex environments.

Authors:Thomas Cahill
Title: System Identification of Thrust and Torque Characteristics for a Bipedal Robot with Integrated Propulsion
Abstract:
Bipedal robots represent a remarkable and sophisticated class of robotics, designed to emulate human form and movement. Their development marks a significant milestone in the field. However, even the most advanced bipedal robots face challenges related to terrain variation, obstacle negotiation, payload management, weight distribution, and recovering from stumbles. These challenges can be mitigated by incorporating thrusters, which enhance stability on uneven terrain, facilitate obstacle avoidance, and improve recovery after stumbling. Harpy is a bipedal robot equipped with six joints and two thrusters, serving as a hardware platform for implementing and testing advanced control algorithms. This thesis focuses on characterizing Harpy's hardware to improve the system's overall robustness, controllability, and predictability. It also examines simulation results for predicting thrust in propeller-based mechanisms, the integration of thrusters into the Harpy platform and associated testing, as well as an exploration of motor torque characterization methods and their application to hardware in relation to closed-loop force-based impedance control.

Authors:Fernando Castaños
Title: Sliding motions on systems with non-Euclidean state spaces: A differential-geometric perspective
Abstract:
This paper extends sliding-mode control theory to nonlinear systems evolving on smooth manifolds. Building on differential geometric methods, we reformulate Filippov's notion of solutions, characterize well-defined vector fields on quotient spaces, and provide a consistent geometric definition of higher-order sliding modes. We generalize the regular form to non-Euclidean settings and design explicit first- and second-order sliding-mode controllers that respect the manifold structure. Particular attention is given to the role of topological obstructions, which are illustrated through examples on the cylinder, Möbius bundle, and 2-sphere. Our results highlight how geometric and topological properties fundamentally influence sliding dynamics and suggest new directions for robust control in nonlinear spaces.

Authors:Ashwin P. Dani
Title: Constrained Parameter Update Law for Adaptive Control
Abstract:
In this paper, a constrained parameter update law is derived in the context of adaptive control. The parameter update law is based on constrained optimization technique where a Lagrangian is formulated to incorporate the constraints on the parameters using inverse Barrier function. The constrained parameter update law is used to develop a adaptive tracking controller and the overall stability of the adaptive controller along with the constrained parameter update law is shown using Lyapunov analysis and development in stability of constrained primal-dual dynamics. The performance of the constrained parameter update law is tested in simulation for keeping the parameters within constraints and convergence to true parameters.

Authors:Siddharth Chandak
Title: $O(1/k)$ Finite-Time Bound for Non-Linear Two-Time-Scale Stochastic Approximation
Abstract:
Two-time-scale stochastic approximation is an algorithm with coupled iterations which has found broad applications in reinforcement learning, optimization and game control. While several prior works have obtained a mean square error bound of $O(1/k)$ for linear two-time-scale iterations, the best known bound in the non-linear contractive setting has been $O(1/k^{2/3})$. In this work, we obtain an improved bound of $O(1/k)$ for non-linear two-time-scale stochastic approximation. Our result applies to algorithms such as gradient descent-ascent and two-time-scale Lagrangian optimization. The key step in our analysis involves rewriting the original iteration in terms of an averaged noise sequence which decays sufficiently fast. Additionally, we use an induction-based approach to show that the iterates are bounded in expectation.

Authors:Johannes Autenrieb
Title: A Quadratic Programming Approach to Flight Envelope Protection Using Control Barrier Functions
Abstract:
Ensuring the safe operation of aerospace systems within their prescribed flight envelope is a fundamental requirement for modern flight control systems. Flight envelope protection prevents violations of aerodynamic, structural, and performance constraints, mitigating risks such as stall, excessive loads, and loss of control. Conventional FEP approaches, such as reference clipping via saturation functions and model-based command filtering, impose constraints at the reference input level but often fail to account for closed-loop system dynamics, potentially leading to constraint violations during transients. This paper introduces a new approach to the flight envelope protection problem by employing a quadratic programming-based safety filter using control barrier functions to dynamically enforce flight envelope constraints while preserving control performance. Unlike traditional reference filtering methods, the control barrier function-based safety filter actively ensures strict forward invariance of the safe flight envelope set, integrating seamlessly with existing control architectures. The proposed framework is implemented in a nonlinear missile flight control system and evaluated in a simulated environment. The results demonstrate its ability to prevent constraint violations while minimizing conservatism, offering a robust alternative to existing flight envelope protection methodologies.

Authors:Wei Liu
Title: State Reconstruction Under Malicious Sensor Attacks
Abstract:
This paper considers the state reconstruction problem for discrete-time cyber-physical systems when some of the sensors can be arbitrarily corrupted by malicious attacks where the attacked sensors belong to an unknown set. We first prove that the state is $s$-error correctable if the system under consideration is $s$-sparse observable where $s$ denotes the maximum number of attacked sensors. Then, two state reconstruction methods are presented where the first method is based on searching elements with the same value in a set and the second method is developed in terms of searching element satisfying a given condition. In addition, after establishing and analyzing the conditions that the proposed state reconstruction methods are not effective, we address that it is very hard to prevent the state reconstruction when either state reconstruction method proposed in this paper is used. The correctness and effectiveness of the proposed methods are examined via an example of four-dimensional dynamic systems and a real-world example of three-inertia systems.

Authors:Dionysios Moutevelis
Title: Voltage Stability and Control of Electrical Distribution Systems with High Penetration of Power Electronic Converters
Abstract:
Power systems are currently undergoing a rapid paradigm change in their operation. Centralised energy production is being replaced by a number of Distributed Generation (DG) units that are placed at different locations and voltage levels in power networks. These distributed units are mostly based on renewable energy technologies, like wind turbines and photovoltaic cells and are commonly interfaced to the grid via power electronic converters. These sources reduce energy system dependency on conventional generation units based on fossil fuels. At the same time, this shift introduces technical challenges for the safe and reliable operation of electricity network since DG sources do not inherently provide the grid regulation services of conventional, centralised generation units. Moreover, the increased penetration of renewable energy sources and their converter-based interfaces is creating voltage deviation and voltage stability issues in distribution networks. These issues range from overvoltages during hours of peak renewable generation, reverse power flows and sudden voltage drops due to the variable nature of renewable energy production. All of the above jeopardise the reliable operation of the distribution networks that were not originally designed to accommodate for these effects. The objective of this thesis is to propose novel techniques for the accurate assessment of the DG impact on voltage stability in distribution net works and investigate how the control capabilities of converter-based interfaces of DG units can be harnessed to improve stability margins and overall system robustness and performance.

Authors:Adnan Tahirovic
Title: Optimal Control for Network of Coupled Oscillators
Abstract:
This paper presents a nonlinear control framework for steering networks of coupled oscillators toward desired phase-locked configurations. Inspired by brain dynamics, where structured phase differences support cognitive functions, the focus is on achieving synchronization patterns beyond global coherence. The Kuramoto model, expressed in phase-difference coordinates, is used to describe the system dynamics. The control problem is formulated within the State-Dependent Riccati Equation (SDRE) framework, enabling the design of feedback laws through state-dependent factorisation. The unconstrained control formulation serves as a principled starting point for developing more general approaches that incorporate coupling constraints and actuation limits. Numerical simulations demonstrate that the proposed approach achieves robust phase-locking in both heterogeneous and large-scale oscillator networks, highlighting its potential applications in neuroscience, robotics, and distributed systems.

Authors:Sribalaji C. Anand
Title: Analysis and Mitigation of Data injection Attacks against Data-Driven Control
Abstract:
This paper investigates the impact of false data injection attacks on data-driven control systems. Specifically, we consider an adversary injecting false data into the sensor channels during the learning phase. When the operator seeks to learn a stable state-feedback controller, we propose an attack strategy capable of misleading the operator into learning an unstable feedback gain. We also investigate the effects of constant-bias injection attacks on data-driven linear quadratic regulation (LQR). Finally, we explore potential mitigation strategies and support our findings with numerical examples.

Authors:Apurva Patil
Title: Advancing Frontiers of Path Integral Theory for Stochastic Optimal Control
Abstract:
Stochastic Optimal Control (SOC) problems arise in systems influenced by uncertainty, such as autonomous robots or financial models. Traditional methods like dynamic programming are often intractable for high-dimensional, nonlinear systems due to the curse of dimensionality. This dissertation explores the path integral control framework as a scalable, sampling-based alternative. By reformulating SOC problems as expectations over stochastic trajectories, it enables efficient policy synthesis via Monte Carlo sampling and supports real-time implementation through GPU parallelization. We apply this framework to six classes of SOC problems: Chance-Constrained SOC, Stochastic Differential Games, Deceptive Control, Task Hierarchical Control, Risk Mitigation of Stealthy Attacks, and Discrete-Time LQR. A sample complexity analysis for the discrete-time case is also provided. These contributions establish a foundation for simulator-driven autonomy in complex, uncertain environments.

Authors:Andrew Gracyk
Title: Observability conditions for neural state-space models with eigenvalues and their roots of unity
Abstract:
We operate through the lens of ordinary differential equations and control theory to study the concept of observability in the context of neural state-space models and the Mamba architecture. We develop strategies to enforce observability, which are tailored to a learning context, specifically where the hidden states are learnable at initial time, in conjunction to over its continuum, and high-dimensional. We also highlight our methods emphasize eigenvalues, roots of unity, or both. Our methods effectuate computational efficiency when enforcing observability, sometimes at great scale. We formulate observability conditions in machine learning based on classical control theory and discuss their computational complexity. Our nontrivial results are fivefold. We discuss observability through the use of permutations in neural applications with learnable matrices without high precision. We present two results built upon the Fourier transform that effect observability with high probability up to the randomness in the learning. These results are worked with the interplay of representations in Fourier space and their eigenstructure, nonlinear mappings, and the observability matrix. We present a result for Mamba that is similar to a Hautus-type condition, but instead employs an argument using a Vandermonde matrix instead of eigenvectors. Our final result is a shared-parameter construction of the Mamba system, which is computationally efficient in high exponentiation. We develop a training algorithm with this coupling, showing it satisfies a Robbins-Monro condition under certain orthogonality, while a more classical training procedure fails to satisfy a contraction with high Lipschitz constant.

Authors:Mazen Alamir
Title: On relaxing the N-Reachability Implicit Requirement in NMPC Design
Abstract:
This paper proposes a proof of stability for Model Predictive Control formulations involving a prediction horizon that might be too short to meet the reachability condition generally invoked as a sufficient condition for closed-loop stability. This condition is replaced by a contraction condition on the stage cost. But unlike the contraction based existing formulations where the prediction horizon becomes a decision variable, the formulation proposed in this paper remains standard in that it uses constant and short prediction horizon. An illustrative example is provided to assess the relevance of the proposed formulation.

Authors:Igor Ladnik
Title: A Quadratic Control Framework for Dynamic Systems
Abstract:
This article presents a unified approach to quadratic optimal control for both linear and nonlinear discrete-time systems, with a focus on trajectory tracking. The control strategy is based on minimizing a quadratic cost function that penalizes deviations of system states and control inputs from their desired trajectories. For linear systems, the classical Linear Quadratic Regulator (LQR) solution is derived using dynamic programming, resulting in recursive equations for feedback and feedforward terms. For nonlinear dynamics, the Iterative Linear Quadratic Regulator (iLQR) method is employed, which iteratively linearizes the system and solves a sequence of LQR problems to converge to an optimal policy. To implement this approach, a software service was developed and tested on several canonical models, including: Rayleigh oscillator, inverted pendulum on a moving cart, two-link manipulator, and quadcopter. The results confirm that iLQR enables efficient and accurate trajectory tracking in the presence of nonlinearities. To further enhance performance, it can be seamlessly integrated with Model Predictive Control (MPC), enabling online adaptation and improved robustness to constraints and system uncertainties.

Authors:Zichen Jin
Title: Interdisciplinary Integration of Remote Sensing -- A Review with Four Examples
Abstract:
As a high-level discipline, the development of remote sensing depends on the contribution of many other basic and applied disciplines and technologies. For example, due to the close relationship between remote sensing and photogrammetry, remote sensing would inevitably integrate disciplines such as optics and color science. Also, remote sensing integrates the knowledge of electronics in the conversion from optical signals to electrical signals via CCD (Charge-Coupled Device) or other image sensors. Moreover, when conducting object identification and classification with remote sensing data, mathematical morphology and other digital image processing technologies are used. These examples are only the tip of the iceberg of interdisciplinary integration of remote sensing. This work briefly reviews the interdisciplinary integration of remote sensing with four examples - ecology, mathematical morphology, machine learning, and electronics.

Authors:Daizhan Cheng
Title: On Dimension-Free Transformer: An Application of STP to AI
Abstract:
The matrix expressions for every parts of a transformer are firstly described. Based on semi-tensor product (STP) of matrices the hypervectors are reconsidered and the linear transformation over hypervectors is constructed by using projection. Its properties and calculating formulas are obtained. Using projection-based transformation of hypervector (PBTH), the framework of dimension-free transformer (DFT) is proposed by verifying each linear transformation in a transformer and replacing it by a proper PBTH, which allows the inputs and outputs being of arbitrary dimensions. Using balanced information about all entries, DFT must be more efficient in dealing with signals.

Authors:Eugene Lavretsky
Title: Servo-Controllers with Operational Constraints
Abstract:
In this paper, a proportional-integral servo-control design method is developed for multi-input-multioutput linear time invariant systems with operational constraints imposed on the system control input and on an output of the same dimension as the control input. The design is based on min-norm controllers and Control Barrier Functions. It allows to enforce min/max box constraints by analytically solving Quadratic Programs for min-norm augmentation controllers. The method provides an anti-windup protection for the controller integrator state and enforces the desired operational control and output constraints, component-wise. A simulation example is given to illustrate potential benefits of the proposed design methodology for aerial flight critical systems.

Authors:Eugene Lavretsky
Title: Integrator Anti-Windup Design for Servo-Controllers with Position Constraints
Abstract:
A control design modification to prevent integrator windup for position saturated servo-controllers is introduced. The design is based on the formalism of Control Barrier Functions and represents an anti-windup integrator modification for position-limited servo-controllers. The method is applicable to Linear Time Invariant Multi-Input-Multi-Output open-loop stable continuous time systems. A flight control application example of the developed anti-windup control solution is discussed.

Authors:Nisarg Trivedi
Title: Modelling & Steady State Compliance Testing of an Improved Time Synchronized Phasor Measurement Unit Based on IEEE Standard C37.118.1
Abstract:
Synchrophasor technology is an emerging and developing technology for monitoring and control of wide area measurement systems (WAMS). In an elementary WAMS, two identical phasors measured at two different locations have difference in the phase angles measured since their reference waveforms are not synchronized with each other. Phasor measurement units (PMUs) measure input phasors with respect to a common reference wave based on the atomic clock pulses received from global positioning system (GPS) satellites, eliminating variation in the measured phase angles due to distant locations of the measurement nodes. This has found tremendous applications in quick fault detection, fault location analysis, accurate current, voltage, frequency and phase angle measurements in WAMS. Commercially available PMU models are often proven to be expensive for research and development as well as for grid integration projects. This research article proposes an economic PMU model optimized for accurate steadystate performance based on recursive discrete Fourier transform (DFT) and provides results and detailed analysis of the proposed PMU model as per the steady state compliance specifications of IEEE standard C37.118.1. Results accurate up to 13 digits after decimal point are obtained through the developed PMU model for both nominal and off-nominal frequency inputs in steady state.

Authors:Michał Kruszewski
Title: HBS -- Hardware Build System: A Tcl-based, minimal common abstraction approach for build system for hardware designs
Abstract:
Build systems become an indispensable part of the software implementation and deployment process. New programming languages are released with the build system integrated into the language tools, for example, Go, Rust, or Zig. However, in the hardware description domain, no official build systems have been released with the predominant Hardware Description Languages (HDL) such as VHDL or SystemVerilog. Moreover, hardware design projects are often multilanguage. The paper proposes a new build system for the hardware description domain. The system is called the Hardware Build System (HBS). The main goals of the system include simplicity, readability, a minimal number of dependencies, and ease of integration with the existing Electronic Design Automation (EDA) tools. The system proposes a novel, minimal common abstraction approach, whose particular implications are described in the article. All the core functionalities are implemented in Tcl. Only the EDA tool's independent features, such as dependency graph generation, are implemented in a Python wrapper.

Authors:Moirangthem Tiken Singh
Title: Ensemble-Enhanced Graph Autoencoder with GAT and Transformer-Based Encoders for Robust Fault Diagnosis
Abstract:
Fault classification in industrial machinery is vital for enhancing reliability and reducing downtime, yet it remains challenging due to the variability of vibration patterns across diverse operating conditions. This study introduces a novel graph-based framework for fault classification, converting time-series vibration data from machinery operating at varying horsepower levels into a graph representation. We utilize Shannon's entropy to determine the optimal window size for data segmentation, ensuring each segment captures significant temporal patterns, and employ Dynamic Time Warping (DTW) to define graph edges based on segment similarity. A Graph Auto Encoder (GAE) with a deep graph transformer encoder, decoder, and ensemble classifier is developed to learn latent graph representations and classify faults across various categories. The GAE's performance is evaluated on the Case Western Reserve University (CWRU) dataset, with cross-dataset generalization assessed on the HUST dataset. Results show that GAE achieves a mean F1-score of 0.99 on the CWRU dataset, significantly outperforming baseline models-CNN, LSTM, RNN, GRU, and Bi-LSTM (F1-scores: 0.94-0.97, p < 0.05, Wilcoxon signed-rank test for Bi-LSTM: p < 0.05) -- particularly in challenging classes (e.g., Class 8: 0.99 vs. 0.71 for Bi-LSTM). Visualization of dataset characteristics reveals that datasets with amplified vibration patterns and diverse fault dynamics enhance generalization. This framework provides a robust solution for fault diagnosis under varying conditions, offering insights into dataset impacts on model performance.

Authors:Luca Giangrande
Title: Lambda/6 Suspended Patch Antenna
Abstract:
This work introduces a novel, compact antenna design based on a lambda-6th suspended patch configuration that is particularly suited for small-size wireless sensor nodes. The proposed design meets key requirements such as compactness, omnidirectionality, robust source matching over a designated bandwidth, interference immunity, and low costs by evolving the conventional square patch antenna. With a footprint of only 20-by-20 mm, the antenna incorporates a grounded metal shield to both reduce its effective dimensions below one-half wavelength and mitigate interference from nearby circuitry. Simulation results, conducted on a cost-effective FR4 substrate, demonstrate a resonance at 2.45 GHz with a return loss of -32.5 dB and a bandwidth of 50 MHz (at the -10 dB level), making this design an attractive candidate for integration into densely populated wireless sensor networks.

Authors:Shuang Wu
Title: Policy Optimization Algorithms in a Unified Framework
Abstract:
Policy optimization algorithms are crucial in many fields but challenging to grasp and implement, often due to complex calculations related to Markov decision processes and varying use of discount and average reward setups. This paper presents a unified framework that applies generalized ergodicity theory and perturbation analysis to clarify and enhance the application of these algorithms. Generalized ergodicity theory sheds light on the steady-state behavior of stochastic processes, aiding understanding of both discounted and average rewards. Perturbation analysis provides in-depth insights into the fundamental principles of policy optimization algorithms. We use this framework to identify common implementation errors and demonstrate the correct approaches. Through a case study on Linear Quadratic Regulator problems, we illustrate how slight variations in algorithm design affect implementation outcomes. We aim to make policy optimization algorithms more accessible and reduce their misuse in practice.

Authors:Yujendra Mitikiri
Title: Linear Stability Analysis of a Constant Quaternion Difference Attitude Controller
Abstract:
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of general attitude trajectories. On account of this definitive result, and also because of the existence of powerful nonlinear control techniques, there has been relatively very little work analyzing the limits and performance of linear attitude control. It is the purpose of this paper to provide a characterization of the stability achievable for one class of linear attitude control problems, namely those leading to a constant quaternion difference. In this paper, we analytically derive a critical error angle below which linearized dynamics lead to natural marginal stability for such a system, and above which the system is unstable. The dynamics are then used to derive a locally stable linear attitude controller whose performance is validated using simulations.

Authors:Udit Halder
Title: Statics of continuum planar grasping
Abstract:
Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage distributed compliance and whole-body contact to achieve robust and dexterous grasping. This paper presents a control-theoretic framework for analyzing the statics of continuous contact with a planar object. The governing equations of static equilibrium of the object are formulated as a linear control system, where the distributed contact forces act as control inputs. To optimize the grasping performance, a constrained optimal control problem is posed to minimize contact forces required to achieve a static grasp, with solutions derived using the Pontryagin Maximum Principle. Furthermore, two optimization problems are introduced: (i) for assigning a measure to the quality of a particular grasp, which generalizes a (rigid-body) grasp quality metric in the continuum case, and (ii) for finding the best grasping configuration that maximizes the continuum grasp quality. Several numerical results are also provided to elucidate our methods.

Authors:Hany M. Arnaoot
Title: Navigating the Uncharted Waters: A Gradual Approach to the Certification and Integration of Maritime Autonomous Surface Ships (MASS) in Global Maritime Operations
Abstract:
The integration of Maritime Autonomous Surface Ships (MASS) into global maritime operations represents a transformative shift in the shipping industry, promising enhanced safety, efficiency, and cost-effectiveness. However, the widespread adoption of autonomous ships necessitates a robust regulatory framework and rigorous certification processes to address the unique challenges posed by these advanced technologies. This paper proposes a gradual, multi-stage approach to the certification and integration of MASS, beginning with small-scale trials in controlled environments and progressing to large-scale international operations. Key considerations include the development of reliable control systems, cybersecurity measures, sensor technologies, and redundancy mechanisms to ensure safe and efficient navigation. Additionally, the paper explores the economic and environmental implications of autonomous shipping, as well as the evolving legal frameworks for liability and compensation in the event of collisions. By adopting a cautious and methodical approach, the maritime industry can mitigate risks and pave the way for the safe and sustainable integration of autonomous ships into global trade.

Authors:Stefano Battilotti
Title: Symmetry-based observers for ODE systems
Abstract:
In this paper we introduce an observer design framework for ordinary differential equation (ODE) systems based on various types of existing or even novel one-parameter symmetries (exact, asymptotic and variational) ending up with a certain number of semi-global and global observers, with bounded or unbounded system's solutions and with infinite- or finite-time convergence. We compare some of these symmetry-based observers with existing observers, recovering for instance the same performances of high-gain semiglobal observers and the finite-time convergence capabilities of sliding mode observers, while obtaining novel global observers where existing techniques are not able to provide any.

Authors:Jianing Chen
Title: An Adaptive Collaborative Neurodynamic Approach to Compute Nash Equilibrium in Normal-Form Games
Abstract:
The Nash Equilibrium (NE), one of the elegant and fundamental concepts in game theory, plays a crucial part within various fields, including engineering and computer science. However, efficiently computing an NE in normal-form games remains a significant challenge, particularly for large-scale problems. In contrast to widely applied simplicial and homotopy methods, this paper designs a novel Adaptive Collaborative Neurodynamic Approach (ACNA), which for the first time guarantees both exact and global NE computation for general $N$-player normal-form games with mixed strategies, where the payoff functions are non-convex and the pseudo-gradient is non-monotone. Additionally, leveraging the adaptive penalty method, the ACNA ensures its state enters the constraint set in finite time, which avoids the second-order sufficiency conditions required by Lagrangian methods, and the computationally complicated penalty parameter estimation needed by exact penalty methods. Furthermore, by incorporating the particle swarm algorithm, it is demonstrated that the ACNA achieves global convergence to an exact NE with probability one. At last, a simulation is conducted to validate the effectiveness of the proposed approach.

Authors:Lorenzo Clemente
Title: Algorithmic analysis of systems with affine input and polynomial state
Abstract:
The goal of this paper is to provide exact and terminating algorithms for the formal analysis of deterministic continuous-time control systems with affine input and polynomial state dynamics (in short, polynomial systems). We consider the following semantic properties: zeroness and equivalence, input independence, linearity, and analyticity. Our approach is based on Chen-Fliess series, which provide a unique representation of the dynamics of such systems via their formal generating series. Our starting point is Fliess' seminal work showing how the semantic properties above are mirrored by corresponding combinatorial properties on generating series. Next, we observe that the generating series of polynomial systems coincide with the class of shuffle-finite series, a nonlinear generalisation of Schützenberger's rational series which has recently been studied in the context of automata theory and enumerative combinatorics. We exploit and extend recent results in the algorithmic analysis of shuffle-finite series (such as zeroness, equivalence, and commutativity) to show that the semantic properties above can be decided exactly and in finite time for polynomial systems. Some of our analyses rely on a novel technical contribution, namely that shuffle-finite series are closed under support restrictions with commutative regular languages, a result of independent interest.

Authors:Der-Hau Lee
Title: Robust Tube-based Control Strategy for Vision-guided Autonomous Vehicles
Abstract:
A robust control strategy for autonomous vehicles can improve system stability, enhance riding comfort, and prevent driving accidents. This paper presents a novel interpolation tube-based constrained iterative linear quadratic regulator (itube-CILQR) algorithm for autonomous computer-vision-based vehicle lane-keeping. The goal of the algorithm is to enhance robustness during high-speed cornering on tight turns. The advantages of itube-CILQR over the standard tube-approach include reduced system conservatism and increased computational speed. Numerical and vision-based experiments were conducted to examine the feasibility of the proposed algorithm. The proposed itube-CILQR algorithm is better suited to vehicle lane-keeping than variational CILQR-based methods and model predictive control (MPC) approaches using a classical interior-point solver. Specifically, in evaluation experiments, itube-CILQR achieved an average runtime of 3.16 ms to generate a control signal to guide a self-driving vehicle; itube-MPC typically required a 4.67-times longer computation time to complete the same task. Moreover, the influence of conservatism on system behavior was investigated by exploring the interpolation variable trajectories derived from the proposed itube-CILQR algorithm during lane-keeping maneuvers.

Authors:Hassan Irshad Bhatti
Title: On-chip calibration of Microscale-Thermocouples for Precise Temperature Measurement
Abstract:
Precise temperature measurement at micro/nanoscale is crucial across various domains including physical sciences, chemical processes, industrial production, medical diagnosis, weather forecasting, electronics, and biology. Micro/nanoscale thermal mapping requires precise techniques such as thermocouples, resistance-based devices, infrared thermography, optical interferometry, Raman thermometry, and Time domain-thermoreflectance (TDTR) method. Each method has its advantages and limitations, emphasizing the importance of selecting the appropriate technique. Among these methods, micro-thin film thermocouples (TFTCs) offer a compelling solution due to their direct contact-based temperature measurements, minimal surface preparation requirements, lower cost, and robustness against environmental factors. Thermocouples work on the well-established Seebeck effect, where a voltage is generated proportional to the temperature difference between two points. However, at micro/nanoscale, the Seebeck coefficients of thermocouples differ from those in bulk materials, requiring experimental calibration for precise measurements. To address this, we introduce an on-chip characterization platform with a differential temperature measurement setup on a borosilicate glass substrate. This platform utilizes a microheater as a localized heat source to elevate the temperature at the hot junction of the TFTC while maintaining the cold junction at ambient conditions. Numerical simulations are employed to engineer both the microheater and TFTC junction for precise temperature control. The functionality of this platform is validated by fabricating TFTCs using standard fabrication processes and measuring the TFTC response to determine the differential Seebeck coefficient of a Platinum-Chromium TFTC Junction. The calculated sensitivity of Pt/Cr TFTCs using this calibration method is 19.23 +- 0.405 μV/C.

Authors:Ji-Hong Li
Title: MCE-based Direct FTC Method for Dynamic Positioning of Underwater Vehicles with Thruster Redundancy
Abstract:
This paper presents an active model-based FTC (fault-tolerant control) method for the dynamic positioning of a class of underwater vehicles with thruster redundancy. Compared to the widely used state and parameter estimation methods, this proposed scheme directly utilizes the vehicle's motion control error (MCE) to construct a residual for detecting thruster faults and failures in the steady state of the control system. In the case of thruster fault identification, the most difficult aspect is that the actual control input with thruster faults is unknown. However, through a detailed and precise analyses of MCE variation trends in the case of thruster faults, highly useful information about this unknown control input can be extracted. This characteristic also serves as the foundation for the novel scheme proposed in this paper. As for control reconfiguration, it is straightforward since the thrust losses can be directly estimated as a result of the identification process. Numerical studies with the real world vehicle model are also carried out to demonstrate the effectiveness of the proposed method.

Authors:Wentao Tang
Title: Koopman-Nemytskii Operator: A Linear Representation of Nonlinear Controlled Systems
Abstract:
While Koopman operator lifts a nonlinear system into an infinite-dimensional function space and represents it as a linear dynamics, its definition is restricted to autonomous systems, i.e., does not incorporate inputs or disturbances. To the end of designing state-feedback controllers, the existing extensions of Koopman operator, which only account for the effect of open-loop values of inputs, does not involve feedback laws on closed-loop systems. Hence, in order to generically represent any nonlinear controlled dynamics linearly, this paper proposes a Koopman-Nemytskii operator, defined as a linear mapping from a product reproducing kernel Hilbert space (RKHS) of states and feedback laws to an RKHS of states. Using the equivalence between RKHS and Sobolev-Hilbert spaces under certain regularity conditions on the dynamics and kernel selection, this operator is well-defined. Its data-based approximation, which follows a kernel extended dynamic mode decomposition (kernel EDMD) approach, have established errors in single-step and multi-step state predictions as well as accumulated cost under control.

Authors:Raul Cristian Bag
Title: Digital Asset Data Lakehouse. The concept based on a blockchain research center
Abstract:
In the rapidly evolving landscape of digital assets and blockchain technologies, the necessity for robust, scalable, and secure data management platforms has never been more critical. This paper introduces a novel software architecture designed to meet these demands by leveraging the inherent strengths of cloud-native technologies and modular micro-service based architectures, to facilitate efficient data management, storage and access, across different stakeholders. We detail the architectural design, including its components and interactions, and discuss how it addresses common challenges in managing blockchain data and digital assets, such as scalability, data siloing, and security vulnerabilities. We demonstrate the capabilities of the platform by employing it into multiple real-life scenarios, namely providing data in near real-time to scientists in help with their research. Our results indicate that the proposed architecture not only enhances the efficiency and scalability of distributed data management but also opens new avenues for innovation in the research reproducibility area. This work lays the groundwork for future research and development in machine learning operations systems, offering a scalable and secure framework for the burgeoning digital economy.

Authors:Daniel N. Wilke
Title: Design for Sensing and Digitalisation (DSD): A Modern Approach to Engineering Design
Abstract:
This paper introduces Design for Sensing and Digitalisation (DSD), a new engineering design paradigm that integrates sensor technology for digitisation and digitalisation from the earliest stages of the design process. Unlike traditional methodologies that treat sensing as an afterthought, DSD emphasises sensor integration, signal path optimisation, and real-time data utilisation as core design principles. The paper outlines DSD's key principles, discusses its role in enabling digital twin technology, and argues for its importance in modern engineering education. By adopting DSD, engineers can create more intelligent and adaptable systems that leverage real-time data for continuous design iteration, operational optimisation and data-driven predictive maintenance.

Authors:Pouria Sarhadi
Title: On the Standard Performance Criteria for Applied Control Design: PID, MPC or Machine Learning Controller?
Abstract:
The traditional control theory and its application to basic and complex systems have reached an advanced level of maturity. This includes aerial, marine, and ground vehicles, as well as robotics, chemical, transportation, and electrical systems widely used in our daily lives. The emerging era of data-driven methods, Large Language Models (LLMs), and AI-based controllers does not indicate a weakness in well-established control theory. Instead, it aims to reduce dependence on models and uncertainties, address increasingly complex systems, and potentially achieve decision-making capabilities comparable to human-level performance. This revolution integrates knowledge from computer science, machine learning, biology, and classical control, producing promising algorithms that are yet to demonstrate widespread real-world applicability. Despite the maturity of control theory and the presence of various performance criteria, there is still a lack of standardised metrics for testing, evaluation, Verification and Validation ($V\&V$) of algorithms. This gap can lead to algorithms that, while optimal in certain aspects, may fall short of practical implementation, sparking debates within the literature. For a controller to succeed in real-world applications, it must satisfy three key categories of performance metrics: tracking quality, control effort (energy consumption), and robustness. This paper rather takes an applied perspective, proposing and consolidating standard performance criteria for testing and analysing control systems, intended for researchers and students. The proposed framework ensures the post-design applicability of a black-box algorithm, aligning with modern data analysis and $V\&V$ perspectives to prevent resource allocation to systems with limited impact or imprecise claims.

Authors:Anatoly A. Krasnovsky
Title: Sheaf-Theoretic Causal Emergence for Resilience Analysis in Distributed Systems
Abstract:
Distributed systems often exhibit emergent behaviors that impact their resilience (Franz-Kaiser et al., 2020; Adilson E. Motter, 2002; Jianxi Gao, 2016). This paper presents a theoretical framework combining attributed graph models, flow-on-graph simulation, and sheaf-theoretic causal emergence analysis to evaluate system resilience. We model a distributed system as a graph with attributes (capturing component state and connections) and use sheaf theory to formalize how local interactions compose into global states. A flow simulation on this graph propagates functional loads and failures. To assess resilience, we apply the concept of causal emergence, quantifying whether macro-level dynamics (coarse-grained groupings) exhibit stronger causal efficacy (via effective information) than micro-level dynamics. The novelty lies in uniting sheaf-based formalization with causal metrics to identify emergent resilient structures. We discuss limitless potential applications (illustrated by microservices, neural networks, and power grids) and outline future steps toward implementing this framework (Lake et al., 2015).

Authors:Hamid Jahanian
Title: What was Said, What was not Said
Abstract:
In the process industry, the configuration of Safety Instrumented Systems (SIS) must comply with a defined set of safety requirements, typically documented in the Safety Requirements Specification (SRS). The functional safety standard IEC 61511 outlines the necessary content and quality criteria for the SRS. However, developing an effective SRS can be challenging. This article examines some of these challenges and proposes good practices to address them. It discusses SRS ownership, "staged" development of SRS, and the classification and traceability of requirements. Additionally, it explores the issue of untold "negative" requirements and suggests exploratory "inspection" of SIS Application Programs (APs) as a potential remedy.

Authors:Krti Tallam
Title: From Autonomous Agents to Integrated Systems, A New Paradigm: Orchestrated Distributed Intelligence
Abstract:
The rapid evolution of artificial intelligence (AI) has ushered in a new era of integrated systems that merge computational prowess with human decision-making. In this paper, we introduce the concept of Orchestrated Distributed Intelligence (ODI), a novel paradigm that reconceptualizes AI not as isolated autonomous agents, but as cohesive, orchestrated networks that work in tandem with human expertise. ODI leverages advanced orchestration layers, multi-loop feedback mechanisms, and a high cognitive density framework to transform static, record-keeping systems into dynamic, action-oriented environments. Through a comprehensive review of multi-agent system literature, recent technological advances, and practical insights from industry forums, we argue that the future of AI lies in integrating distributed intelligence within human-centric workflows. This approach not only enhances operational efficiency and strategic agility but also addresses challenges related to scalability, transparency, and ethical decision-making. Our work outlines key theoretical implications and presents a practical roadmap for future research and enterprise innovation, aiming to pave the way for responsible and adaptive AI systems that drive sustainable innovation in human organizations.

Authors:Gonçalo Hora de Carvalho
Title: AI-driven control of bioelectric signalling for real-time topological reorganization of cells
Abstract:
Understanding and manipulating bioelectric signaling could present a new wave of progress in developmental biology, regenerative medicine, and synthetic biology. Bioelectric signals, defined as voltage gradients across cell membranes caused by ionic movements, play a role in regulating crucial processes including cellular differentiation, proliferation, apoptosis, and tissue morphogenesis. Recent studies demonstrate the ability to modulate these signals to achieve controlled tissue regeneration and morphological outcomes in organisms such as planaria and frogs. However, significant knowledge gaps remain, particularly in predicting and controlling the spatial and temporal dynamics of membrane potentials (V_mem), understanding their regulatory roles in tissue and organ development, and exploring their therapeutic potential in diseases. In this work we propose an experiment using Deep Reinforcement Learning (DRL) framework together with lab automation techniques for real-time manipulation of bioelectric signals to guide tissue regeneration and morphogenesis. The proposed framework should interact continuously with biological systems, adapting strategies based on direct biological feedback. Combining DRL with real-time measurement techniques -- such as optogenetics, voltage-sensitive dyes, fluorescent reporters, and advanced microscopy -- could provide a comprehensive platform for precise bioelectric control, leading to improved understanding of bioelectric mechanisms in morphogenesis, quantitative bioelectric models, identification of minimal experimental setups, and advancements in bioelectric modulation techniques relevant to regenerative medicine and cancer therapy. Ultimately, this research aims to utilize bioelectric signaling to develop new biomedical and bioengineering applications.

Authors:Sebastian Reich
Title: Ensemble Kalman-Bucy filtering for nonlinear model predictive control
Abstract:
We consider the problem of optimal control for partially observed dynamical systems. Despite its prevalence in practical applications, there are still very few algorithms available, which take uncertainties in the current state estimates and future observations into account. In other words, most current approaches separate state estimation from the optimal control problem. In this paper, we extend the popular ensemble Kalman filter to receding horizon optimal control problems in the spirit of nonlinear model predictive control. We provide an interacting particle approximation to the forward-backward stochastic differential equations arising from Pontryagin's maximum principle with the forward stochastic differential equation provided by the time-continuous ensemble Kalman-Bucy filter equations. The receding horizon control laws are approximated as linear and are continuously updated as in nonlinear model predictive control. We illustrate the performance of the proposed methodology for an inverted pendulum example.

Authors:Piotr Kicki
Title: Low-pass sampling in Model Predictive Path Integral Control
Abstract:
Model Predictive Path Integral (MPPI) control is a widely used sampling-based approach for real-time control, offering flexibility in handling arbitrary dynamics and cost functions. However, the original MPPI suffers from high-frequency noise in the sampled control trajectories, leading to actuator wear and inefficient exploration. In this work, we introduce Low-Pass Model Predictive Path Integral Control (LP-MPPI), which integrates low-pass filtering into the sampling process to eliminate detrimental high-frequency components and improve the effectiveness of the control trajectories exploration. Unlike prior approaches, LP-MPPI provides direct and interpretable control over the frequency spectrum of sampled trajectories, enhancing sampling efficiency and control smoothness. Through extensive evaluations in Gymnasium environments, simulated quadruped locomotion, and real-world F1TENTH autonomous racing, we demonstrate that LP-MPPI consistently outperforms state-of-the-art MPPI variants, achieving significant performance improvements while reducing control signal chattering.

Authors:Moju Zhao
Title: Vectorable Thrust Control for Multimodal Locomotion of Quadruped Robot SPIDAR
Abstract:
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic control framework for terrestrial/aerial locomotion are briefly introduced. Second, a vectorable thrust control method derived from the basic control framework for aerial locomotion is presented. A key feature of this extended flight control is its ability to avoid interrotor aerodynamics interference under specific joint configuration. Third, another extended thrust control method and a fundamental gait strategy is proposed for special terrestrial locomotion called crawling that requires all legs to be lifted at the same time. Finally, the experimental results of the flight with a complex joint motion and the repeatable crawling motion are explained, which demonstrate the feasibility of the proposed thrust control methods for different locomotion modes.

Authors:Bojia Lyu
Title: Ultra-low Power AMOLED Displays for Smart Wearable Applications: Theory and Practice
Abstract:
With the continuous advancement and maturity of AMOLED (Active-Matrix Organic Light Emitting Diode) technology, smart wearable products such as watches and bracelets are increasingly incorporating related technologies as display screen implementation solutions. Using standby time is the most critical product performance measurement indicator at the moment, according to the power supply system design of smart wearable products and customer usage habits. AMOLED displays, as one of the major power-consuming components in smart wearable products, are also subject to extremely stringent power consumption requirements. This paper divides an AMOLED display into five parts: the power chip, the driver chip, the array substrate, the light-emitting structure, and the light-transmitting structure. In this paper, we propose targeted power-saving solutions for each component based on their respective operating principles, subject areas, and the most recent advances in related fields, and we provide the best overall solution by combining the interactions between each component and even the entire system. The relevant solutions have been validated in practice, and there is clear verification data to demonstrate their feasibility.

Authors:Penglin Hu
Title: A Three-Dimensional Pursuit-Evasion Game Based on Fuzzy Actor-Critic Learning Algorithm
Abstract:
Most of the existing research on pursuit-evasion game (PEG) is conducted in a two-dimensional (2D) environment. In this paper, we investigate the PEG in a 3D space. We extend the Apollonius circle (AC) to the 3D space and introduce its detailed analytical form. To enhance the capture efficiency, we derive the optimal motion space for both the pursuer and the evader. To address the issue arising from a discrete state space, we design a fuzzy actor-critic learning (FACL) algorithm to obtain the agents' strategies. To improve learning performance, we devise a reward function for the agents, which enables obstacle avoidance functionality. The effectiveness of the proposed algorithm is validated through simulation experiments.

Authors:Ismael Abdulrahman
Title: A Quantum Neural Network Transfer-Learning Model for Forecasting Problems with Continuous and Discrete Variables
Abstract:
This study introduces simple yet effective continuous- and discrete-variable quantum neural network (QNN) models as a transfer-learning approach for forecasting tasks. The CV-QNN features a single quantum layer with two qubits to establish entanglement and utilizes a minimal set of quantum gates, including displacement, rotation, beam splitter, squeezing, and a non-Gaussian cubic-phase gate, with a maximum of eight trainable parameters. A key advantage of this model is its ability to be trained on a single dataset, after which the learned parameters can be transferred to other forecasting problems with little to no fine-tuning. Initially trained on the Kurdistan load demand dataset, the model's frozen parameters are successfully applied to various forecasting tasks, including energy consumption, traffic flow, weather conditions, and cryptocurrency price prediction, demonstrating strong performance. Furthermore, the study introduces a discrete-variable quantum model with an equivalent 2- and 4-wire configuration and presents a performance assessment, showing good but relatively lower effectiveness compared to the continuous-variable model.

Authors:Krishan Mohan Nagpal
Title: Recursive Estimation for Dynamical Systems with Measurement Bias, Outliers and Constraints
Abstract:
This paper describes recursive algorithms for state estimation of linear dynamical systems when measurements are noisy with unknown bias and/or outliers. For situations with noisy and biased measurements, algorithms are proposed that minimize $ε$ insensitive loss function. In this approach which is often used in Support Vector Machines, small errors are ignored making the algorithm less sensitive to measurement bias. Apart from $ε$ insensitive quadratic loss function, estimation algorithms are also presented for $ε$ insensitive Huber M loss function which provides good performance in presence of both small noises as well as outliers. The advantage of Huber cost function based estimator in presence of outliers is due to the fact the error penalty function switches from quadratic to linear for errors beyond a certain threshold. For both objective functions, estimation algorithms are extended to cases when there are additional constraints on states and exogenous signals such as known range of some states or exogenous signals or measurement noises. Interestingly, the filtering algorithms are recursive and structurally similar to Kalman filter with the main difference being that the updates based on the new measurement ("innovation term") are based on solution of a quadratic optimization problem with linear constraints.

Authors:Krti Tallam
Title: Decoding the Black Box: Integrating Moral Imagination with Technical AI Governance
Abstract:
This paper examines the intricate interplay among AI safety, security, and governance by integrating technical systems engineering with principles of moral imagination and ethical philosophy. Drawing on foundational insights from Weapons of Math Destruction and Thinking in Systems alongside contemporary debates in AI ethics, we develop a comprehensive multi-dimensional framework designed to regulate AI technologies deployed in high-stakes domains such as defense, finance, healthcare, and education. Our approach combines rigorous technical analysis, quantitative risk assessment, and normative evaluation to expose systemic vulnerabilities inherent in opaque, black-box models. Detailed case studies, including analyses of Microsoft Tay (2016) and the UK A-Level Grading Algorithm (2020), demonstrate how security lapses, bias amplification, and lack of accountability can precipitate cascading failures that undermine public trust. We conclude by outlining targeted strategies for enhancing AI resilience through adaptive regulatory mechanisms, robust security protocols, and interdisciplinary oversight, thereby advancing the state of the art in ethical and technical AI governance.

Authors:Alexandre Sanfelici Bazanella
Title: Learning about passivity from data
Abstract:
This paper presents a data-driven methodology to estimate the storage function of a passive system. The methodology consists in parametrizing the storage function with a dictionary then running a linear program. Results on a benchmark are presented to illustrate its properties, including its robustness to noise. Various uses of the storage function that do not require knowledge of a model are also discussed.

Authors:Rozin Hasin
Title: Prosthetics of the Indian State: The e-Shram Portal for Unorganized Workers in India
Abstract:
This research paper examines the digital portal/database for unorganized workers in the informal sector economy of India today: e-Shram. Using affordance theory, I criticize the operationalization of this database for the labourers, alongside problems of accessibility and perception.

Authors:Mazen Alamir
Title: On reconstructing high derivatives of noisy time-series with confidence intervals
Abstract:
Reconstructing high derivatives of noisy measurements is an important step in many control, identification and diagnosis problems. In this paper, a heuristic is proposed to address this challenging issue. The framework is based on a dictionary of identified models indexed by the bandwidth, the noise level and the required degrees of derivation. Each model in the dictionary is identified via cross-validation using tailored learning data. It is also shown that the proposed approach provides heuristically defined confidence intervals on the resulting estimation. The performance of the framework is compared to the state-of-the-art available algorithms showing noticeably higher accuracy. Although the results are shown for up to the 4-th derivative, higher derivation orders can be used with comparable results.

Authors:Timothy L. Molloy
Title: ISC-POMDPs: Partially Observed Markov Decision Processes with Initial-State Dependent Costs
Abstract:
We introduce a class of partially observed Markov decision processes (POMDPs) with costs that can depend on both the value and (future) uncertainty associated with the initial state. These Initial-State Cost POMDPs (ISC-POMDPs) enable the specification of objectives relative to a priori unknown initial states, which is useful in applications such as robot navigation, controlled sensing, and active perception, that can involve controlling systems to revisit, remain near, or actively infer their initial states. By developing a recursive Bayesian fixed-point smoother to estimate the initial state that resembles the standard recursive Bayesian filter, we show that ISC-POMDPs can be treated as POMDPs with (potentially) belief-dependent costs. We demonstrate the utility of ISC-POMDPs, including their ability to select controls that resolve (future) uncertainty about (past) initial states, in simulation.

Authors:Seyed Mohammad Hosseindokht
Title: Stability analysis for nonlinear compressor system and active adaptive controller against surge with antisurge valve
Abstract:
In this paper, a compressor system is analyzed in order to show its characteristics and design a control scheme to improve its efficiency. A mathematical technique has been created to forecast the onset of surge and instability in a compressor chart, drawing from the nonlinear Greitzer and Moore model. This approach employs the phase plane and Jacobian matrix to identify both stable and unstable regions within the compressor, as well as to capture the limit cycle within the unstable region. A predictive analytical approach for anticipating compressor surge and instability is of great importance in system instrumentation and control. State space model is built up by nonlinear Greitzer equations. Validation from previous study about especial compressor will be considered for evaluation of mathematic method. Upstream flow acts as a disturbance to control loop and controller cannot satisfy desired requirements with flow variances, ergo it is essential that controller is adapted to new conditions. Since control signal is linearly related to system output, a PD controller is used to control compressor system. An adaptive PD controller is designed with MRAS method based on a reference model. Adaptive controller can stabilize compressor and increase its efficiency in the presence of any disturbances. Simulation results shows that an adaptive controller can provide good performance and convergence in case of speed changes by adapting gain parameters, and adaptive will be compared with normal PID. Finally, controller stability is investigated.

Authors:Karthik Elamvazhuthi
Title: Quantitative Flow Approximation Properties of Narrow Neural ODEs
Abstract:
In this note, we revisit the problem of flow approximation properties of neural ordinary differential equations (NODEs). The approximation properties have been considered as a flow controllability problem in recent literature. The neural ODE is considered {\it narrow} when the parameters have dimension equal to the input of the neural network, and hence have limited width. We derive the relation of narrow NODEs in approximating flows of shallow but wide NODEs. Due to existing results on approximation properties of shallow neural networks, this facilitates understanding which kind of flows of dynamical systems can be approximated using narrow neural ODEs. While approximation properties of narrow NODEs have been established in literature, the proofs often involve extensive constructions or require invoking deep controllability theorems from control theory. In this paper, we provide a simpler proof technique that involves only ideas from ODEs and Gr{ö}nwall's lemma. Moreover, we provide an estimate on the number of switches needed for the time dependent weights of the narrow NODE to mimic the behavior of a NODE with a single layer wide neural network as the velocity field.

Authors:Noel Portillo
Title: Design and Implementation of an IoT Cluster with Raspberry Pi Powered by Solar Energy: A Theoretical Approach
Abstract:
This document presents the design and implementation of a low-power IoT server cluster, based on Raspberry Pi 3 Model B and powered by solar energy. The proposed architecture integrates Kubernetes (K3s) and Docker, providing an efficient, scalable, and high-performance computing environment. The cluster is designed to optimize energy consumption, leveraging a 200W solar panel system and a 100Ah lithium-ion battery to support continuous operation under favorable environmental conditions. Performance analysis was conducted based on theoretical inferences and data obtained from external sources, evaluating resource allocation, power consumption, and service availability. These analyses provide theoretical estimates of the system's operational feasibility under different scenarios. The results suggest that this system can serve as a viable and sustainable alternative for edge computing applications and cloud services, reducing dependence on traditional data centers. In addition to its positive impact on environmental sustainability by significantly reducing the carbon footprint, this solution also addresses economic concerns, as conventional data centers consume enormous amounts of energy, leading to increased demand on the power grid and higher operational costs.

Authors:Lucas Almeida
Title: Safety-Critical Control for Robotic Manipulators using Collision Cone Control Barrier Functions
Abstract:
This paper presents a comprehensive approach for the safety-critical control of robotic manipulators operating in dynamic environments. Building upon the framework of Control Barrier Functions (CBFs), we extend the collision cone methodology to formulate Collision Cone Control Barrier Functions (C3BFs) specifically tailored for manipulators. In our approach, safety constraints derived from collision cone geometry are seamlessly integrated with Cartesian impedance control to ensure compliant yet safe end-effector behavior. A Quadratic Program (QP)-based controller is developed to minimally modify the nominal control input to enforce safety. Extensive simulation experiments demonstrate the efficacy of the proposed method in various dynamic scenarios.

Authors:Rafael Vazquez
Title: Backstepping Control Laws for Higher-Dimensional PDEs: Spatial Invariance and Domain Extension Methods
Abstract:
This paper extends backstepping to higher-dimensional PDEs by leveraging domain symmetries and structural properties. We systematically address three increasingly complex scenarios. First, for rectangular domains, we characterize boundary stabilization with finite-dimensional actuation by combining backstepping with Fourier analysis, deriving explicit necessary conditions. Second, for reaction-diffusion equations on sector domains, we use angular eigenfunction expansions to obtain kernel solutions in terms of modified Bessel functions. Finally, we outline a domain extension method for irregular domains, transforming the boundary control problem into an equivalent one on a target domain. This framework unifies and extends previous backstepping results, offering new tools for higher-dimensional domains where classical separation of variables is inapplicable.

Authors:Md Nur-A-Adam Dony
Title: Adaptive Reinforcement Learning for State Avoidance in Discrete Event Systems
Abstract:
Reinforcement learning (RL) has emerged as a potent paradigm for autonomous decision-making in complex environments. However, the integration of event-driven decision processes within RL remains a challenge. This paper presents a novel architecture that combines a Discrete Event Supervisory (DES) model with a standard RL framework to create a hybrid decision-making system. Our model leverages the DES's capabilities in managing event-based dynamics with the RL agent's adaptability to continuous states and actions, facilitating a more robust and flexible control strategy in systems characterized by both continuous and discrete events. The DES model operates alongside the RL agent, enhancing the policy's performance with event-based insights, while the environment's state transitions are governed by a mechanistic model. We demonstrate the efficacy of our approach through simulations that show improved performance metrics over traditional RL implementations. Our results suggest that this integrated approach holds promise for applications ranging from industrial automation to intelligent traffic systems, where discrete event handling is paramount.

Authors:Michael J. Walsh
Title: A Normal Variance Mixture Model for Robust Kalman Filtering
Abstract:
The Kalman filter is ubiquitous for state space models because of its desirable statistical properties, ease of implementation, and generally good performance. However, it can perform poorly in the presence of outliers, or measurements with noise variances much greater than those assumed by the filter. An algorithm that is similar to the Kalman filter but robust to outliers is derived in this report. This algorithm -- called the normal variance mixture filter (NVMF) -- replaces the Gaussian distribution for the noise in the Kalman filter measurement model with a normal variance mixture distribution that admits heavier tails. Choice of the mixing density determines the complexity and performance of the NVMF. When the mixing density is the Dirac delta function, the NVMF is equivalent to the Kalman filter. Choice of an inverse gamma mixing density leads to closed-form recursions for the state estimate and its error covariance matrix that are robust to outliers. The NVMF is compared to the benchmark probabilistic data association filter (PDAF), as well as two other robust filters from the recent literature, for a simulated example. While all four robust filters outperform the Kalman filter when outliers are present, the NVMF provides the most consistent performance across all simulations.

Authors:Krti Tallam
Title: The Cyber Immune System: Harnessing Adversarial Forces for Security Resilience
Abstract:
Both parasites in biological systems and adversarial forces in cybersecurity are often perceived as threats: disruptive elements that must be eliminated. However, these entities play a critical role in revealing systemic weaknesses, driving adaptation, and ultimately strengthening resilience. This paper draws from environmental epidemiology and cybersecurity to reframe parasites and cyber exploiters as essential stress-testers of complex systems, exposing hidden vulnerabilities and pushing defensive innovations forward. By examining how biological and digital systems evolve in response to persistent threats, we highlight the necessity of adversarial engagement in fortifying security frameworks. The recent breach of the DOGE website serves as a timely case study, illustrating how adversarial forces, whether biological or digital, compel systems to reassess and reinforce their defenses.

Authors:Marcos Soto
Title: Smart Sampling Strategies for Wireless Industrial Data Acquisition
Abstract:
In industrial environments, data acquisition accuracy is crucial for process control and optimization. Wireless telemetry has proven to be a valuable tool for improving efficiency in well-testing operations, enabling bidirectional communication and real-time control of downhole tools. However, high sampling frequencies present challenges in telemetry, including data storage, transmission, computational resource consumption, and battery life of wireless devices. This study explores how optimizing data acquisition strategies can reduce aliasing effects and systematic errors while improving sampling rates without compromising measurement accuracy. A reduction of 80% in sampling frequency was achieved without degrading measurement quality, demonstrating the potential for resource optimization in industrial environments.

Authors:Jun Liu
Title: A Concise Lyapunov Analysis of Nesterov's Accelerated Gradient Method
Abstract:
Convergence analysis of Nesterov's accelerated gradient method has attracted significant attention over the past decades. While extensive work has explored its theoretical properties and elucidated the intuition behind its acceleration, a simple and direct proof of its convergence rates is still lacking. We provide a concise Lyapunov analysis of the convergence rates of Nesterov's accelerated gradient method for both general convex and strongly convex functions.

Authors:Momammad Ali Ranjbar
Title: Fast Finite-Time Sliding Mode Control for Chattering-Free Trajectory Tracking of Robotic Manipulators
Abstract:
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal sliding mode control (FTSMC) strategy for a three-degree-of-freedom (3-DOF) robotic arm, designed to enhance tracking accuracy and robustness while ensuring finite-time convergence. The control framework is developed using Newton-Euler dynamics, followed by a state-space representation that captures the system's angular position and velocity. By incorporating an improved sliding surface and a Lyapunov-based stability analysis, the proposed FTSMC effectively mitigates chattering while preserving the advantages of SMC, such as fast response and strong disturbance rejection. The controller's performance is rigorously evaluated through comparisons with conventional PD sliding mode control (PDSMC) and terminal sliding mode control (TSMC). Simulation results demonstrate that the proposed approach achieves superior trajectory tracking performance, faster convergence, and enhanced stability compared to existing methods, making it a promising solution for high-precision robotic applications.

Authors:Taha Saeed Khan
Title: Least Squares based Estimation of Thevenin Equivalent in Noisy Distribution Grid
Abstract:
This work presents a novel approach that synergizes the extremum seeking method with an online least squares estimation technique to accurately estimate Thevenin equivalent circuit being seen at each node in distribution grids. Thevenin's theorem offers a simplified representation of electrical networks, critical for the effective monitoring, control, and optimization of grid operations. However, real-time identification of Thevenin parameters, particularly impedance, poses significant challenges due to the dynamic nature of distribution grids. By integrating extremum seeking algorithms, which are adept at locating optima in dynamic systems without explicit model information, with the robustness of least squares estimation, we develop a novel methodology that continuously adapts to grid fluctuations. These fusion harnesses the strengths of both techniques: the extremum seeking method's non-model-based optimization capabilities and the least squares method's proficiency in estimating parameter value in a noisy environment. The result is a robust, adaptive algorithm capable of delivering reliable Thevenin parameter estimations in real-time. Our simulation results demonstrate the efficacy of the proposed method, showcasing its potential as a tool for enhanced grid management and resilience.

Authors:Haoran Su
Title: Facilitating Emergency Vehicle Passage in Congested Urban Areas Using Multi-agent Deep Reinforcement Learning
Abstract:
Emergency Response Time (ERT) is crucial for urban safety, measuring cities' ability to handle medical, fire, and crime emergencies. In NYC, medical ERT increased 72% from 7.89 minutes in 2014 to 14.27 minutes in 2024, with half of delays due to Emergency Vehicle (EMV) travel times. Each minute's delay in stroke response costs 2 million brain cells, while cardiac arrest survival drops 7-10% per minute. This dissertation advances EMV facilitation through three contributions. First, EMVLight, a decentralized multi-agent reinforcement learning framework, integrates EMV routing with traffic signal pre-emption. It achieved 42.6% faster EMV travel times and 23.5% improvement for other vehicles. Second, the Dynamic Queue-Jump Lane system uses Multi-Agent Proximal Policy Optimization for coordinated lane-clearing in mixed autonomous and human-driven traffic, reducing EMV travel times by 40%. Third, an equity study of NYC Emergency Medical Services revealed disparities across boroughs: Staten Island faces delays due to sparse signalized intersections, while Manhattan struggles with congestion. Solutions include optimized EMS stations and improved intersection designs. These contributions enhance EMV mobility and emergency service equity, offering insights for policymakers and urban planners to develop safer, more efficient transportation systems.

Authors:Tong Wang
Title: Convergence of Iterative Water-Filling in Multi-User Non-Cooperative Power Control: A Comprehensive Analysis for Sequential, Simultaneous, and Asynchronous Schemes
Abstract:
Non-cooperative game theory provides a robust framework for analyzing distributed resource allocation in multi-user wireless networks, with \emph{Iterative Water-Filling} (IWF) emerging as a canonical solution for power control problems. Although classical fixed-point theorems guarantee the existence of a Nash Equilibrium (NE) under mild concavity and compactness conditions, the convergence of practical iterative algorithms to that equilibrium remains a challenging endeavor. This challenge intensifies under varying update schedules, interference regimes, and imperfections such as channel estimation errors or feedback delay. In this paper, we present an in-depth examination of IWF in multi-user systems under three different update schemes: (1) synchronous \emph{sequential} updates, (2) synchronous \emph{simultaneous} updates, and (3) \emph{totally asynchronous} updates. We first formulate the water-filling operator in a multi-carrier environment, then recast the iterative process as a fixed-point problem. Using contraction mapping principles, we demonstrate sufficient conditions under which IWF converges to a unique NE and highlight how spectral radius constraints, diagonal dominance, and careful step-size selection are pivotal for guaranteeing convergence. We further discuss robustness to measurement noise, partial updates, and network scaling to emphasize the practical viability of these schemes. This comprehensive analysis unifies diverse threads in the literature while offering novel insights into asynchronous implementations. Our findings enable network designers to ascertain system parameters that foster both stable convergence and efficient spectrum usage.

Authors:Nhat M. Nguyen
Title: Empirical Study of Dynamic Regret in Online Model Predictive Control for Linear Time-Varying Systems
Abstract:
Model Predictive Control (MPC) is a widely used technique for managing timevarying systems, supported by extensive theoretical analysis. While theoretical studies employing dynamic regret frameworks have established robust performance guarantees, their empirical validation remains sparse. This paper investigates the practical applicability of MPC by empirically evaluating the assumptions and theoretical results proposed by Lin et al. [2022]. Specifically, we analyze the performance of online MPC under varying prediction errors and prediction horizons in Linear Time-Varying (LTV) systems. Our study examines the relationship between dynamic regret, prediction errors, and prediction horizons, providing insights into the trade-offs involved. By bridging theory and practice, this work advances the understanding and application of MPC in real-world scenarios.

Authors:Tobias K. S. Ritschel
Title: On Erlang mixture approximations for differential equations with distributed time delays
Abstract:
In this paper, we propose a general approach for approximate simulation and analysis of delay differential equations (DDEs) with distributed time delays based on methods for ordinary differential equations (ODEs). The key innovation is that we 1) approximate the kernel by the probability density function of an Erlang mixture and 2) use the linear chain trick to transform the approximate DDEs to ODEs. Furthermore, we prove that an approximation with infinitely many terms converges for continuous and bounded kernels and for specific choices of the coefficients. We show that the approximate ODEs can be used to assess the stability of the steady states of the original DDEs and that the solution to the ODEs converges if the kernel is also exponentially bounded. Additionally, we propose an approach based on bisection and least-squares estimation for determining optimal parameter values in the approximation. Finally, we present numerical examples that demonstrate the accuracy and convergence rate obtained with the optimal parameters and the efficacy of the proposed approach for bifurcation analysis and Monte Carlo simulation. The numerical examples involve a modified logistic equation, chemotherapy-induced myelosuppression, and a point reactor kinetics model of a molten salt nuclear fission reactor.

Authors:Vatsal Maru
Title: A Graph-Enhanced Deep-Reinforcement Learning Framework for the Aircraft Landing Problem
Abstract:
The Aircraft Landing Problem (ALP) is one of the challenging problems in aircraft transportation and management. The challenge is to schedule the arriving aircraft in a sequence so that the cost and delays are optimized. There are various solution approaches to solving this problem, most of which are based on operations research algorithms and meta-heuristics. Although traditional methods perform better on one or the other factors, there remains a problem of solving real-time rescheduling and computational scalability altogether. This paper presents a novel deep reinforcement learning (DRL) framework that combines graph neural networks with actor-critic architectures to address the ALP. This paper introduces three key contributions: A graph-based state representation that efficiently captures temporal and spatial relationships between aircraft, a specialized actor-critic architecture designed to handle multiple competing objectives in landing scheduling, and a runway balance strategy that ensures efficient resource utilization while maintaining safety constraints. The results show that the trained algorithm can be tested on different problem sets and the results are competitive to operation research algorithms. The experimental results on standard benchmark data sets demonstrate a 99.95% reduction in computational time compared to Mixed Integer Programming (MIP) and 38% higher runway throughput over First Come First Serve (FCFS) approaches. Therefore, the proposed solution is competitive to traditional approaches and achieves substantial advancements. Notably, it does not require retraining, making it particularly suitable for industrial deployment. The frameworks capability to generate solutions within 1 second enables real-time rescheduling, addressing critical requirements of air traffic management.

Authors:Parham Mohammadi
Title: A Novel Gain Modeling Technique for LLC Resonant Converters based on The Hybrid Deep-Learning/GMDH Neural Network
Abstract:
This paper presents a novel hybrid approach for modeling the voltage gain of LLC resonant converters by combining deep-learning neural networks with the polynomial based Group Method of Data Handling (GMDH). While deep learning offers high accuracy in predicting nonlinear converter behavior, it produces complex network models. GMDH neural networks, in contrast, yield simpler algebraic equations that can be more convenient in converter design. By training a deep network on data from an FPGA based real time simulator and then using the network s predictions to train a GMDH model, the proposed hybrid method achieves both high accuracy and design friendly simplicity. Experimental results show significant improvements over traditional methods such as First Harmonic Approximation (FHA) and frequency domain corrections, particularly for wide operating ranges.

Authors:Pratik Vernekar
Title: Nonlinear Feedback Linearization and LQG/LTR Control: A Comparative Study for a Single-Machine Infinite-Bus System
Abstract:
This paper presents a comparative study of three advanced control strategies for a single-machine infinite-bus (SMIB) system: the nonlinear feedback linearizing controller (NFLC), the integral-NFLC (INFLC), and the linear-quadratic-Gaussian/loop transfer recovery (LQG/LTR) control. The NFLC and INFLC techniques use exact feedback linearization to precisely cancel the SMIB system nonlinearities, enabling the use of decentralized, linear, and optimal controllers for the decoupled generator and turbine-governor systems while remaining unaffected by the SMIB system's internal dynamics and operating conditions. In contrast, the LQG/LTR approach employs an enhanced Kalman filter, designed using the LTR procedure and a detailed frequency-domain loop-shaping analysis, to achieve a reasonable trade-off between optimal performance, noise/disturbance rejection, robustness recovery, and stability margins for the SMIB system. We provide a control synthesis framework for constructing practical, verifiable, scalable, and resilient linear and nonlinear controllers for SMIB and multi-machine power systems by utilizing a high-fidelity plant model for validation, a reduced-order control-design model, and the correlations between the two models' control inputs. Rigorous simulations and comparative analysis of the proposed controllers and a full-state linear-quadratic regulator show the benefits, constraints, and trade-offs of each controller in terms of transient response, steady-state error, robustness, rotor angle stability, frequency control, and voltage regulation under different operating conditions. Ultimately, this study aims to guide the selection of appropriate control strategies for large-scale power systems, enhancing the overall resilience and reliability of the electric grid.

Authors:Adam M Tahir
Title: Efficient Stabilization of Hybrid Coulomb Spacecraft Formations using Control Lyapunov Functions
Abstract:
A control allocation algorithm using control Lyapunov functions to determine stabilizing charges and thrusts of hybrid Coulomb spacecraft formations (HCSFs) is presented. The goal is to stabilize a desired configuration while minimizing the thruster actuation and maximizing Coulomb actuation to minimize propellant usage. A proportion of the decrease of the control Lyapunov function is designated for Coulomb actuation and the rest is performed by thrusters. Simulations show that an 85% reduction of propellant compared to using solely thrusters is attainable using the proposed algorithm. It is shown that the best role for thrusters in a HCSF is to provide small corrections that cannot be provided by Coulomb actuation.

Authors:Christopher K. Allsup
Title: Stretching Rubber, Not Budgets: Accurate Parking Utilization on a Shoestring
Abstract:
Effective parking management is essential for ensuring safety and convenience in master-planned communities, particularly in active adult neighborhoods experiencing rapid growth. Accurately assessing parking utilization is a crucial first step in planning for future demand, but data collection methods can be costly and labor-intensive. This paper presents a low-cost yet highly accurate methodology for measuring parking utilization using pneumatic road tubes connected to portable traffic counters from JAMAR Technologies, Inc. By integrating results from JAMAR's analysis tool with custom Python scripting, the methodology enables precise parking lot counts through automated parameter optimization and error correction. The system's efficiency allows for scalable deployment without significant manual observation, reducing both costs and disruptions to daily operations. Using Tellico Village as a case study, this effort demonstrates that community planners can obtain actionable parking insights on a limited budget, empowering them to make informed decisions about capacity expansion and facility scheduling.

Authors:Vasileios Apostolidis-Afentoulis
Title: "Active Neighbour": A Novel Monitoring Model for Cyber-Physical Systems
Abstract:
Over the past decade, advancements in technology have enabled Cyber-Physical Systems (CPS) to monitor sensor networks through various methodologies. However, these developments have concurrently introduced significant security challenges, necessitating robust protective measures. As a result, securing CPS has become a critical area of research. This paper reviews existing CPS monitoring models and introduces an innovative role-based monitoring model designed to meet contemporary security requirements. The proposed model is implemented within the COOJA simulator of the Contiki OS and evaluated under three distinct security configurations. Preliminary results demonstrate promising outcomes, although further comprehensive testing is ongoing.

Authors:Simeon C. Calvert
Title: Principles and Framework for the Operationalisation of Meaningful Human Control over Autonomous Systems
Abstract:
This paper proposes an alignment for the operationalisation of Meaningful Human Control (MHC) for autonomous systems by proposing operational principles for MHC and introducing a generic framework for its application. With a plethora of different seemingly diverging expansions for use of MHC in practice, this work aims to bring alignment and convergence use in practice. The increasing integration of autonomous systems in various domains emphasises a critical need to maintain human control to ensure responsible safety, accountability, and ethical operation of these systems. The concept of MHC offers an ideal concept for the design and evaluation of human control over autonomous systems, while considering human and technology capabilities. Through analysis of existing literature and investigation across various domains and related concepts, principles for the operationalisation of MHC are set out to provide tangible guidelines for researchers and practitioners aiming to implement MHC in their systems. The proposed framework dissects generic components of systems and their subsystems aligned with different agents, stakeholders and processes at different levels of proximity to an autonomous technology. The framework is domain-agnostic, emphasizing the universal applicability of the MHC principles irrespective of the technological context, paving the way for safer and more responsible autonomous systems.

Authors:Pan Zhao
Title: Parameter-Dependent Control Lyapunov Functions for Stabilizing Nonlinear Parameter-Varying Systems
Abstract:
This paper introduces the concept of parameter-dependent (PD) control Lyapunov functions (CLFs) for gain-scheduled stabilization of nonlinear parameter-varying (NPV) systems. It shows that given a PD-CLF, a min-norm control law can be constructed by solving a robust quadratic program. For polynomial control-affine NPV systems, it provides convex conditions, based on the sum of squares programming, to jointly synthesize a PD-CLF and a PD controller while maximizing the PD region of stabilization. Input constraints can be straightforwardly incorporated into the synthesis procedure. Unlike traditional linear parameter-varying (LPV) methods that rely on linearization or over-approximation to get an LPV model, the proposed framework fully captures the nonlinearities of the system dynamics. The theoretical results are validated through numerical simulations, including a 2D rocket landing case study under varying mass and inertia.

Authors:Thomas Lew
Title: Rough Stochastic Pontryagin Maximum Principle and an Indirect Shooting Method
Abstract:
We derive first-order Pontryagin optimality conditions for stochastic optimal control with deterministic controls for systems modeled by rough differential equations (RDE) driven by Gaussian rough paths. This Pontryagin Maximum Principle (PMP) applies to systems following stochastic differential equations (SDE) driven by Brownian motion, yet it does not rely on forward-backward SDEs and involves the same Hamiltonian as the deterministic PMP. The proof consists of first deriving various integrable error bounds for solutions to nonlinear and linear RDEs by leveraging recent results on Gaussian rough paths. The PMP then follows using standard techniques based on needle-like variations. As an application, we propose the first indirect shooting method for nonlinear stochastic optimal control and show that it converges 10x faster than a direct method on a stabilization task.

Authors:Mario Gleirscher
Title: Solvability of Approximate Reach-Avoid Games
Abstract:
Objective: In a companion paper, we propose a parametric hybrid automaton model and an algorithm for the online synthesis of robustly correct and near-optimal controllers for cyber-physical system with reach-avoid guarantees. A key part of this synthesis problem is based on a weighted discretised game and solved via scope-adaptive discrete dynamic programming. Approach: This work examines proofs of key properties of the discussed algorithm. Evaluation: The main proof is by induction over the stages of a discrete Hamilton-Jacobi-Bellman system of equations. Contribution: The results include a game solvability theorem and identify necessary and sufficient conditions for its applicability.

Authors:Ibrahim Ismael Hamarash
Title: Small Signal Stability Analysis of Kurdistan Regional Power System
Abstract:
This paper presents for the first time a mathematical model for evaluating the Planned Kurdistan Regional Power System (KRPS) for its ability to maintain stability under small disturbances and fluctuations during normal operating conditions. To achieve this objective, practical field data, manufacture's datasheets, related IEEE task force reports have been used to build a complete mathematical model in MATLAB/SIMULINK/SimPowerSystem environment. New modules have been established and added to the platform wherever it does not support special type of elements. The model represents accurately all the power system components involved in physical phenomena of system dynamic oscillations. The model consists of 53 transmission lines, 35 nodes and 6 generating stations. The system is simulated under different configurations and settings; the dynamic behaviors associated with each configuration are recorded and analyzed accordingly.

Authors:Anubhab Dasgupta
Title: Stabilizing scheduling logic for networked control systems under limited capacity and lossy communication networks
Abstract:
In this paper we address the problem of designing scheduling logic for stabilizing Networked Control Systems (NCSs) with plants and controllers remotely-located over a limited capacity communication network subject to data losses. Our specific contributions include characterization of stability under worst case data loss using an inequality associated with a cycle on a graph. This is eventually formulated as a feasibility problem to solve for certain parameters (\(T\)-factors) used to design a periodic scheduling logic. We show that given a solution to the feasibility problem, the designed scheduling logic guarantees \emph{global asymptotic stability} for all plants of the network under all admissible data losses. We also derive sufficient conditions on the number of plants and the capacity of the network for the existence of a solution to the feasibility problem. Given that a sufficient condition is satisfied, we discuss the procedure to obtain the feasible \(T\)-factors. We use tools from switched systems theory and graph theory in this work. A numerical experiment is provided to verify our results.

Authors:Siavash Farzan
Title: NDKF: A Neural-Enhanced Distributed Kalman Filter for Nonlinear Multi-Sensor Estimation
Abstract:
We propose a Neural-Enhanced Distributed Kalman Filter (NDKF) for multi-sensor state estimation in nonlinear systems. Unlike traditional Kalman filters that rely on explicit, linear models and centralized data fusion, the NDKF leverages neural networks to learn both the system dynamics and measurement functions directly from data. Each sensor node performs local prediction and update steps using these learned models and exchanges only compact summary information with its neighbors via a consensus-based fusion process, which reduces communication overhead and eliminates a single point of failure. Our theoretical convergence analysis establishes sufficient conditions under which the local linearizations of the neural models guarantee overall filter stability and provides a solid foundation for the proposed approach. Simulation studies on a 2D system with four partially observing nodes demonstrate that the NDKF significantly outperforms a distributed Extended Kalman Filter. These outcomes, as yielded by the proposed NDKF method, highlight its potential to improve the scalability, robustness, and accuracy of distributed state estimation in complex nonlinear environments.

Authors:Hossein Rastgoftar
Title: Containment Control Approach for Steering Opinion in a Social Network
Abstract:
The paper studies the problem of steering multi-dimensional opinion in a social network. Assuming the society of desire consists of stubborn and regular agents, stubborn agents are considered as leaders who specify the desired opinion distribution as a distributed reward or utility function. In this context, each regular agent is seen as a follower, updating its bias on the initial opinion and influence weights by averaging their observations of the rewards their influencers have received. Assuming random graphs with reducible and irreducible topology specify the influences on regular agents, opinion evolution is represented as a containment control problem in which stability and convergence to the final opinion are proven.

Authors:Wentao Tang
Title: Learning the Integral Quadratic Constraints on Plant-Model Mismatch
Abstract:
While a characterization of plant-model mismatch is necessary for robust control, the mismatch usually can not be described accurately due to the lack of knowledge about the plant model or the complexity of nonlinear plants. Hence, this paper considers this problem in a data-driven way, where the mismatch is captured by parametric forms of integral quadratic constraints (IQCs) and the parameters contained in the IQC equalities are learned from sampled trajectories from the plant. To this end, a one-class support vector machine (OC-SVM) formulation is proposed, and its generalization performance is analyzed based on the statistical learning theory. The proposed approach is demonstrated by a single-input-single-output time delay mismatch and a nonlinear two-phase reactor with a linear nominal model, showing accurate recovery of frequency-domain uncertainties.

Authors:Emre Sariyildiz
Title: IEEEICM25: "A High-Performance Disturbance Observer"
Abstract:
This paper proposes a novel Disturbance Observer, termed the High-Performance Disturbance Observer, which achieves more accurate disturbance estimation compared to the conventional disturbance observer, thereby delivering significant improvements in robustness and performance for motion control systems.

Authors:Emre Sariyildiz
Title: IEEEICM25: "Stability of Digital Robust Motion Control Systems with Disturbance Observer"
Abstract:
In this paper, new stability analysis methods are proposed for digital robust motion control systems implemented using a disturbance observer.

Authors:Vladislav Nenchev
Title: One Stack, Diverse Vehicles: Checking Safe Portability of Automated Driving Software
Abstract:
Integrating an automated driving software stack into vehicles with variable configuration is challenging, especially due to different hardware characteristics. Further, to provide software updates to a vehicle fleet in the field, the functional safety of every affected configuration has to be ensured. These additional demands for dependability and the increasing hardware diversity in automated driving make rigorous automatic analysis essential. This paper addresses this challenge by using formal portability checking of adaptive cruise controller code for different vehicle configurations. Given a formal specification of the safe behavior, models of target configurations are derived, which capture relevant effects of sensors, actuators and computing platforms. A corresponding safe set is obtained and used to check if the desired behavior is achievable on all targets. In a case study, portability checking of a traditional and a neural network controller are performed automatically within minutes for each vehicle hardware configuration. The check provides feedback for necessary adaptations of the controllers, thus, allowing rapid integration and testing of software or parameter changes.

Authors:Igor Furtat
Title: Analysis and Control of Perturbed Density Systems
Abstract:
The paper investigates dynamical systems for which the derivative of some positive-definite function along the solutions of this system depends on so-called density function. In turn, such dynamical systems are called density systems. The density function sets the density of the space, where the system is evolved, and affects the behaviour of the original system. For example, this function can define (un)stable regions and forbidden regions where there are no system solutions. The density function can be used in the design of new adaptive control laws with the formulation of appropriate new control goals, e.g., stabilization in given bounded or semi-bounded sets. To design a novel adaptive control law that ensures the system outputs in a given set, systems with known and unknown parameters under disturbances are considered. All theoretical results and conclusions are illustrated by numerical simulations.

Authors:Venkat Anantharam
Title: Quantum advantage in decentralized control of POMDPs: A control-theoretic view of the Mermin-Peres square
Abstract:
Consider a decentralized partially-observed Markov decision problem (POMDP) with multiple cooperative agents aiming to maximize a long-term-average reward criterion. We observe that the availability, at a fixed rate, of entangled states of a product quantum system between the agents, where each agent has access to one of the component systems, can result in strictly improved performance even compared to the scenario where common randomness is provided to the agents, i.e. there is a quantum advantage in decentralized control. This observation comes from a simple reinterpretation of the conclusions of the well-known Mermin-Peres square, which underpins the Mermin-Peres game. While quantum advantage has been demonstrated earlier in one-shot team problems of this kind, it is notable that there are examples where there is a quantum advantage for the one-shot criterion but it disappears in the dynamical scenario. The presence of a quantum advantage in dynamical scenarios is thus seen to be a novel finding relative to the current state of knowledge about the achievable performance in decentralized control problems. This paper is dedicated to the memory of Pravin P. Varaiya.

Authors:Umair Zulfiqar
Title: Compression and Distillation of Data Quadruplets in Non-intrusive Reduced-order Modeling
Abstract:
This paper introduces a quadrature-free, data-driven approach to balanced truncation for both continuous-time and discrete-time systems. The method non-intrusively constructs reduced-order models using available transfer function samples from the right half of the $s$-plane. It is highlighted that the proposed data-driven balanced truncation and existing quadrature-based balanced truncation algorithms share a common feature: both compress their respective data quadruplets to derive reduced-order models. Additionally, it is demonstrated that by using different compression strategies, these quadruplets can be utilized to develop three data-driven formulations of the IRKA for both continuous-time and discrete-time systems. These formulations non-intrusively generate reduced models using transfer function samples from the $jω$-axis or the right half of the $s$-plane, or impulse response samples. Notably, these IRKA formulations eliminate the necessity of computing new transfer function samples as IRKA iteratively updates the interpolation points. The efficacy of the proposed algorithms is validated through numerical examples, which show that the proposed data-driven approaches perform comparably to their intrusive counterparts.

Authors:Andrii Mironchenko
Title: Modeling and stability analysis of live systems with time-varying dimension
Abstract:
A major limitation of the classical control theory is the assumption that the state space and its dimension do not change with time. This prevents analyzing and even formalizing the stability and control problems for open multi-agent systems whose agents may enter or leave the network, industrial processes where the sensors or actuators may be exchanged frequently, smart grids, etc. In this work, we propose a framework of live systems that covers a rather general class of systems with a time-varying state space. We argue that input-to-state stability is a proper stability notion for this class of systems, and many of the classic tools and results, such as Lyapunov methods and superposition theorems, can be extended to this setting.

Authors:Micah Reich
Title: Error-State LQR Formulation for Quadrotor UAV Trajectory Tracking
Abstract:
This article presents an error-state Linear Quadratic Regulator (LQR) formulation for robust trajectory tracking in quadrotor Unmanned Aerial Vehicles (UAVs). The proposed approach leverages error-state dynamics and employs exponential coordinates to represent orientation errors, enabling a linearized system representation for real-time control. The control strategy integrates an LQR-based full-state feedback controller for trajectory tracking, combined with a cascaded bodyrate controller to handle actuator dynamics. Detailed derivations of the error-state dynamics, the linearization process, and the controller design are provided, highlighting the applicability of the method for precise and stable quadrotor control in dynamic environments.

Authors:Aldo Jonathan Munoz-Vazquez
Title: Intuition and importance of feedback control through laboratory experiences
Abstract:
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session, considering Matlab/Simulink simulations of the non-linear pendulum model. First, students attempt to make the pendulum stop at unstable equilibrium by controlling the torque input with a joystick connected to the computer via an Arduino board. Different friction scenarios are considered for students to explore the dissipation in the system response. Then, as a second task, the Arduino is used to introduce the position reference, while students implement different control strategies, such as Bang-Bang, PID (proportional-integral-derivative) and FPID (fractional PID) controllers, analyzing the system response by inspecting the signals in a scope and in a 3D animated model. The dynamic model results as an application of the laws of rotational motion, and the control methods are explained from an intuitive point of view, focusing on the meaning and motivation of the control actions, with the intention to develop intuition about PID and FPID control methods.

Authors:Mehdi Tavan
Title: Dynamic Regressor Extension and Mixing-based Re-design of Adaptive Observer for Affine Systems
Abstract:
The dynamic regressor extension and mixing procedure is employed to redesign a conventional adaptive observer algorithm for affine systems. A reduced-order observer is designed without the construction of the state transition matrix. The dynamics of the regressor are redesigned to incorporate feedback from its extension, transforming the regressor dynamics into a perturbed damped nonlinear oscillator form. This introduces some flexibility in reducing the degradation of parameter convergence due to the lack of the transition matrix and in enhancing the excitation property of the extension matrix.

Authors:Md Umar Hashmi
Title: DER Hosting capacity for distribution networks: definitions, attributes, use-cases and challenges
Abstract:
The rapid adoption of distributed energy resources (DERs) has outpaced grid modernization, leading to capacity limitations that challenge their further integration. Hosting Capacity Assessment (HCA) is a critical tool for evaluating how much DER capacity a grid can handle without breaching operational limits. HCA serves multiple goals: enabling higher DER penetration, accelerating grid connection times, guiding infrastructure upgrades or flexible resource deployment, ensuring equitable policies, and improving grid flexibility while minimizing curtailment. HCA lacks a universal definition, varying by modelling approaches, uncertainty considerations, and objectives. This paper addresses five key questions to standardize and enhance HCA practices. First, it classifies HCA objectives associated with different stakeholders such as system operators, consumers, market operators and consumers. Second, it examines model attributes, including modelling sophistication, data requirements, and uncertainty handling, thus balancing complexity with computational efficiency. Third, it explores HCA applications, such as planning grid investments or operational decisions, and summarizes use cases associated with HCA. Fourth, it emphasizes the need for periodic updates to reflect dynamic grid conditions, evolving technologies, and new DER installations. Finally, it identifies challenges, such as ensuring data quality, managing computational demands, and aligning short-term and long-term goals. By addressing these aspects, this paper provides a structured approach to perform and apply HCA, offering insights for engineers, planners, and policymakers to manage DER integration effectively.

Authors:Konstantin A. Rybakov
Title: On Spectral Approach to the Synthesis of Shaping Filters
Abstract:
This paper describes various approaches to modeling a random process with a given rational power spectral density. The main attention is paid to the spectral form of mathematical description, which allows one to obtain a relation for the shaping filter using a transfer function without any additional calculations. The paper provides all necessary relations for the implementation of the shaping filter based on the spectral form of mathematical description.

Authors:Raihan Khan Akash
Title: Comparative Analysis of Control Strategies for Position Regulation in DC Servo Motors
Abstract:
A servomotor is a closed-loop system designed for precise movement control, utilizing position feedback to achieve accurate final positions. Due to the ability to deliver higher power output and operate at enhanced speeds, DC servo motors are considered ideal for applications requiring precision and performance. This research aims to design, simulate, and compare various control strategies for precise position control in DC servo motors (DSM). The controllers evaluated in this study include proportional (P), proportional-integral (PI), proportional-integral-derivative (PID), state-feedback controllers (SFC), and state-feedback controllers augmented with integral action (SFCIA). The performance of these controllers was evaluated using MATLAB simulations, characterized by overshoot, settling time, steady-state error, rise time, and peak time. The results indicate that the state-feedback controller with integral action (SFCIA) surpasses other control strategies by achieving zero steady-state error, minimal overshoot, the shortest settling time, and optimized rise and peak times. These findings highlight the effectiveness of SFCIA for tasks requiring high levels of stability, precision, and dynamic performance.

Authors:Fredrik Bagge Carlson
Title: Linear ADRC is equivalent to PID with set-point weighting and measurement filter
Abstract:
We show that linear Active Disturbance-Rejection Control (ADRC) tuned using the "bandwidth method" is equivalent to PI(D) control with set-point weighting and a lowpass filter on the measurement signal. We also provide simple expressions that make it possible to implement linear ADRC for first and second-order systems using commonplace two degree-of-freedom PID implementations. The expressions are equivalent to ADRC in the response from measurements, and a slight approximation in the response from references.

Authors:Diomidis Katzourakis
Title: Systems Engineering for Autonomous Vehicles; Supervising AI using Large Language Models (SSuperLLM)
Abstract:
Generative Artificial Intelligence (GAI) and the idea to use hierarchical models has been around for some years now. GAI has proved to be an extremely useful tool for Autonomous Vehicles (AVs). AVs need to perform robustly in their environment. Thus the AV behavior and short-term trajectory planning needs to be: a) designed and architected using safeguarding and supervisory systems and b) verified using proper Systems Engineering (SysEng) Principles. Can AV Systems Engineering also use Large Language Models (LLM) to help Autonomous vehicles (AV) development? This reader-friendly paper advocates the use of LLMs in 1) requirements (Reqs) development and 2) Reqs verification and 3) provides a proof-of-concept of AV supervisory control. The latter uses a simulation environment of a simple planar (bicycle) vehicle dynamics model and a Linear Quadratic Regulator (LQR) control with an LLM Application Interface (API). The Open-Source simulation SW is available from the author accessible to the readers so that they can engage into the AV stack, LLM API and rules, SysEng and Reqs and fundamental vehicle dynamics and control.

Authors:Siddharth Chandak
Title: Non-Expansive Mappings in Two-Time-Scale Stochastic Approximation: Finite-Time Analysis
Abstract:
Two-time-scale stochastic approximation is an iterative algorithm used in applications such as optimization, reinforcement learning, and control. Finite-time analysis of these algorithms has primarily focused on fixed point iterations where both time-scales have contractive mappings. In this paper, we study two-time-scale iterations, where the slower time-scale has a non-expansive mapping. For such algorithms, the slower time-scale can be considered a stochastic inexact Krasnoselskii-Mann iteration. We show that the mean square error decays at a rate $O(1/k^{1/4-ε})$, where $ε>0$ is arbitrarily small. We also show almost sure convergence of iterates to the set of fixed points. We show the applicability of our framework by applying our results to minimax optimization, linear stochastic approximation, and Lagrangian optimization.

Authors:Mark P. Balenzuela
Title: Insights from the application of nonlinear model predictive control to a cart-pendulum
Abstract:
Inspired greatly by Mills et al. (2009) and the solution within, this paper aims to more clearly explain the mathematics and implementation details of such a powerful control algorithm. While the aforementioned paper is well written and of sound mathematics, it is extreamly dense and requires some time and patience to decipher, especially as it draws on many other sources to complete the algorithm. This dense property is a clear result of the paper being restricted to the brief form and important details being ommited as a result. We provide the much needed elaboration here for the benifit of the reader.

Authors:Juan Eloy Ruiz-Castro
Title: Optimizing a multi-state cold-standby system with multiple vacations in the repair and loss of units
Abstract:
A complex multi-state redundant system with preventive maintenance subject to multiple events is considered. The online unit can undergo several types of failures: internal and those provoked by external shocks. Multiple degradation levels are assumed so as internal and external. Degradation levels are observed by random inspections and if they are major, the unit goes to repair facility where preventive maintenance is carried out. This repair facility is composed of a single repairperson governed by a multiple vacation policy. This policy is set up according to the operational number of units. Two types of task can be performed by the repairperson, corrective repair and preventive maintenance. The times embedded in the system are phase type distributed and the model is built by using Markovian Arrival Processes with marked arrivals. Multiple performance measures besides of the transient and stationary distribution are worked out through matrix-analytic methods. This methodology enables us to express the main results and the global development in a matrix-algorithmic form. To optimize the model costs and rewards are included. A numerical example shows the versatility of the model.

Authors:Xiaoyong Bo
Title: A Review of Detection, Evolution, and Data Reconstruction Strategies for False Data Injection Attacks in Power Cyber-Physical Systems
Abstract:
The integration of information and physical systems in modern power grids has heightened vulnerabilities to False Data Injection Attacks (FDIAs), threatening the secure operation of power cyber-physical systems (CPS). This paper reviews FDIA detection, evolution, and data reconstruction strategies, highlighting cross-domain coordination, multi-temporal evolution, and stealth characteristics. Challenges in existing detection methods, including poor interpretability and data imbalance, are discussed, alongside advanced state-aware and action-control data reconstruction techniques. Key issues, such as modeling FDIA evolution and distinguishing malicious data from regular faults, are identified. Future directions to enhance system resilience and detection accuracy are proposed, contributing to the secure operation of power CPS.

Authors:Md. Monirul Islam
Title: Prediction Model of Aqua Fisheries Using IoT Devices
Abstract:
Aquaculture involves cultivating marine and freshwater organisms, with real-time monitoring of aquatic parameters being crucial in fish farming. This thesis proposes an IoT-based framework using sensors and Arduino for efficient monitoring and control of water quality. Different sensors including pH, temperature, and turbidity are placed in cultivating pond water and each of them is connected to a common microcontroller board built on an Arduino Uno. The sensors read the data from the water and store it as a CSV file in an IoT cloud named Thingspeak through the Arduino Microcontroller. In the experimental part, we collected data from 5 ponds with various sizes and environments. After getting the real-time data, we compared these with the standard reference values. As a result, we can make the decision about which ponds are satisfactory for cultivating fish and what is not. After that, we labeled the data with 11 fish categories including Katla, sing, prawn, rui, koi, pangas, tilapia, silvercarp, karpio, magur, and shrimp. In addition, the data were analyzed using 10 machine learning (ML) algorithms containing J48, Random Forest, K-NN, K*, LMT, REPTree, JRIP, PART, Decision Table, and Logit boost. After experimental evaluation, it was observed among 5 ponds, only three ponds were perfect for fish farming, where these 3 ponds only satisfied the standard reference values of pH (6.5-8.5), Temperature (16-24)oC, Turbidity (below 10)ntu, Conductivity (970-1825)μS/cm, and Depth (1-4) meter. Among the state-of-the-art machine learning algorithms, Random Forest achieved the highest score of performance metrics as accuracy 94.42%, kappa statistics 93.5%, and Avg. TP Rate 94.4%. In addition, we calculated the BOD, COD, and DO for one scenario. This study includes details of the proposed IoT system's prototype hardware.

Authors:Lu Xin
Title: Scenarios Generation-based Multiple Interval Prediction Method for Electricity Prices
Abstract:
This paper introduces an innovative interval prediction methodology aimed at addressing the limitations of current evaluation indicators while enhancing prediction accuracy and reliability. To achieve this, new evaluation metrics are proposed, offering a comprehensive assessment of interval prediction methods across both all-sample and single-sample scenarios. Additionally, a novel Pattern-Diversity Conditional Time-Series Generative Adversarial Network (PDCTSGAN) is developed, designed to generate realistic scenarios and support a new interval prediction framework based on scenario generation. The PDCTSGAN model incorporates unique modifications to random noise inputs, enabling the creation of pattern-diverse and realistic scenarios. These scenarios are then utilized to produce multiple interval patterns characterized by high coverage probability and reduced average width. The proposed approach is validated through detailed case studies, and the paper concludes with a discussion of future research directions to further refine interval prediction techniques.

Authors:Lu Xin
Title: A Novel Multiple Interval Prediction Method for Electricity Prices based on Scenarios Generation: Definition and Method
Abstract:
This paper presents interval prediction methodology to address limitations in existing evaluation indicators and improve prediction accuracy and reliability. First, new evaluation indicators are proposed to comprehensively assess interval prediction methods, considering both all-sample and single-sample scenarios. Second, a novel Pattern-Diversity Conditional Time-Series Generative Adversarial Network (PDCTSGAN) is introduced to generate realistic scenarios, enabling a new interval prediction approach based on scenario generation. The PDCTSGAN model innovatively incorporates modifications to random noise inputs, allowing the generation of pattern-diverse realistic scenarios. These scenarios are further utilized to construct multiple interval patterns with high coverage probability and low average width. The effectiveness of the proposed methodology is demonstrated through comprehensive case studies. The paper concludes by highlighting future research directions to further enhance interval prediction methods.

Authors:Xin Lu
Title: Prediction Interval Construction Method for Electricity Prices
Abstract:
Accurate prediction of electricity prices plays an essential role in the electricity market. To reflect the uncertainty of electricity prices, price intervals are predicted. This paper proposes a novel prediction interval construction method. A conditional generative adversarial network is first presented to generate electricity price scenarios, with which the prediction intervals can be constructed. Then, different generated scenarios are stacked to obtain the probability densities, which can be applied to accurately reflect the uncertainty of electricity prices. Furthermore, a reinforced prediction mechanism based on the volatility level of weather factors is introduced to address the spikes or volatile prices. A case study is conducted to verify the effectiveness of the proposed novel prediction interval construction method. The method can also provide the probability density of each price scenario within the prediction interval and has the superiority to address the volatile prices and price spikes with a reinforced prediction mechanism.

Authors:Seyed Arash Katourani
Title: LUCAS: A Low-Power Ultra-Low Jitter Compact ASIC for SiPM Targetting ToF-CT
Abstract:
We present LUCAS (Low power Ultra-low jitter Compact ASIC for SiPM), an analog front-end for Silicon Photomultipliers (SiPM) targeting fast timing detectors in Time-of-Flight Computed Tomography (ToF-CT). LUCAS features a very low input impedance preamplifier followed by a voltage comparator. It is designed in TSMC 65 nm low-power CMOS technology with a power supply of 1.2 V. Our first 8-channel prototype has been sent to fabrication and will be received in August 2023. Post-layout simulations predict less than 40 ps FWHM SPTR jitter and an approximate power consumption of 3.2 mW per channel. The front end is suitable for applications with rigorous jitter requirements and high event rates, thanks to its 3.9 GHz unity-gain bandwidth. The front-end compact form factor will facilitate its incorporation into systems demanding high channel densities.

Authors:Michael W. Fisher
Title: Computing Safety Margins of Parameterized Nonlinear Systems for Vulnerability Assessment via Trajectory Sensitivities
Abstract:
Physical systems experience nonlinear disturbances which have the potential to disrupt desired behavior. For a particular disturbance, whether or not the system recovers from the disturbance to a desired stable equilibrium point depends on system parameter values, which are typically uncertain and time-varying. Therefore, to quantify proximity to vulnerability we define the safety margin to be the smallest change in parameter values from a nominal value such that the system will no longer be able to recover from the disturbance. Safety margins are valuable but challenging to compute as related methods, such as those for robust region of attraction estimation, are often either overly conservative or computationally intractable for high dimensional systems. Recently, we developed algorithms to compute safety margins efficiently and non-conservatively by exploiting the large sensitivity of the system trajectory near the region of attraction boundary to small perturbations. Although these algorithms have enjoyed empirical success, they lack theoretical guarantees that would ensure their generalizability. This work develops a novel characterization of safety margins in terms of trajectory sensitivities, and uses this to derive well-posedness and convergence guarantees for these algorithms, enabling their generalizability and successful application to a large class of nonlinear systems.

Authors:Emre Sariyildiz
Title: IEEE_TIE25: Analysis and Synthesis of DOb-based Robust Motion Controllers
Abstract:
By employing a unified state-space design framework, this paper proposes a novel systematic analysis and synthesis method that facilitates the implementation of both conventional zero-order (ZO) and high-order (HO) DObs. Furthermore, this design method supports the development of advanced DObs (e.g., the proposed High-Performance (HP) DOb in this paper), enabling more accurate disturbance estimation and, consequently, enhancing the robust stability and performance of motion control systems. Lyapunov direct method is employed in the discrete-time domain to analyse the stability of the proposed digital robust motion controllers. The analysis demonstrates that the proposed DObs are stable in the sense that the estimation error is uniformly ultimately bounded when subjected to bounded disturbances. Additionally, they are proven to be asymptotically stable under specific disturbance conditions, such as constant disturbances for the ZO and HP DObs. Stability constraints on the design parameters of the DObs are analytically derived, providing effective synthesis tools for the implementation of the digital robust motion controllers. The discrete-time analysis facilitates the derivation of more practical design constraints. The proposed analysis and synthesis methods have been rigorously validated through experimental evaluations, confirming their effectiveness.

Authors:Barak Or
Title: Improving Requirements Classification with SMOTE-Tomek Preprocessing
Abstract:
This study emphasizes the domain of requirements engineering by applying the SMOTE-Tomek preprocessing technique, combined with stratified K-fold cross-validation, to address class imbalance in the PROMISE dataset. This dataset comprises 969 categorized requirements, classified into functional and non-functional types. The proposed approach enhances the representation of minority classes while maintaining the integrity of validation folds, leading to a notable improvement in classification accuracy. Logistic regression achieved 76.16\%, significantly surpassing the baseline of 58.31\%. These results highlight the applicability and efficiency of machine learning models as scalable and interpretable solutions.

Authors:Van Truong Hoang
Title: Path Planning for Multi-Copter UAV Formation Employing a Generalized Particle Swarm Optimization
Abstract:
The paper investigates the problem of path planning techniques for multi-copter uncrewed aerial vehicles (UAV) cooperation in a formation shape to examine surrounding surfaces. We first describe the problem as a joint objective cost for planning a path of the formation centroid working in a complicated space. The path planning algorithm, named the generalized particle swarm optimization algorithm, is then presented to construct an optimal, flyable path while avoiding obstacles and ensuring the flying mission requirements. A path-development scheme is then incorporated to generate a relevant path for each drone to maintain its position in the formation configuration. Simulation, comparison, and experiments have been conducted to verify the proposed approach. Results show the feasibility of the proposed path-planning algorithm with GEPSO.

Authors:Umair Zulfiqar
Title: Non-intrusive Data-driven ADI-based Low-rank Balanced Truncation
Abstract:
In this short note, a non-intrusive data-driven formulation of ADI-based low-rank balanced truncation is provided. The proposed algorithm only requires transfer function samples at the mirror images of ADI shifts. If some shifts are used in both approximating the controllability Gramian and the observability Gramian, then samples of the transfer function's derivative at these shifts are also needed to enforce Hermite interpolation in the Loewner framework. It is noted that ADI-based low-rank balanced truncation can be viewed as a two-step process. The first step involves constructing an interpolant of the original model at the mirror images of the ADI shifts, which can be done non-intrusively within the Loewner framework. The second step involves reducing this interpolant using low-rank factors of Gramians associated with the interpolation data through the balanced square-root algorithm. This second step does not require any system information, making the overall process non-intrusive with the only required information being samples of the transfer function and/or its derivative at the mirror images of ADI shifts. Furthermore, it is shown that when the order of the reduced model in ADI-based low-rank balanced truncation is selected to match the numerical rank of the low-rank factors of the Gramians, it effectively reduces to standard interpolation at the mirror images of the ADI shift. An illustrative example is provided to explain the proposed approach.

Authors:Angelo Alessandri
Title: Robust Moving-horizon Estimation for Nonlinear Systems: From Perfect to Imperfect Optimization
Abstract:
Robust stability of moving-horizon estimators is investigated for nonlinear discrete-time systems that are detectable in the sense of incremental input/output-to-state stability and are affected by disturbances. The estimate of a moving-horizon estimator stems from the on-line solution of a least-squares minimization problem at each time instant. The resulting stability guarantees depend on the optimization tolerance in solving such minimization problems. Specifically, two main contributions are established: (i) the robust stability of the estimation error, while supposing to solve exactly the on-line minimization problem; (ii) the practical robust stability of the estimation error with state estimates obtained by an imperfect minimization. Finally, the construction of such robust moving-horizon estimators and the performances resulting from the design based on the theoretical findings are showcased with two numerical examples.

Authors:Usman Ali
Title: A Multimodal Lightweight Approach to Fault Diagnosis of Induction Motors in High-Dimensional Dataset
Abstract:
An accurate AI-based diagnostic system for induction motors (IMs) holds the potential to enhance proactive maintenance, mitigating unplanned downtime and curbing overall maintenance costs within an industrial environment. Notably, among the prevalent faults in IMs, a Broken Rotor Bar (BRB) fault is frequently encountered. Researchers have proposed various fault diagnosis approaches using signal processing (SP), machine learning (ML), deep learning (DL), and hybrid architectures for BRB faults. One limitation in the existing literature is the training of these architectures on relatively small datasets, risking overfitting when implementing such systems in industrial environments. This paper addresses this limitation by implementing large-scale data of BRB faults by using a transfer-learning-based lightweight DL model named ShuffleNetV2 for diagnosing one, two, three, and four BRB faults using current and vibration signal data. Spectral images for training and testing are generated using a Short-Time Fourier Transform (STFT). The dataset comprises 57,500 images, with 47,500 used for training and 10,000 for testing. Remarkably, the ShuffleNetV2 model exhibited superior performance, in less computational cost as well as accurately classifying 98.856% of spectral images. To further enhance the visualization of harmonic sidebands resulting from broken bars, Fast Fourier Transform (FFT) is applied to current and vibration data. The paper also provides insights into the training and testing times for each model, contributing to a comprehensive understanding of the proposed fault diagnosis methodology. The findings of our research provide valuable insights into the performance and efficiency of different ML and DL models, offering a foundation for the development of robust fault diagnosis systems for induction motors in industrial settings.

Authors:Saber Jafarizadeh
Title: Fastest Mixing Reversible Markov Chain: Clique Lifted Graphs and Subgraphs
Abstract:
Markov chains are one of the well-known tools for modeling and analyzing stochastic systems. At the same time, they are used for constructing random walks that can achieve a given stationary distribution. This paper is concerned with determining the transition probabilities that optimize the mixing time of the reversible Markov chains towards a given equilibrium distribution. This problem is referred to as the Fastest Mixing Reversible Markov Chain (FMRMC) problem. It is shown that for a given base graph and its clique lifted graph, the FMRMC problem over the clique lifted graph is reducible to the FMRMC problem over the base graph, while the optimal mixing times on both graphs are identical. Based on this result and the solution of the semidefinite programming formulation of the FMRMC problem, the problem has been addressed over a wide variety of topologies with the same base graph. Second, the general form of the FMRMC problem is addressed on stand-alone topologies as well as subgraphs of an arbitrary graph. For subgraphs, it is shown that the optimal transition probabilities over edges of the subgraph can be determined independent of rest of the topology.

Authors:Pavel Osinenko
Title: Towards a constructive framework for control theory
Abstract:
This work presents a framework for control theory based on constructive analysis to account for discrepancy between mathematical results and their implementation in a computer, also referred to as computational uncertainty. In control engineering, the latter is usually either neglected or considered submerged into some other type of uncertainty, such as system noise, and addressed within robust control. However, even robust control methods may be compromised when the mathematical objects involved in the respective algorithms fail to exist in exact form and subsequently fail to satisfy the required properties. For instance, in general stabilization using a control Lyapunov function, computational uncertainty may distort stability certificates or even destabilize the system despite robustness of the stabilization routine with regards to system, actuator and measurement noise. In fact, battling numerical problems in practical implementation of controllers is common among control engineers. Such observations indicate that computational uncertainty should indeed be addressed explicitly in controller synthesis and system analysis. The major contribution here is a fairly general framework for proof techniques in analysis and synthesis of control systems based on constructive analysis which explicitly states that every computation be doable only up to a finite precision thus accounting for computational uncertainty. A series of previous works is overviewed, including constructive system stability and stabilization, approximate optimal controls, eigenvalue problems, Caratheodory trajectories, measurable selectors. Additionally, a new constructive version of the Danskin's theorem, which is crucial in adversarial defense, is presented.

Authors:Logan Beaver
Title: A Global Games-Inspired Approach to Multi-Robot Task Allocation for Heterogeneous Teams
Abstract:
In this article we propose a game-theoretic approach to the multi-robot task allocation problem using the framework of global games. Each task is associated with a global signal, a real-valued number that captures the task execution progress and/or urgency. We propose a linear objective function for each robot in the system, which, for each task, increases with global signal and decreases with the number assigned robots. We provide conditions on the objective function hyperparameters to induce a mixed Nash equilibrium, i.e., solutions where all robots are not assigned to a single task. The resulting algorithm only requires the inversion of a matrix to determine a probability distribution over the robot assignments. We demonstrate the performance of our algorithm in simulation and provide direction for applications and future work.

Authors:Hashim A. Hashim
Title: Advances in UAV Avionics Systems Architecture, Classification and Integration: A Comprehensive Review and Future Perspectives
Abstract:
Avionics systems of an Unmanned Aerial Vehicle (UAV) or drone are the critical electronic components found onboard that regulate, navigate, and control UAV travel while ensuring public safety. Contemporary UAV avionics work together to facilitate success of UAV missions by enabling stable communication, secure identification protocols, novel energy solutions, multi-sensor accurate perception and autonomous navigation, precise path planning, that guarantees collision avoidance, reliable trajectory control, and efficient data transfer within the UAV system. Moreover, special consideration must be given to electronic warfare threats prevention, detection, and mitigation, and the regulatory framework associated with UAV operations. This review presents the role and taxonomy of each UAV avionics system while covering shortcomings and benefits of available alternatives within each system. UAV communication systems, antennas, and location communication tracking are surveyed. Identification systems that respond to air-to-air or air-to-ground interrogating signals are presented. UAV classical and more innovative power sources are discussed. The rapid development of perception systems improves UAV autonomous navigation and control capabilities. The paper reviews common perception systems, navigation techniques, path planning approaches, obstacle avoidance methods, and tracking control. Modern electronic warfare uses advanced techniques and has to be counteracted by equally advanced methods to keep the public safe. Consequently, this work presents a detailed overview of common electronic warfare threats and state-of-the-art countermeasures and defensive aids. UAV safety occurrences are analyzed in the context of national regulatory framework and the certification process. Databus communication and standards for UAVs are reviewed as they enable efficient and fast real-time data transfer.

Authors:Fariba Fateh
Title: A Universal Controller for Grid-Tied Inverters
Abstract:
This paper presents the development of "Control-Sync," a novel firmware for universal inverters in microgrids, designed to enhance grid stability and flexibility. As hybrid PV-battery systems become increasingly prevalent, there is a critical need for inverters capable of efficiently transitioning between grid-forming (GFM) and grid-following (GFL) modes. Our firmware introduces dual control paths that allow for seamless transitions without reliance on external control devices, reducing communication overhead and increasing operational reliability. Key features include direct phase-angle detection and frequency restoration capabilities, essential for managing asymmetrical power grids and dynamic load changes. The efficacy of Control-Sync is demonstrated through rigorous testing with grid emulators and multi-phase inverters, confirming its potential to improve microgrid reliability and efficiency. This study offers a scalable solution to enhance inverter adaptability in various grid conditions, fostering a more resilient energy infrastructure.

Authors:Costas Kravaris
Title: On Functional Observability of Nonlinear Systems and the Design of Functional Observers with Assignable Error Dynamics
Abstract:
This paper proposes a novel approach for designing functional observers for nonlinear systems, with linear error dynamics and assignable poles. Sufficient conditions for functional observability are first derived, leading to functional relationships between the Lie derivatives of the output to be estimated and the ones of the measured output. These are directly used in the proposed design of the functional observer. The functional observer is defined in differential input-output form, satisfying an appropriate invariance condition that emerges from the state-space invariance conditions of the literature. A concept of functional observer index is also proposed, to characterize the lowest feasible order of functional observer with pole assignment. Two chemical reactor applications are used to illustrate the proposed approach.

Authors:Andrea Giusti
Title: Modelling and Control of Spatial Behaviours in Multi-Agent Systems with Applications to Biology and Robotics
Abstract:
Large-Scale Multi-Agent Systems (LS-MAS) consist of several autonomous components, interacting in a non-trivial way, so that the emerging behaviour of the ensemble depends on the individual dynamics of the components and their reciprocal interactions. These models can describe a rich variety of natural systems, as well as artificial ones, characterised by unparalleled scalability, robustness, and flexibility. Indeed, a crucial objective is devising efficient strategies to model and control the spatial behaviours of LS-MAS to achieve specific goals. However, the inherent complexity of these systems and the wide spectrum of their emerging behaviours pose significant challenges. The overarching goal of this thesis is, therefore, to advance methods for modelling, analyzing and controlling the spatial behaviours of LS-MAS, with applications to cellular populations and swarm robotics. The thesis begins with an overview of the existing Literature, and is then organized into two distinct parts. In the context of swarm robotics, Part I deals with distributed control algorithms to spatially organize agents on geometric patterns. The contribution is twofold, encompassing both the development of original control algorithms, and providing a novel formal analysis, which allows to guarantee the emergence of specific geometric patterns. In Part II, looking at the spatial behaviours of biological agents, experiments are carried out to study the movement of microorganisms and their response to light stimuli. This allows the derivation and parametrization of mathematical models that capture these behaviours, and pave the way for the development of innovative approaches for the spatial control of microorganisms. The results presented in the thesis were developed by leveraging formal analytical tools, simulations, and experiments, using innovative platforms and original computational frameworks.